I use a technique for much more complex tasks than that which I call
Successive Approximation but the best way to describe it is try to
practice doing it very slowly. Unless you have a new (recent) vision problem
you should be able to find the pen even on the first try, by watching and
correcting the position of your fingers until they are definitely ready to
grab the pen. If you do fail, then remember how far and which way you
missed it, and try again by reaching for a place that far in the opposite
direction. When you succeed , increase the speed. I'm not sure what
changed if you suddenly discovered the problem but some normal things
could have made you forget and need to relearn. People having growth
spurts may be remembering how they did it when they were shorter,
and other normal changes may have similar results.
I am not sure if I am right about this, but I believe that forensic artists
may be using what I call Successive Approximation to draw people that
witnesses describe. The image is reduced in error (becomes more accurate)
by FEEDBACK (from the witness). You want continuous feedback from
your eyes as you reach, until you grab. If you see the pen and it for
some reason (new glasses?) isn't where you see it, adjust for that,
even if you have to feel for where it really is.
I implied two feedbacks in trying to pick up the pen:
1-going slowly toward the target until it seems reachable and reached.
2-learning to compensate for a failure by offset of the target.
Offset... if you reached too low, reach higher next time
Offset... if you reached to the left, reach to the right next time
This works for me and machines. It might not work for everyone.
I used words that I think in, which I hope make sense, but may not.