Eye-hand coordination in object manipulation was studied by analyzing gaze behavior, fingertip movements, and object movements during a task involving grasping and moving a bar to press a target switch. Subjects primarily fixated critical landmarks for task control, including the grasp site, target, and support surface. These landmarks were essential for movement planning, while other landmarks, such as obstacles and the bar's tip, were optional. Gaze led hand movements, with gaze exiting a landmark coinciding with a kinematic event, suggesting that subjects monitored critical events for verification. Gaze was not directed to the hand or moving bar. The study found that gaze supported hand movement planning by marking key positions for fingertips or grasped objects. The salience of gaze targets arose from the functional sensorimotor requirements of the task. Gaze control contributed to the development and maintenance of sensorimotor correlation matrices for predictive motor control. The study involved four women and five men aged 22–52 years, all right-handed and without ophthalmological or neurological issues. The experimental setup included an infrared eye-tracking system and electromagnetic sensors to record hand and object movements. Subjects performed tasks involving grasping a bar, moving it to contact a target, and avoiding obstacles. Gaze was recorded in the work plane, with subjects fixating landmarks such as the grasp site, target, and support surface. The study analyzed the sequence and timing of gaze fixations relative to hand and object movements, finding that gaze was closely linked to key landmarks, with gaze leading hand movements. Fixations were more frequent near landmarks, and the duration of fixations was longer near these points. The study also found that gaze was not directed to the hand or moving bar, and that gaze shifts were closely tied to task progress and subgoal completion. The results suggest that gaze plays a crucial role in guiding hand movements and planning object manipulation.Eye-hand coordination in object manipulation was studied by analyzing gaze behavior, fingertip movements, and object movements during a task involving grasping and moving a bar to press a target switch. Subjects primarily fixated critical landmarks for task control, including the grasp site, target, and support surface. These landmarks were essential for movement planning, while other landmarks, such as obstacles and the bar's tip, were optional. Gaze led hand movements, with gaze exiting a landmark coinciding with a kinematic event, suggesting that subjects monitored critical events for verification. Gaze was not directed to the hand or moving bar. The study found that gaze supported hand movement planning by marking key positions for fingertips or grasped objects. The salience of gaze targets arose from the functional sensorimotor requirements of the task. Gaze control contributed to the development and maintenance of sensorimotor correlation matrices for predictive motor control. The study involved four women and five men aged 22–52 years, all right-handed and without ophthalmological or neurological issues. The experimental setup included an infrared eye-tracking system and electromagnetic sensors to record hand and object movements. Subjects performed tasks involving grasping a bar, moving it to contact a target, and avoiding obstacles. Gaze was recorded in the work plane, with subjects fixating landmarks such as the grasp site, target, and support surface. The study analyzed the sequence and timing of gaze fixations relative to hand and object movements, finding that gaze was closely linked to key landmarks, with gaze leading hand movements. Fixations were more frequent near landmarks, and the duration of fixations was longer near these points. The study also found that gaze was not directed to the hand or moving bar, and that gaze shifts were closely tied to task progress and subgoal completion. The results suggest that gaze plays a crucial role in guiding hand movements and planning object manipulation.