The present experiments in Human subjects were designed to test whether proprioceptive feedback plays a role in optimising bimanual synchronization in a goal-oriented familiar task. Goal-synchronization is a typical feature of bimanual everyday skills. The purpose of the study was to disturb proprioceptive signalling by means of vibrating the leading left limb while subjects performed a bimanual task on a drawer manipulandum. Blindfolded subjects reached for and opened the drawer with the left hand while the right hand was reaching for grasping an object as the drawer was fully opened. Discrete events of the task were used to measure movement onset times of pulling and grasping hands and of goal arrival times. A spatial-temporal goal invariance was still present despite asymmetrical limb assignments and subjects were blindfolded. In contrast, when vibration (80 Hz) was applied to the forearm flexors of the leading pulling limb, we found that the interval between the hands at goal reaching was significantly prolonged. This suggests that synchronization is not predetermined entirely by feedforward commands and that proprioceptive feedback is necessary for updating an internal forward model and perhaps also for lower-level corrections in order to ensure covariant limb movements for optimal goal-synchronization. © 2005 Elsevier Ireland Ltd. All rights reserved.Keywords: Bimanual synchronization; Vibration; Proprioception; Motor equivalence Buttoning a shirt, lacing shoes, or eating with fork and knife are examples of the many bimanual skills of everyday life. Such familiar and well-practiced tasks are performed flawlessly and semi-automatically without much attention. And yet these skills, learned in early childhood, require a precise, spatially and temporally coordinated action of both hands. Patients suffering from movement disorders, such as apraxia, habits of everyday life may become a great problem. Permanent loss of cutaneous and deep sensibility in the upper limbs has disastrous consequences on skilled performances, particularly in the dark (e.g. [2]). Coordination of familiar skills depends not only on memorized central representations and visual guidance but also on sensory feedback from the periphery. In deafferented patients, lack of feedback for updating * Corresponding author. internal predictive models prevents subjects to deal proactively with interaction torques [8,10]. Bimanual coordination has been studied mostly in rhythmic movements, such as finger tapping and circling, that are not object-related. In the past, we studied bimanual coordination by means of a drawer-task, consistent with familiar everyday manipulations. It allowed us to assess quantitatively the temporal structure of the goal-directed bimanual synergy and proved to be an excellent model for studying bimanual coordination. The task consisted of reach-pull movements of the leading hand and reach-grasp movements of the partner hand. The action was conceived as a single goal-directed synergy. We observed that in both, monkeys [...