Si Nce the Early Contribution of Woodworth Forward Modeling Allows Feedback Control for Fast Reaching Movements Box 1. Different Types of Feedback Box 2. from Robots to Humans

to which visually-directed movements are planned in advance or controlled online during their actual execution has been an issue of considerable debate2–6. After almost a century of controversy, the relative importance of three different models, namely the feedforward, feedback and hybrid, continues to be argued. Feedforward models propose that a motor command is defined in advance of the onset of