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Many actions involve limb movements toward a target. Visual and proprioceptive estimates are available online, and by optimally combining (Ernst and Banks,  2002 ) both modalities during the movement, the system can increase the precision of the hand estimate. The notion that both sensory modalities are integrated is also motivated by the intuition that we do not consciously perceive any discrepancy between the felt and seen hand's positions. This coherence as a result of integration does not necessarily imply realignment between the two modalities (Smeets et al.,  2006 ). For example, the two estimates (visual and proprioceptive) might be different without either of them (e.g., proprioception) ever being adjusted after recovering the other (e.g., vision). The implication that the felt and seen positions might be different has a temporal analog. Because the actual feedback from the hand at a given instantaneous position reaches brain areas at different times for proprioception and vision (shorter for proprioception), the corresponding instantaneous unisensory position estimates will be different, with the proprioceptive one being ahead of the visual one. Based on the assumption that the system integrates optimally and online the available evidence from both senses, we introduce a temporal mechanism that explains the reported overestimation of hand positions when vision is occluded for active and passive movements (Gritsenko et al.,  2007 ) without the need to resort to initial feedforward estimates (Wolpert et al.,  1995 ). We set up hypotheses to test the validity of the model, and we contrast simulation-based predictions with empirical data.

The role of differential delays in integrating transient visual and proprioceptive information