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In the paper methods and devices for measurement and evaluation of grasping in the rehabilitation environment are proposed. Investigation of grasping was divided into three phases: reaching to grasp an object, exerting force on the object, and changing the orientation of the grasped object. The original methods are computer-based and provide quantitative evaluation of grasping. Reference pattern of grasping was obtained by measurements performed in healthy persons. Assessment of grasping force and training of grasping was performed in groups of patients with muscular distrophy and hemiplegia.