The brain continually integrates the sensory information collected through sensory receptors in
the periphery with internally generated information to predict the future. The main purpose of
this inference process is to control the motor position of the body and appendages to proact and
react to the ever-changing world around us.
Even though the integration of the bottom-up, i.e. the information about the current state of the
world that originates from the sensory periphery, and top-down, i.e. internally generated
information about the expectations, prior experiences, and task/context-related affordances,
knowledge is a continuous process, the positional motor control of the body happens
discontinuously in time and a goal-specific manner. Therefore these three processes are often
studied in isolation. The goal of this thesis was to start unraveling the interaction across