“…In contrast, the lower level system comprising the motor cortex (M1), the spinal cord (SC) and intermediate systems represents posture-dependent muscle force signals needed to execute the actions [16,17,20]. Thus, with reference to sequential actions, the overall system implements a convenient division of labor, where motor sequences such as writing letters or words, drawing shapes, playing key sequences, etc., are learned as action programs at an abstract, posture-and effector-independent kinematic level in the PFC/PM/SMA system, and are then "translated" into sequences of motor commands by M1 [3], possibly guided by the basal ganglia and cerebellum [23,30,31]. Of course, this does not preclude the possibility that sequence recognition and learning may also occur in M1 [5,14,19], and the model we study here could well apply to population-coded representations in M1 as well.…”