prehension vs taking hold

prehension and taking hold both are nouns.

Word	Noun	Adjective	Verb	Adverb
prehension	Yes	No	No	No
taking hold	Yes	No	No	No

As nouns, prehension and taking hold are synonyms defined as:

prehension and taking hold: the act of gripping something firmly with the hands (or the tentacles)

Other synonyms of prehension include grasping, seizing.

prehension (noun)	taking hold (noun)
the act of gripping something firmly with the hands (or the tentacles)	the act of gripping something firmly with the hands (or the tentacles)