LAUSR

I outline a microcircuit theory of somatosensory cortex as a body model serving both for body representation and "body simulation." A modular model of innervated and non-innervated body parts resides in somatosensory cortical layer 4. This body model is continuously updated and compares to an avatar (an animatable puppet) rather than a mere sensory map. Superficial layers provide context and store sensory memories, whereas layer 5 provides motor output and stores motor memories. I predict that layer-6-to-layer-4 inputs initiate body simulations allowing rehearsal and risk assessment of difficult actions, such as jumps.