“…It is essential that we represent not only the nature of our action outcomes (e.g., sight of lifting; 'what' information), but also crucially, the onset and duration of these outcomes (e.g., the duration of the lifting interval; 'when' information). For example, lifting the teacup from a saucer requires an anticipatory response to maintain postural stability (Diedrichsen, Verstynen, Hon, Lehman, & Ivry, 2003;Dufossé, Hugon, & Massion, 1985). Similarly, anticipating the duration of the lift phase is essential for coordinating hand and mouth gestures, and when shaking someone's hand, contact must be made for an appropriate length of time -neither too long, nor too short -to convey the intended social message.…”