Do comparator modules exist within spinal circuits? We show that spinal dI3 neurons integrate multimodal sensory feedback, receive direct efference copy from Renshaw cells, and mediate corrections of ongoing movements. Thank you to everyone involved!!
biorxiv.org/content/10.110…
biorxiv.org/content/10.110…
www.biorxiv.org Evidence of spinal cord comparator modules for rapid corrections of movements Successful movement requires continuous adjustments in response to changes in internal and external environments. To do so, neural circuits continuously compare efference copies of motor commands... 
