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The main task of the basal ganglia - a group of subcortical nuclei, located at the base of the brain - is to optimize and execute our automatic behavior. In this book, Hagai Bergman analyzes the anatomy and physiology of the basal ganglia, discussing their relation to brain and behavior, to disorders and therapies, and even to moral values. Drawing on his forty years of studying the basal ganglia, Bergman presents new information on physiology and computational models, Parkinson's disease and other ganglia-related disorders, and such therapies as deep brain stimulation.