Source : Webster's Revised Unabridged Dictionary (1913)

Prehension \Pre*hen"sion\, n. [L. prehensio; cf. F.
   pr['e]hension. See {Prehensile}.]
   The act of taking hold, seizing, or grasping, as with the
   hand or other member.

Source : WordNet®

prehension
     n : the act of gripping something firmly with the hands [syn: {grasping},
          {taking hold}, {seizing}]