Prehension involves the coordination of a reaching and a grasping movement, such that the hand opens and closes in tune with the transport of the hand to the object to be grasped. To investigate this coordination, we focused on the transition from hand opening to hand closing in the grasping component of prehension. Earlier research has suggested that the time taken to close the hand remains constant over varying reaching amplitudes. In the present experiment, in which subjects reached for objects at six different distances and for objects that moved away from them at three different, constant speeds, hand-closure time was found to vary as a function of experimental conditions. Moreover, initiation of hand closure did not occur at a constant value of the (perceptually available) first-order time remaining until contact with the object. However, the variations observed, occurring as a function of initial hand-object distance and object speed, could be accounted for by an abstract dynamical model of perceptually driven postural changes.