To perform tasks like grasping, the brain has to process visual object information so that the grip aperture can be adjusted before touching the object. Previous studies have demonstrated that the posterior subsector of the Anterior Intraparietal area (pAIP) is connected to area 45B, and its anterior counterpart (aAIP) to F5a. However, the role of area 45B and F5a in visually-guided grasping is poorly understood. Here, we investigated the role of area 45B, F5a and F5p in object processing during visually-guided grasping in two monkeys. If the presentation of an object activates a motor command related to the preshaping of the hand, as in F5p, such neurons should prefer objects presented within reachable distance. Conversely, neurons encoding a purely visual representation of an object – possibly in area 45B and F5a – should be less affected by viewing distance. Contrary to our expectations, we found that most neurons in area 45B were object- and viewing distance-selective (mostly Near-preferring). Area F5a showed much weaker object selectivity compared to 45B, with a similar preference for objects presented at the Near position. Finally, F5p neurons were less object selective and frequently Far-preferring. In sum, area 45B – but not F5p– prefers objects presented in peripersonal space.