Reaching out for an object is often described as consisting of two components that are based on different visual information. Information about the object's position and orientation guides the hand to the object, while information about the object's shape and size determines how the fingers move relative to the thumb to grasp it. We propose an alternative description, which consists of determining suitable positions on the object—on the basis of its shape, surface roughness, and so on—and then moving one's thumb and fingers more or less independently to these positions. We modeled this description using a minimum-jerk approach, whereby the finger and thumb approach their respective target positions approximately orthogonally to the surface. Our model predicts how experimental variables such as object size, movement speed, fragility, and required accuracy will influence the timing and size of the maximum aperture of the hand. An extensive review of experimental studies on grasping showed that the predicted influences correspond to human behavior.

One generally has the impression that one feels one's hand at the same location as one sees it. However, because our brain deals with possibly conflicting visual and proprioceptive information about hand position by combining it into an optimal estimate of the hand's location, mutual calibration is not necessary to achieve such a coherent percept. Does sensory integration nevertheless entail sensory calibration? We asked subjects to move their hand between visual targets. Blocks of trials without any visual feedback about their hand's position were alternated with blocks with veridical visual feedback. Whenever vision was removed, individual subjects' hands slowly drifted toward the same position to which they had drifted on previous blocks without visual feedback. The time course of the observed drift depended in a predictable manner (assuming optimal sensory combination) on the variable errors in the blocks with and without visual feedback. We conclude that the optimal use of unaligned sensory information, rather than changes within either of the senses or an accumulation of execution errors, is the cause of the frequently observed movement drift. The conclusion that seeing one's hand does not lead to an alignment between vision and proprioception has important consequences for the interpretation of previous work on visuomotor adaptation.

If a target toward which an individual moves his hand suddenly moves, he adjusts the movement of his hand accordingly. Does he use visual information on the target's velocity to anticipate where he will reach the target? These questions were addressed in the present study. Subjects (N = 6 in each of 4 experiments) were instructed to hit a disk with a rod as soon as it appeared on a screen. Trajectories of the hand toward stationary disks were compared with those toward disks that jumped leftward or rightward as soon as the subject's hand started moving toward the screen, and with those in which either the disk or the background started moving leftward or rightward. About 110 ms after the disk was suddenly displaced, the moving hand was diverted in the direction of the perturbation. When the background moved, the disk's perceived position shifted in the direction in which the background was moving, but the disk appeared to be moving in the opposite direction. When hitting such disks, subjects adjusted their movement in accordance with the perceived position, rather than moving their hand in the direction of the perceived motion in anticipation of the disk's future displacement. Thus, subjects did not use the perceived velocity to anticipate where they would reach the target but responded only to the change in position.

Despite the many studies on the visual control of grasping, little is known about how and when small variations in shape affect grasping kinematics. In the present study we asked subjects to grasp elliptical cylinders that were placed 30 and 60 cm in front of them. The cylinders' aspect ratio was varied systematically between 0.4 and 1.6, and their orientation was varied in steps of 30°. Subjects picked up all noncircular cylinders with a hand orientation that approximately coincided with one of the principal axes. The probability of selecting a given principal axis was the highest when its orientation was equal to the preferred orientation for picking up a circular cylinder at the same location. The maximum grip aperture was scaled to the length of the selected principal axis, but the maximum grip aperture was also larger when the length of the axis orthogonal to the grip axis was longer than that of the grip axis. The correlation between the grip aperture— or the hand orientation—at a given instant, and its final value, increased monotonically with the traversed distance. The final hand orientation could already be inferred from its value after 30% of the movement distance with a reliability that explains 50% of the variance. For the final grip aperture, this was only so after 80% of the movement distance. The results indicate that the perceived shape of the cylinder is used for selecting appropriate grasping locations before or early in the movement and that the grip aperture and orientation are gradually attuned to these locations during the movement.