Accumulating evidence suggests cerebellar abnormalities in psychiatric disorders such as schizophrenia and autism spectrum disorder (ASD). The cerebellum is believed to be involved in feedforward and feedback motor control. Using weight-loading task, we previously reported that feed-forward motor control was impaired in patients with schizophrenia, and that aging exaggerated the impairment. In that study, we used the Space Interface Device for Artificial Reality (SPIDAR), which enables us to perform weight-loading task in a virtual environment, and monitored anticipatory response as an indicator of feed-forward motor control. The amplitude of anticipatory response was significantly smaller in the patients than in the healthy volunteers, suggesting that this task can be used to detect impairment of prediction-based motor control. In the present study, we used the same loading task, and examined the differences of anticipatory response between 51 healthy adults and 34 healthy elementary school students (3-4th grade; n=11, 5-6th grade; n=23), for future analysis of prediction-based motor control in children with ASD. Using SPIDAR, a force of 4.9 N (500 g) was vertically applied to the right hand of a subject (loading). Loading was started when the subject (predictable condition) or examiner (unpredictable condition) pressed the start key. Loading was repeated 10 times in each condition. Upward movement of the hand just before the start of loading (anticipatory response) was observed only in the predictable condition. The percent of individuals showing no discernible anticipatory response was larger in children, and was 36% in 3-4th grade, 13% in 5-6th grade, and 2% in adults. The amplitude of anticipatory response was smaller in children than in adults, although the difference was not statistically significant. The kinetics of anticipatory response was different between children and adults. The hand elevated less sharply in children than in adults, suggesting the prediction of timing is less accurate in children. These results show that prediction-based motor control is not fully developed at the age of 9 to 12.