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Previous research has revealed changes in the perception of objects due to changes of object-oriented actions. In present study, we varied the arm and finger postures in the context of a virtual reaching and grasping task and tested whether this manipulation can simultaneously affect the perceived size and distance of external objects. Participants manually controlled visual cursors, aiming at reaching and enclosing a distant target object, and judged the size and distance of this object. We observed that a visual-proprioceptive discrepancy introduced during the reaching part of the action simultaneously affected the judgments of target distance and of target size (Experiment 1). A related variation applied to the grasping part of the action affected the judgments of size, but not of distance of the target (Experiment 2). These results indicate that perceptual effects observed in the context of actions can directly arise through sensory integration of multimodal redundant signals and indirectly through perceptual constancy mechanisms.