In this article we explore the complexities of what goes on in the brain when one wishes to perform even the simplest everyday movements. In doing so, we describe experiments indicating that the spinal cord interneurons are organized in functional modules and that each module activates a distinct set of muscles. Through these modules the central nervous system has found a simple solution to controlling the large number of muscle fibers active even during the execution of the simplest action. We also explore the many different neural signals that contribute to pattern formations, including afferent information from the limbs and information of motor memories.

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