Hoff, 1996 Weiss et al., 2002 Welchman et al., 2008, sensory motor handle K ding and Wolpert, 2004, 2006, multimodal integration Ernst and Banks, 2002 Ernst and B thoff, 2004 and temporal perception Miyazaki et al., 2005. Within the Bayesian framework, prediction with the future which is driven by causal information can be formulated because the collection of a prior probability in line with a spe