Fig. 2

Comparator model of the emergence of agency: When a motor command is generated, an efference copy is sent to the internal prediction model. If the predicted state is congruent with the reafferent feedback of the actual body movement triggered by the motor command, agency arises. The dashed section is an addition to the commonly reported comparator model [70, 71] proposed by Martel et al. [72]. They reason that even though the comparator model was initially proposed as a theory of motor learning, it is highly complementary in respect to body representation as the internal model interacts with the body schema and the sense of agency