How does the cerebellum correct a movement before the error shows? · Grey Matter

When the motor cortex sends a command, a copy reaches the cerebellum through the pons, and the cerebellum predicts what the movement will feel like and where the limb will end up.

How does the cerebellum correct a movement before the error shows?

When the motor cortex sends a command, a copy reaches the cerebellum through the pons, and the cerebellum predicts what the movement will feel like and where the limb will end up. Sensory feedback is too slow to steer a fast movement, so the cerebellum compares the command with its prediction and with early feedback, and sends corrections back through the thalamus to the motor cortex. Errors that remain are signalled by climbing fibres and change the circuit, so the next attempt is better: a throw that missed left is aimed differently the next time.