The Collaborative International Dictionary of English v.0.48:
Grasp \Grasp\, v. t. [imp. & p. p. Grasper; p. pr. & vb. n.
Qraspine.] [OE. graspen; prob. akin to LG. grupsen, or to
E. grope. Cf. Grab, Grope.]
1. To seize and hold by clasping or embracing with the
fingers or arms; to catch to take possession of.
Thy hand is made to grasp a palmer's staff. --Shak.
2. To lay hold of with the mind; to become thoroughly
acquainted or conversant with; to comprehend.