prehension

The act of grasping or seizing.

Apprehension by the senses.

Understanding.

The act of prehending, seizing, or taking hold.

Apprehension; mental grasp.

The act of taking hold, seizing, or grasping, as with the hand or other member.

the act of grasping or gripping something, especially with the hands

the act of gripping something firmly with the hands (or the tentacles)