['Equilibrium-perturbing forces associated with a voluntary upper-limb movement can be strong enough to displace the whole-body centre of mass. In this condition, anticipatory postural adjustments (APAs), developing in muscles other than the prime mover, are essential in maintaining the whole-body balance. Here, we test the hypothesis that APAs preceding an upper-limb target-reaching movement could play a role also in controlling the movement accuracy.', 'Standing subjects (10) were asked to flex the right shoulder and touch with the index fingertip the centre of a target positioned in front of them. The reaching task was also performed while wearing and after doffing prismatic lenses (shifting the eye field rightward). EMGs from different upper- and lower-limb muscles and the mechanical actions to the ground were recorded.', '(i) Before wearing prisms, subjects were very accurate in hitting the target, and the pointing movements were accompanied by APAs in quadriceps (Q) and tibialis anterior (TA) of both sides, and in right hamstrings (H) and soleus (SOL). (ii) After donning prisms, rightward pointing errors occurred, associated with a significant APA increase in right Q and TA, but without changes in the recruitment of right anterior deltoid (prime mover) and biceps brachii. (iii) These pointing errors were progressively compensated in about 10 trials, indicating a sensorimotor adaptation, and APAs returned to values recorded before wearing prisms. (iv) After doffing prisms, pointing errors occurred in the opposite direction but changes in APAs did not reach significance.'] Does accuracy of pointing movements rely upon a specific tuning between anticipatory postural adjustments and prime mover activation?