Current state-of-the-art robotic hands are restricted in functionality due to complex structure and limited degrees of movements. Over the last decade, bioengineers are focused on the study of hand biomechanics in order to incorporate biomechanical features of the hand and neural control strategies within robotic hands, and to design robotic hands with the functionality close to humans. An objective assessment of hand function is important in rehabilitation, as well, to evaluate the effectiveness of selected therapeutic approach and to provide optimal treatment for a patient. This book deals with the assessment of human reach-to-grasp movements through measurements of hand kinematics by using computerized, robot-assisted methods. Kinematics of the hand was measured by optical motion tracking system and instrumented glove. The aim was to develop and test objective and quantitative methods for describing hand and fingers movements and preshaping while reaching the objects. The book could be especially useful to the biomedical engineers and graduate students interested in hand biomechanics and prehensile movements.