prehension vs clasp

prehension and clasp both are nouns.

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

As nouns, clasp is a hyponym of prehension; that is, clasp is a word with a more specific, narrower meaning than prehension:

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

Other hyponyms of prehension include clench, clutch, clutches, grasp, grip, hold.

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

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