Reward has a remarkable ability to invigorate motor behaviour, enabling individuals to select 11 and execute actions with greater precision and speed. However, if reward is to be exploited 12 in applied settings such as rehabilitation, a thorough understanding of its underlying mech-13 anisms is required. Although reward-driven enhancement of movement execution has been 14 proposed to occur through enhanced feedback control, an untested alternative is that it is 15 driven by increased arm stiffness, an energy-consuming process that increases limb stability.
16First, we demonstrate that during reaching reward improves selection and execution per-17 formance concomitantly without interference. Computational analysis revealed that reward 18 led to both an increase in feedback correction during movement and a reduction in mo-19 tor noise near the target. We provide novel evidence that this noise reduction is driven by a 20 reward-dependent increase in arm stiffness. Therefore, reward drives multiple error-reduction 21 mechanisms which enable individuals to invigorate motor performance without compromising 22 accuracy. 23 24 1