Fig 4. Position and velocity priority in the motion plan explains endpoint bias.

(A) The (decoupled) blue controller prioritises position, which causes it to overshoot the target. The (decoupled) red controller prioritises velocity such that it converges to the target without any overshoot. When the position-priority and velocity-priority controllers are coupled (dashed black trace), a force pattern is observed (dashed blue and red traces). The only manner in which the controllers would end the movement with constant torque is if they decide to hold their position once the reach is fulfilled. (B) Endpoint bias at the end of the reaching movement from all 16 partners. Partners, at movement onset, who pushed towards the target overshot it, and those who pulled away undershot it.