Motor planning and execution establish distinct feedforward and feedback motor histories

Movements are systematically affected by the recent motor history. These history effects may be induced either by reused motor plans or from lingering tuning of the previous movements’ execution. We dissociated planning and execution using four experimental manipulations across two complementary motor paradigms. We isolated planning by preventing execution with stop signals and mechanical blocks, and execution by moving participants’ hand passively using a robot manipulandum. History effects emerged in feedforward movement aspects – reaction time and early movement kinematics – following isolated planning. In contrast, they were absent or markedly reduced for isolated execution. History effects emerged also in late movement aspect that involves sensory feedback during execution – movement accuracy and precision – but only when movements were both planned and executed. Feedforward effects generalized across hands, whereas feedback effects were effector specific. Thus, prior motor planning and execution make distinct and complementary contributions in shaping future motor behavior.