Objective. If we rely solely on somatosensory input during manipulation our actions would be slowed and awkward. Rather we use information about the physical characteristics of objects to predict the demands of an upcoming motor task. We examined the role of the cerebellum and the cortex in the anticipation of object weight either given by size information or by object identity. Methods. In a size-weight illusion paradigm subjects lifted small and large boxes that actually had the same weight. In a second paradigm subjects lifted known objects from daily life that differed in weight (for example book and coffee filter with same size but different weight). Cerebellar patients were tested with the first paradigm. Stroke patients with unilateral cortical damage were tested on the ipsilesional hand with both paradigms. Grip forces were measured to reveal the precision of prediction. Results. During the first lift of the large box cerebellar patients produced a higher grip force than during the first lift of the small box suggesting normal anticipation of expected weight. Similarly, most patients with stroke exhibited preserved performance. However, left posterior parietal lesions seem to be associated with absent grip force scaling. The anticipation of object identity was preserved in most stroke patients. However, it lacked precision and refinement during subsequent lifts. Conclusions. While the cerebellum is engaged in predicting self-generated loads, it is less involved in predicting the load of manipulated object. Following cortical stroke, anticipatory mechanisms are usually preserved on the ipsilesional non-paretic hand. However, specific lesions sites may cause deficits and slowed performance on the ispilesional hand. Funded by the Bundesministerium für Bildung und Forschung BMBF and Deutsche Forschungsgemeinschaft DFG.