page_title: Efference copy
section_title: Motor signals
hierarchical_section_title: Efference copy / Motor control / Motor signals
caption_attribution_description: English: Image showing the process of efference copies in a forward model environment. Modified to improve and correct the original which mistakenly showed corollary discharge as distinct from efference copy in a way that it is not. Modified to more closely resemble http://www.scholarpedia.org/article/File:Corollory_Discharge_Fig5.png .
context_page_description: In physiology, an efference copy or efferent copy is an internal copy of an outflowing, movement-producing signal generated by an organism's motor system. It can be collated with the sensory input that results from the agent's movement, enabling a comparison of actual movement with desired movement, and a shielding of perception from particular self-induced effects on the sensory input to achieve perceptual stability. Together with internal models, efference copies can serve to enable the brain to predict the effects of an action.
  An equal term with a different history is corollary discharge.
  Efference copies are important in enabling motor adaptation such as to enhance gaze stability. They have a role in the perception of self and nonself electric fields in electric fish. They also underlie the phenomenon of tickling.
context_section_description: A motor signal from the central nervous system (CNS) to the periphery is called an efference, and a copy of this signal is called an efference copy. Sensory information coming from sensory receptors in the peripheral nervous system to the central nervous system is called afference. On a similar basis, nerves into the nervous system are afferent nerves and ones out are termed efferent nerves.
  When an efferent signal is produced and sent to the motor system, it has been suggested that a copy of the signal, known as an efference copy, is created so that exafference (sensory signals generated from external stimuli in the environment) can be distinguished from reafference (sensory signals resulting from an animal's own actions).
  This efference copy, by providing the input to a forward internal model, is then used to generate the predicted sensory feedback that estimates the sensory consequences of a motor command. The actual sensory consequences of the motor command are then deployed to compare with the corollary discharge to inform the CNS about how well the expected action matched its actual external action.
caption: An efference copy is used to generate the predicted sensory input which estimates the (somato)sensory consequences of a motor command (top row). The sensory consequences of the executed motor command (bottom row) are used to compare with the corollary discharge to inform the CNS about external actions.
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