Mechanisms of sensorimotor adaptation in a hierarchical state feedback control model of speech
Fig 2
Design C was developed based on a modified hierarchical FACTS architecture.
For Design C, a modified hierarchical FACTS architecture in which auditory feedback is used by the task state estimator, rather than the articulatory state estimator, was used. The task state estimator generates a task state prediction based on the previous articulatory state estimate via an articulatory-to-task transformation LWPR model and an efference copy of the task motor commands. This task state prediction can be corrected using auditory prediction errors. During adaptation simulations, when auditory prediction errors are detected, the final (corrected) estimate is used to update the articulatory-to-task transformation model. η denotes Gaussian noise. As with Design A and B, sensory feedback-based online compensation was disabled.