BTW, let me add that I watched a number of Ikeda Sensei's video demonstrations and on a few of them, Uke anticipated Ikeda. I'm assuming that sort of thing is more the exception than the rule. All explanations can go out the window when cooperative Uke's have to be factored into the equation.
IMHO, having actually been in the experience many times, it feels less like anticipation (though unconsciously I won't rule that out) and more like Ikeda Sensei establishes a connection (intent and distance) and begins his technique prior to physical contact. I think of it as capturing and leading the mind and subtle initiating and intercepting while entering. Just before you get there, Ikeda Sensei often subtly changes his line.