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Empirical data on neural control of motor action and perception have not yet been put into the context of a coherent theory. Dr. Feldman's goal for the proposed book is to illustrate that the field is now at a stage where the data can be used to formulate some core principles that underlie action and perception and to present the foundation of a scientific theory of motor control. Dr. Feldman is a well-known expert and has been active in the field for a long time. In the proposed book he will outline an approach to the analysis of action and perception that he and his colleagues have been using for the past 50 years or so. His theoretical approach will not only help to explain past empirical research, but should also help to inform and provide a structure for future empirical studies.