Fig. 1. A block diagram of a CMAC f

Fig. 1. A block diagram of a CMAC for a single joint actuator. The vector S consists of an input command from higher motor centers combined with feedback from sensors in the joints, muscles, and skin of a limb. Each CMAC separately computes a S ⇒ A* mapping. A* is the set of locations in memory selected by the mapping. The selected locations in A* contain weights corresponding to synaptic strength between parallel fibers and dendrites on a cerebellar Purkinje cell. The computed output is the sum of the weights stored in the A* address set. In this example, the output is a drive signal pj to the j-th joint actuator controller. The output signal may define a desired position, velocity, or force of the j-th joint actuator depending on the command.