prehension

Noun
  1. The act of gripping something firmly with the hands (or the tentacles) (synset 100813935)
    is a type of: control - the activity of managing or exerting control over something
    subtypes: clasp, clench, clutch, clutches, grasp, grip, hold - the act of grasping
    same as: grasping, seizing, taking hold

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