(1) Tip prehension, (2) palmar prehension (thumb-index), (3) palmar prehension (thumb-index-middle): pliers grip, (4) palmar prehension (three-jawed chuck), (5) palmolateral prehension, (6) laterolateral prehension, (7) combined(palmolateral prehension plus lateral stabilizer), (8) hook (digital-palmar) grasp, (9) cylindrical grasp, (10) spherical grasp.

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