clasp vs prehension

clasp and prehension both are nouns.

Word	Noun	Adjective	Verb	Adverb
clasp	Yes	No	Yes	No
prehension	Yes	No	No	No

As nouns, prehension is a hypernym of clasp; that is, prehension is a word with a broader meaning than clasp:

clasp: the act of grasping
prehension: the act of gripping something firmly with the hands (or the tentacles)

Other hypernyms of clasp include grasping, seizing, taking hold.

clasp (noun)	prehension (noun)
the act of grasping	the act of gripping something firmly with the hands (or the tentacles)
a fastener (as a buckle or hook) that is used to hold two things together

clasp (verb)	prehension (verb)
hold firmly and tightly
grasp firmly
fasten with a buckle or buckles
fasten with or as if with a brooch