To explore the impact of upper arm support on improving reaching and hand opening, research participants were asked to perform directed reaching tasks in a virtual reality...
... we systematically characterize the arm reaching performance by considering 125 targets uniformly distributed inside a cube with side length of 20 [cm], as shown in Fig.

Such details provide a deeper understanding and appreciation for Arm Reaching Task.
The need of reward. The arm-reaching task can be viewed as a servo-controlled process, and thus can be thought as quite far from goal-oriented cognitive decision tasks.

Daily life requires use of the arms for a variety of tasks under competing cognitive demands, such as reaching for objects in a visually-cluttered kitchen cabinet while holding a conversation.

To address this question, a virtual-arm reaching task was performed in which participants were required to move a cursor corresponding to the hand of a virtual arm to a target.
This paper proposes a valuation index for degree of proficiency, and shows results of motor skill analysis for several arm reaching tasks.
In this study, three macaque monkeys with chronic microwire electrode arrays implanted in their motor cortices were trained in a sequential neurofeedback and arm-reaching task.