Grasping behavior in tufted capuchin monkeys (Cebus apella): grip types and manual laterality for picking up a small food item

This study investigates prehension in 20 tufted capuchins (Cebus apella) in a reaching task requiring individuals to grasp a small food item fixed to a tray. The aim was twofold: 1) to describe capuchins' grasping techniques in detail, focusing on digit movements and on different areas of contact between the grasping fingers; and 2) to assess the relationship between grip types and manual laterality in this species. Capuchins picked up small food items using a wide variety of grips. In particular, 16 precision grip variants and 4 power grip variants were identified. The most frequently used precision grip involved the distal lateral areas of the thumb and the index finger, while the most preferred kind of power grip involved the thumb and the palm, with the thumb being enclosed by the other fingers. Immature capuchins picked up small food items using power grips more often than precision grips, while adult individuals exhibited no significant preference for either grip type. The analysis performed on the time capuchins took to grasp the food and withdraw it from the tray hole revealed that 1) precision grips were as efficient as power grips; 2) for precision grips, the left hand was faster than the right hand; and 3) for power grips, both hands were equally quick. Hand preference analysis, based on the frequency for the use of either hand for grasping actions, revealed no significant hand bias at group level. Likewise, there was no significant relationship between grip type and hand preference.     

Altered precision grasping in stumptail macaques after fasciculus cuneatus lesions.

Patterns of precision grasp are described in stumptail macaques (Macaca arctoides) before and after lesions of the fasciculus cuneatus (FC). Three monkeys were videotaped while reaching for and grasping small food items. From these videotapes, records were made of the style and outcome of each grasp. Kinematic measurements were also made to describe grip formation and terminal grasp. During grip formation, grip aperture was measured as the distance between the tips of the index finger and the thumb. For terminal grasp, the joint angles of the index finger were measured. The majority of grasps by normal monkeys were of the precision type, in which the item was carried between the tips of the index finger and thumb. Each normal monkey approached objects with a highly consistent grip formation; that is, the fingertips formed a small grip aperture during the approach, and the aperture varied little on repeated grasps. To grasp an item, the forefinger moved in a multiarticular pattern, in which the proximal joint flexed and the distal joint extended. As a result of this combination of movements, the forefinger pad was placed directly onto the object. Following FC transection, the monkeys were studied for 10 months, beginning 1 month after the lesion, to allow for recovery from the acute effects of surgery. The monkeys could grasp the food items, but they rarely opposed the fingertips in precision grasp. Grip formation was altered and was characterized either by excessive grip aperture or by little to no finger opening. All of the monkeys used the table surface to help grasp items. Combined multiarticular patterns of flexion and extension were never observed postoperatively; they were replaced by flexion at all joints of the fingers. These results suggest that the FCs are more important for precision grasping than for other, less refined grasp forms (e.g., power grasps; Napier, 1956). The FCs provide critical proprioceptive feedback to cerebral areas involved in the planning and/or the execution of these movements.     

The grasping side of odours

Background

Research on multisensory integration during natural tasks such as reach-to-grasp is still in its infancy. Crossmodal links between vision, proprioception and audition have been identified, but how olfaction contributes to plan and control reach-to-grasp movements has not been decisively shown. We used kinematics to explicitly test the influence of olfactory stimuli on reach-to-grasp movements.

Methodology/Principal Findings

Subjects were requested to reach towards and grasp a small or a large visual target (i.e., precision grip, involving the opposition of index finger and thumb for a small size target and a power grip, involving the flexion of all digits around the object for a large target) in the absence or in the presence of an odour evoking either a small or a large object that if grasped would require a precision grip and a whole hand grasp, respectively. When the type of grasp evoked by the odour did not coincide with that for the visual target, interference effects were evident on the kinematics of hand shaping and the level of synergies amongst fingers decreased. When the visual target and the object evoked by the odour required the same type of grasp, facilitation emerged and the intrinsic relations amongst individual fingers were maintained.

Conclusions/Significance

This study demonstrates that olfactory information contains highly detailed information able to elicit the planning for a reach-to-grasp movement suited to interact with the evoked object. The findings offer a substantial contribution to the current debate about the multisensory nature of the sensorimotor transformations underlying grasping.     

Manual Function in Cebus apella. Digital Mobility,Preshaping, and Endurance in Repetitive Grasping

Manual dexterity varies across species of primates in accord with hand morphology and degree of fine motor control of the digits. Platyrrhine monkeys achieve less direct opposition between thumb and index finger than that of catarrhine primates, and many of them typically whole-hand grip. However, tufted capuchins (Cebus apella), exhibit a degree of independent control of the digits and effective thumb–forefinger opposition. We report how capuchins prehended small objects, with particular attention to the form of sequential fine movements of the fingers, choice of hand, and differences between the two hands in the temporal properties of reaching and grasping. We compare these actions across tasks with differing demands for fine motor control. For tasks that required all the digits to flex in synchrony, capuchins displayed smooth, fast, and efficient reach-to-grasp movements and a higher endurance than for tasks requiring more complex digital coordination. These latter tasks induced a slightly differentiated preshaping of the hand when approaching the objects, indicating preparation for grasping in advance of contact with the object. A right-hand preponderance for complex digital coordination was evident. The monkeys coordinated their fingers rather poorly at the substrate, and they took longer to achieve control of the objects when complex coordination was required than when simultaneous flexion was sufficient. We conclude that precise finger coordination is more effortful and less well coordinated, and the coordination is less lateralized, in capuchins than in catarrhine primates.     

The Effect of Gaze Position on Reaching Movements in an Obstacle Avoidance Task

Numerous studies have addressed the issue of where people look when they perform hand movements. Yet, very little is known about how visuomotor performance is affected by fixation location. Previous studies investigating the accuracy of actions performed in visual periphery have revealed inconsistent results. While movements performed under full visual-feedback (closed-loop) seem to remain surprisingly accurate, open-loop as well as memory-guided movements usually show a distinct bias (i.e. overestimation of target eccentricity) when executed in periphery. In this study, we aimed to investigate whether gaze position affects movements that are performed under full-vision but cannot be corrected based on a direct comparison between the hand and target position. To do so, we employed a classical visuomotor reaching task in which participants were required to move their hand through a gap between two obstacles into a target area. Participants performed the task in four gaze conditions: free-viewing (no restrictions on gaze), central fixation, or fixation on one of the two obstacles. Our findings show that obstacle avoidance behaviour is moderated by fixation position. Specifically, participants tended to select movement paths that veered away from the obstacle fixated indicating that perceptual errors persist in closed-loop vision conditions if they cannot be corrected effectively based on visual feedback. Moreover, measuring the eye-movement in a free-viewing task (Experiment 2), we confirmed that naturally participants’ prefer to move their eyes and hand to the same spatial location.     

Active Collisions in Altered Gravity Reveal Eye-Hand Coordination Strategies

Most object manipulation tasks involve a series of actions demarcated by mechanical contact events, and gaze is usually directed to the locations of these events as the task unfolds. Typically, gaze foveates the target 200 ms in advance of the contact. This strategy improves manual accuracy through visual feedback and the use of gaze-related signals to guide the hand/object. Many studies have investigated eye-hand coordination in experimental and natural tasks; most of them highlighted a strong link between eye movements and hand or object kinematics. In this experiment, we analyzed gaze strategies in a collision task but in a very challenging dynamical context. Participants performed collisions while they were exposed to alternating episodes of microgravity, hypergravity and normal gravity. First, by isolating the effects of inertia in microgravity, we found that peak hand acceleration marked the transition between two modes of grip force control. Participants exerted grip forces that paralleled load force profiles, and then increased grip up to a maximum shifted after the collision. Second, we found that the oculomotor strategy adapted visual feedback of the controlled object around the collision, as demonstrated by longer durations of fixation after collision in new gravitational environments. Finally, despite large variability of arm dynamics in altered gravity, we found that saccades were remarkably time-locked to the peak hand acceleration in all conditions. In conclusion, altered gravity allowed light to be shed on predictive mechanisms used by the central nervous system to coordinate gaze, hand and grip motor actions during a mixed task that involved transport of an object and high impact loads.     

Somato-Motor Haptic Processing in Posterior Inner Perisylvian Region (SII/pIC) of the Macaque Monkey

The posterior inner perisylvian region including the secondary somatosensory cortex (area SII) and the adjacent region of posterior insular cortex (pIC) has been implicated in haptic processing by integrating somato-motor information during hand-manipulation, both in humans and in non-human primates. However, motor-related properties during hand-manipulation are still largely unknown. To investigate a motor-related activity in the hand region of SII/pIC, two macaque monkeys were trained to perform a hand-manipulation task, requiring 3 different grip types (precision grip, finger exploration, side grip) both in light and in dark conditions. Our results showed that 70% (n = 33/48) of task related neurons within SII/pIC were only activated during monkeys’ active hand-manipulation. Of those 33 neurons, 15 (45%) began to discharge before hand-target contact, while the remaining neurons were tonically active after contact. Thirty-percent (n = 15/48) of studied neurons responded to both passive somatosensory stimulation and to the motor task. A consistent percentage of task-related neurons in SII/pIC was selectively activated during finger exploration (FE) and precision grasping (PG) execution, suggesting they play a pivotal role in control skilled finger movements. Furthermore, hand-manipulation-related neurons also responded when visual feedback was absent in the dark. Altogether, our results suggest that somato-motor neurons in SII/pIC likely contribute to haptic processing from the initial to the final phase of grasping and object manipulation. Such motor-related activity could also provide the somato-motor binding principle enabling the translation of diachronic somatosensory inputs into a coherent image of the explored object.     

Alterations of natural hand movements after interruption of fasciculus cuneatus in the macaque.

As part of a series of investigations on the control of fine finger movements in the macaque, spontaneous use of the hand in grooming, scratching, and manipulation was observed before and after interruption of fasciculus cuneatus (FC). Videotaped observations were made of four stumptail macaques (Macaca arctoides) living outdoors in social groups. The monkeys were followed for 1 to 3 years postoperatively. For the first 2 weeks following surgery, all monkeys neglected the affected hand and did not use it for support, locomotion, climbing, scratching, foraging, or grooming. Recovery of gross arm and hand movements occurred over a 1- to 3-month period. All the monkeys eventually used the hand for support, climbing, and object manipulation, but fine control of the fingers did not recover. Also, there was an apparent hypotonia of the fingers, imparting a "floppy" appearance to the hand. The animals coped with the loss of fine control by decreasing the frequency of some behaviors, eliminating others, and developing alternative strategies. Exploratory movements that were utilized for investigating the anogenital area or foraging for small food items were eliminated by FC interruption. There were obvious deficits in grip formation and grasp of small food objects (see Glendinning et al., this issue), but effects on similar movements during grooming only became obvious after repeated inspection of videotaped records. Self-scratching and sweeps of the hand in grooming were preserved but altered in form and frequency. The component movements in these behaviors were relatively uncoordinated, and the fingers were splayed (abducted). Often the hand was formed in a rigid posture throughout the sweeping motion, and the fingers did not stroke the skin individually. Frame-by-frame analysis of videotapes revealed that the morphology of the precision grip during grooming, in movements termed "plucks," was permanently altered. Preoperatively, the monkeys kept the index finger and thumb closely apposed and routinely made contact on the distal surfaces of the digits, as has been described for precision grip in humans. Postoperatively, this relationship was altered. The index finger frequently missed the thumb tip and made contact on the proximal part of the phalanx, or missed the thumb altogether. Thus, the dorsal column input is important for proprioceptive guidance of movements that achieve "tactile foveation," when objects or surfaces are actively contacted by the receptive areas of keenest sensitivity (on the fingertips).     

Grasping the past. delay can improve visuomotor performance.

"Optic ataxia" is caused by damage to the human posterior parietal cortex (PPC). It disrupts all components of a visually guided prehension movement, not only the transport of the hand toward an object's location, but also the in-flight finger movements pretailored to the metric properties of the object. Like previous cases, our patient (I.G.) was quite unable to open her handgrip appropriately when directly reaching out to pick up objects of different sizes. When first tested, she failed to do this even when she had previewed the target object 5 s earlier. Yet despite this deficit in "real" grasping, we found, counterintuitively, that I.G. showed good grip scaling when "pantomiming" a grasp for an object seen earlier but no longer present. We then found that, after practice, I.G. became able to scale her handgrip when grasping a real target object that she had previewed earlier. By interposing catch trials in which a different object was covertly substituted for the original object during the delay between preview and grasp, we found that I.G. was now using memorized visual information to calibrate her real grasping movements. These results provide new evidence that "off-line" visuomotor guidance can be provided by networks independent of the PPC.     

The role of cutaneous feedback for anticipatory grip force adjustments during object movements and externally imposed variation of the direction of gravity

Grip force adjustments to changes of object loading induced by external changes of the direction of gravity during discrete arm movements with a grasped object were analyzed during normal and anesthetized finger sensibility. Two subjects were seated upright in a rotatable chair and rotated backwards into a horizontal position during discrete movements with a hand-held instrumented object. The movement direction varied from vertical to horizontal inducing corresponding changes in the direction of gravity, but the orientation of the movement in relation to the body remained unaffected. During discrete vertical movements a maximum of load force occurs early in upward and late in downward movements; during horizontal movements two load force peaks result from both acceleratory and deceleratory phases of the movement. During performance with normal finger sensibility grip force was modulated in parallel with fluctuations of load force during vertical and horizontal movements. The grip force profile adopted to the varying load force profile during the transition from the vertical to the horizontal position. The maximum grip force occurred at the same time of maximum load force irrespective of the movement plane. During both subjects' first experience of digital anesthesia the object slipped from the grasp during rotation to the horizontal plane. During the following trials with anesthetized fingers subjects substantially increased their grip forces, resulting in elevated force ratios between maximum grip and load force. However, grip force was still modulated with the movement-induced load fluctuations and maximum grip force coincided with maximum load force during vertical and horizontal movements. This implies that the elevated force ratio between maximum grip and load force does not alter the feedforward system of grip force control. Cutaneous afferent information from the grasping digits seems to be important for the economic scaling of the grip force magnitude according to the actual loading conditions and for reactive grip force adjustments in response to load perturbations. However, it plays a subordinate role for the precise anticipatory temporal coupling between grip and load forces during voluntary object manipulation.     

The role of cutaneous feedback for anticipatory grip force adjustments during object movements and externally imposed variation of the direction of gravity

Grip force adjustments to changes of object loading induced by external changes of the direction of gravity during discrete arm movements with a grasped object were analyzed during normal and anesthetized finger sensibility. Two subjects were seated upright in a rotatable chair and rotated backwards into a horizontal position during discrete movements with a hand-held instrumented object. The movement direction varied from vertical to horizontal inducing corresponding changes in the direction of gravity, but the orientation of the movement in relation to the body remained unaffected. During discrete vertical movements a maximum of load force occurs early in upward and late in downward movements; during horizontal movements two load force peaks result from both acceleratory and deceleratory phases of the movement. During performance with normal finger sensibility grip force was modulated in parallel with fluctuations of load force during vertical and horizontal movements. The grip force profile adopted to the varying load force profile during the transition from the vertical to the horizontal position. The maximum grip force occurred at the same time of maximum load force irrespective of the movement plane. During both subjects' first experience of digital anesthesia the object slipped from the grasp during rotation to the horizontal plane. During the following trials with anesthetized fingers subjects substantially increased their grip forces, resulting in elevated force ratios between maximum grip and load force. However, grip force was still modulated with the movement-induced load fluctuations and maximum grip force coincided with maximum load force during vertical and horizontal movements. This implies that the elevated force ratio between maximum grip and load force does not alter the feedforward system of grip force control. Cutaneous afferent information from the grasping digits seems to be important for the economic scaling of the grip force magnitude according to the actual loading conditions and for reactive grip force adjustments in response to load perturbations. However, it plays a subordinate role for the precise anticipatory temporal coupling between grip and load forces during voluntary object manipulation.     

Object Grasping using the Minimum Variance Model

Reaching-to-grasp has generally been classified as the coordination of two separate visuomotor processes: transporting the hand to the target object and performing the grip. An alternative view has recently been formed that grasping can be explained as pointing movements performed by the digits of the hand to target positions on the object. We have previously implemented the minimum variance model of human movement as an optimal control scheme suitable for control of a robot arm reaching to a target. Here, we extend that scheme to perform grasping movements with a hand and arm model. Since the minimum variance model requires that signal-dependent noise be present on the motor commands to the actuators of the movement, our approach is to plan the reach and the grasp separately, in line with the classical view, but using the same computational model for pointing, in line with the alternative view. We show that our model successfully captures some of the key characteristics of human grasping movements, including the observations that maximum grip size increases with object size (with a slope of approximately 0.8) and that this maximum grip occurs at 60–80% of the movement time. We then use our model to analyse contributions to the digit end-point variance from the two components of the grasp (the transport and the grip). We also briefly discuss further areas of investigation that are prompted by our model.     

Dependence of the anticipatory change in the grip force in the catching task on the result of the preceding trial

A sitting subject held a cup between the thumb and the index finger. Light or heavy objects fell into the cup in a random order. The anticipatory grip force at the moment when the falling object touched the bottom of the cup was measured. The grip force in the trials following the fall of a light object was smaller than in the trials following the fall of a heavy object and did not depend on the object mass in the current trial. Thus, the anticipatory increase in the grip force was planned on the basis of the result of the preceding trial.     

Influence of preliminary information about the mass on anticipatory muscle activity during the catching of a falling object

A heavy or light object fell into the cup held between the thumb and the index finger of a sitting subject. The anticipatory muscle activity and the grip force applied to the cup depended on the object mass, whereas the temporal parameters, such as the moment of the start and the duration of muscle activity and the moment of the maximum grip force remained unchanged. Preliminary verbal information about the object mass sufficed for the predictive programming of adequate muscle activity and grip force. Without this information, i.e., when the mass of the falling object was unknown, the anticipatory activity was planned in expectation of a heavy weight.     

On the Evolution of Handedness: Evidence for Feeding Biases

Many theories have been put forward to explain the origins of right-handedness in humans. Here we present evidence that this preference may stem in part from a right hand advantage in grasping for feeding. Thirteen participants were asked to reach-to-grasp food items of 3 different sizes: SMALL (Cheerios®), MEDIUM (Froot Loops®), and LARGE (Oatmeal Squares®). Participants used both their right- and left-hands in separate blocks (50 trials each, starting order counterbalanced) to grasp the items. After each grasp, participants either a) ate the food item, or b) placed it inside a bib worn beneath his/her chin (25 trials each, blocked design, counterbalanced). The conditions were designed such that the outward and inward movement trajectories were similar, differing only in the final step of placing it in the mouth or bib. Participants wore Plato liquid crystal goggles that blocked vision between trials. All trials were conducted in closed-loop with 5000 ms of vision. Hand kinematics were recorded by an Optotrak Certus, which tracked the position of three infrared diodes attached separately to the index finger, thumb, and wrist. We found a task (EAT/PLACE) by hand (LEFT/RIGHT) interaction on maximum grip aperture (MGA; the maximum distance between the index finger and thumb achieved during grasp pre-shaping). MGAs were smaller during right-handed movements, but only when grasping with intent to eat. Follow-up tests show that the RIGHT-HAND/EAT MGA was significantly smaller than all other hand/task conditions. Because smaller grip apertures are typically associated with greater precision, our results demonstrate a right-hand advantage for the grasp-to-eat movement. From an evolutionary perspective, early humans may have preferred the hand that could grasp food with more precision, thereby maximizing the likelihood of retrieval, consumption, and consequently, survival.     

Joint Attention without Gaze Following: Human Infants and Their Parents Coordinate Visual Attention to Objects through Eye-Hand Coordination

The coordination of visual attention among social partners is central to many components of human behavior and human development. Previous research has focused on one pathway to the coordination of looking behavior by social partners, gaze following. The extant evidence shows that even very young infants follow the direction of another''s gaze but they do so only in highly constrained spatial contexts because gaze direction is not a spatially precise cue as to the visual target and not easily used in spatially complex social interactions. Our findings, derived from the moment-to-moment tracking of eye gaze of one-year-olds and their parents as they actively played with toys, provide evidence for an alternative pathway, through the coordination of hands and eyes in goal-directed action. In goal-directed actions, the hands and eyes of the actor are tightly coordinated both temporally and spatially, and thus, in contexts including manual engagement with objects, hand movements and eye movements provide redundant information about where the eyes are looking. Our findings show that one-year-olds rarely look to the parent''s face and eyes in these contexts but rather infants and parents coordinate looking behavior without gaze following by attending to objects held by the self or the social partner. This pathway, through eye-hand coupling, leads to coordinated joint switches in visual attention and to an overall high rate of looking at the same object at the same time, and may be the dominant pathway through which physically active toddlers align their looking behavior with a social partner.     

Matching object size by controlling finger span and hand shape

The ability of human subjects to accurately control finger span (distance between thumb and one finger) was studied. The experiments were performed without visual feedback of the hand and were designed to study the dependence of accuracy on object size, shape, distance, orientation and finger configuration. The effects of finger combination and sensory modality used to perceive object size (vision and haptics) were also studied. Subjects were quite proficient at this task; the small errors tended to be predominantly negative, i.e., finger span object size. The thumb-little finger combination was less accurate than the other finger combinations, irrespective of the sensory modality used. Subjects made larger under-estimating errors when matching the size of cylinders than when matching cubes and parallelepipeds. No effect of viewing distance, object orientation and finger configuration was found. Accuracy in matching object size was not dependent on the sensory modality used. The question of how the individual degrees of freedom of the fingers and thumb contributed to the control of finger span was also addressed. Principal components analysis showed that two components could characterize the hand postures used, irrespective of object size. The amplitude of the first principal component was constant, and the amplitude of the second scaled linearly with object size. This finding suggests that all of the degrees of freedom of the hand are controlled as a unit. This result is discussed in relation to the 'virtual finger' hypothesis for grasping.     

One Digit Interruption: The Altered Force Patterns during Functionally Cylindrical Grasping Tasks in Patients with Trigger Digits

Most trigger digit (TD) patients complain that they have problems using their hand in daily or occupational tasks due to single or multiple digits being affected. Unfortunately, clinicians do not know much about how this disease affects the subtle force coordination among digits during manipulation. Thus, this study examined the differences in force patterns during cylindrical grasp between TD and healthy subjects. Forty-two TD patients with single digit involvement were included and sorted into four groups based on the involved digits, including thumb, index, middle and ring fingers. Twelve healthy subjects volunteered as healthy controls. Two testing tasks, holding and drinking, were performed by natural grasping with minimal forces. The relations between the force of the thumb and each finger were examined by Pearson correlation coefficients. The force amount and contribution of each digit were compared between healthy controls and each TD group by the independent t test. The results showed all TD groups demonstrated altered correlation patterns of the thumb relative to each finger. Larger forces and higher contributions of the index finger were found during holding by patients with index finger involved, and also during drinking by patients with affected thumb and with affected middle finger. Although no triggering symptom occurred during grasping, the patients showed altered force patterns which may be related to the role of the affected digit in natural grasping function. In conclusion, even if only one digit was affected, the subtle force coordination of all the digits was altered during simple tasks among the TD patients. This study provides the information for the future studies to further comprehend the possible injuries secondary to the altered finger coordination and also to adopt suitable treatment strategies.     

Biomechanical study of grasping according to the volume of the object: Human versus non-human primates

The evolution of the precision grips, in which an object is held between the distal surfaces of thumb and fingers and the power grip, in which an object is grasped with the palm, is poorly understood in spite of hypothesis stipulating an evolution from power toward precision grips. In human, numerous studies have shown that the external factors such as the size or the form of an object influenced grasp patterns whereas in non-human primates, those parameters are poorly known. The objective of the present study was to investigate the variation in the use of different grips according to the volume of the object for six primate species representative of the phylogeny: human, chimpanzee, orangutan, macaque, baboon and capuchin. For those species, the grasping patterns were examined during grasping of spherical objects of two different volumes. Frame-by-frame analysis of digit contact strategies indicated: (1) an effect of the species on the category of grasping whatever the volume of the object, (2) a high degree of species variability and (3) no individual difference whatever the species. These results are discussed in relation to its potential contribution to understand the evolution of grasping.     

Monocular vision leads to a dissociation between grip force and grip aperture scaling during reach-to-grasp movements

It has been argued that visual perception and the visual control of action depend upon functionally distinct and anatomically separable brain systems. Electrophysiological evidence indicates that binocular vision may be particularly important for the visuomotor processing within the posterior parietal cortex, and neuropsychological and psychophysical studies confirm that binocular vision is crucial for the accurate planning and control of prehension movements. An unresolved issue concerns the consequences for visuomotor processing of removing binocular vision. By one account, monocular viewing leads to reliance upon pictorial visual cues to calibrate grasping and results in disruption to normal size-constancy mechanisms. This proposal is based on the finding that maximum grip apertures are reduced with monocular vision. By a second account, monocular viewing results in the loss of binocular visual cues and leads to strategic changes in visuomotor processing by way of altered safety margins. This proposal is based on the finding that maximum grip apertures are increased with monocular vision. We measured both grip aperture and grip force during prehension movements executed with binocular and monocular viewing. We demonstrate that each of the above accounts may be correct and can be observed within the same task. Specifically, we show that, while grip apertures increase with monocular vision, consistent with altered visuomotor safety margins, maximum grip force is nevertheless reduced, consistent with a misperception of object size. These results are related to differences in visual processing required for calibrating grip aperture and grip force during reaching.