Reach-to-grasp actions have been recently studied to highlight how intentions influence action planning and shapes the movement kinematics. Reach-to-grasp (RG) kinematics can reveal important information on motor planning and control in several pathologies, including neurodegenerative diseases. Current methods are mainly based on optoelectronic analysis systems, which provide accurate movement tracking but are expensive, time-consuming, and limited to constrained research-oriented space. In this study, we proposed an innovative, non-invasive, and easy-to-use ringshaped wearable system, named SensRing, able to record inertial data during the movement. To ensure accurate and precise measures, which are mandatory for clinical practice, a preliminary technical validation of the SensRing with respect to the Vicon (i.e., gold standard for motion analysis) was performed on two finger tapping exercises. Preliminary results pointed out very low discrepancies in terms of absolute errors (AbsErr) between the values of repetitions (AbsErr≤0.8), frequency (AbsErr=0.04Hz) and amplitude (AbsErr≤2.7deg) measured by the two systems, as well as high correlation between the measures obtained with the inertial and optical system. Therefore, inertial data from the SensRing were used in a "reach-to-grasp and move" protocol to calculate the performance of a group of healthy young subjects during three RG and move sequences. Particularly, subjects were instructed to reach and grasp a bottle to drink (DRINK), to place it on the table (IND) or to pass it to another partner (SOC). Results showed that SensRing could identify that, in the RG phase, different intentions determine different kinematic parameters of grasping the same object. As concerns the phase of moving, if the movement is different (drink vs IND/SOC) it's easier to find differences between the tasks, but also when the action is the same but with different social intent (IND vs SOC) SensRing found a significant difference.