On taking the grasping out of prehension.

Smeets and Brenner provide a very clear and useful statement of the work that has been stimulated by Jeannerod's 1984 paper but seem more concerned about the viability of model fitting than model assumptions. The theoretical and practical limitations of viewing "grasping as nothing more than pointing" are noted. We reemphasize the importance in prehension of the union of the hand with the object in the act of realizing a task goal.