“…A fundamental principle of human action control concerns the tendency to select actions depending on their relative efficiency to reach a goal (e.g., Bernstein, 1967;Rosenbaum, Chapman, Weigelt, Weiss, & van der Wel, 2012). It has been shown, for example, that when rotating an upside-down placed cup, adults start the movement with an uncomfortable thumb-down grip in order to end the movement in a comfortable thumb-up grip (end-state comfort effect; e.g., Short & Cauraugh, 1997;Weigelt, Kunde, & Prinz, 2006).…”