[Kinematic study of reaching-grasping movements].

The experiment was conducted to investigate, by using kinematic parameters, the influence of the type of prehension on the transportation component in reaching-grasping movements. The main question was whether the transportation component is influenced by the type of prehension besides the distance of the object. The experiment was carried out on eight subjects who performed reaching-grasping movements toward objects located at different distances. Two types of prehension were examined: whole hand prehension and precision grip. The following kinematic parameters of the transportation component (wrist movement) were studied: movement times, profiles of velocity and accelerations. Our results have shown that the transportation component is affected by the two factors. However the kinematic parameters were influenced differently by the distance and the type of prehension. Our conclusion is that, although distance and type of prehension affect the transportation component, they are computed separately in programming this component.