Anticipatory planning of finger forces enables fluent and skilled manipulation of familiar objects. What happens, if the properties of lifted objects, such as weight or weight distribution, continuously and unpredictably changes during repeated lifts? One may assume that we choose mean finger forces according to averaged previous experience. Studies have shown, however, that this is not the case and there is rather a clear influence of the last lift. A logical conclusion seems that then the properties of the last object influences the current force planning. In our current study, we show that during lifting of objects with variations of the center of gravity this is however only partly the case. Rather does also the motor plan for the last lift influence the planning of the current lift as well as the perception of object properties.