Motor control is a fundamental process that underlies all voluntary behavioral responses. Several different theories based on different principles (task dynamics, equilibrium-point theory, passive-motion paradigm, active inference, optimal control) account for specific aspects of how actions are produced, but fail to provide a unified view on this problem. Here, we propose a concise theory of motor control based on three principles: optimal feedback control, control with a receding time horizon, and task representation by a series of via-points updated at fixed frequency. By construction, the theory provides a suitable solution to the degrees-of-freedom problem, that is, trajectory formation in the presence of redundancies and noise. We show through computer simulations that the theory also explains the production of discrete, continuous, rhythmic, and temporally constrained movements, and their parametric and statistical properties (scaling laws, power laws, speed/accuracy trade-offs). The theory has no free parameters and only limited variations in its implementation details and in the nature of noise are necessary to guarantee its explanatory power. (PsycInfo Database Record (c) 2021 APA, all rights reserved)

中文翻译：

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肢体运动产生的计算理论。

电机控制是所有自愿行为反应的基础过程。基于不同原理（任务动力学、平衡点理论、被动运动范式、主动推理、最优控制）的几种不同理论解释了行动产生方式的具体方面，但未能就此问题提供统一的观点。在这里，我们基于三个原则提出了一种简洁的电机控制理论：最优反馈控制、后退时间范围控制以及一系列以固定频率更新的过孔点的任务表示。通过构造，该理论为自由度问题提供了合适的解决方案，即在存在冗余和噪声的情况下形成轨迹。我们通过计算机模拟表明该理论还解释了离散的、连续的、有节奏的、和时间约束的运动，以及它们的参数和统计特性（比例定律、幂律、速度/精度权衡）。该理论没有自由参数，只有在其实施细节和噪声性质方面的有限变化才能保证其解释力。（PsycInfo 数据库记录 (c) 2021 APA，保留所有权利）