grasping
A grasp is an act of taking, holding or seizing firmly with (or as if with) the hand. An example of a grasp is the handshake, wherein two people grasp one of each other's like hands. In zoology particularly, prehensility is the quality of an appendage or organ that has adapted for grasping or holding. Grasping is often preceded by reaching, which is highly dependent on head and trunk control, as well as eye control and gaze.
act of taking, holding or seizing firmly with (or as if with) the hand
physical contact action