Proprioceptive signals from cutaneous, joint, tendon and muscle receptors create the basis for bodily perception and are known to be essential for motor control. However, which are the mechanisms underlying the proprioceptive signals and which are the variables that affect them is still a matter of debate. In particular, what is worth to investigate is, namely, the codification of proprioceptive information related to pointing movements of the wrist towards kinesthetic targets. In this work we asked 10 healthy adults to perform with their wrist a robot-aided proprioceptive matching task, in which the starting position of the matching movements was shifted forward or backward, in order to ascertain to which extent such shifts cause target over/under estimation and how important is movement's length on task performance. Results indicate that accuracy and precision of performance are highly correlated with the starting position and targets tended to be undershot when the active matching movements were longer. Moreover, further analysis revealed a consistent decrement of movement speed for shorter movements and conversely, faster displacement in case of backward of starting position.