Behavioral studies on the activation of affordances by understanding observation and action sentences on graspable objects show a direct relationship between the canonical orientation of graspable objects, their dimension and the kind of grip required by those objects to be grasped. The present work introduces the concepts of Dynamic Field Theory for modeling the results observed in the behavioral studies previously mentioned. The model was not only able to replicate qualitatively similar results regarding reaction times, but also the identification of same versus different object and the distinction between observable versus action sentences. The model shows the potential of dynamic field theory for the design and implementation of brain inspired cognitive systems. © 2012 Springer-Verlag.