The premotor cortex is a region on the superolateral surface of the brain encompassing the anterior lip of the precentral gyrus, the posterior portion of the middle frontal gyrus, and superior frontal gyrus, corresponding to part of Brodmann’s cytoarchitectonic area 6 [1] (Box 1). The PMd is implicated in a wide array of motor behaviours, including action preparation [2], motor sequencing [3], internally generated movements [4], motor imagery [5], and more [6]. The activation of PMd across such an array of tasks with wildly varying cognitive demands and movement kinematics, along with broad effects of damage to PMd on motor function [7–9], suggests that PMd performs foundational computations, which underpin voluntary action [2].

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