A system is provided that controls movement of a lancet. One or more processors execute program instructions and receive a data set. The program instructions are executed to cause the processor to, cause force to be applied to the lancet to thereby cause the lancet to move in a first direction toward a target, monitor position and speed of the lancet as the lancet moves in the first direction, adjust the application of force to the lancet as the lancet moves in the first direction to achieve a desired speed of the lancet, and adjust the application of force to the lancet when the lancet contacts the target so that the lancet penetrates the target within a desired range of speed.