Fig. 1.

a Frames from video set A, used in experiments 2, 3 and 5. The reach, grasp, lift and place phases are shown. Lift and place together make up the transport phase. b Tangential velocity of the wrist over the movement, vertical lines indicate how the movement was segmented into phases. c Height of the wrist above the table over the movement. d Frames from video set B, used in experiment 4. e Tangential velocity of the wrist over the movement. f Height of the wrist above the table over the movement