Abstract
Just before grasping an object, a person performs a movement that is called pre-shaping to prepare for the shape of the hand depending on size and the form of the object. The purpose of this study is to investigate how the pre-shaping is generated by measure the joint angles of the fingers by using a three-dimensional motion analysis system. Nine subjects performed grasping of the objects. The height of objects is 120mm and a diameter of the objects is 30 mm.
