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palmar grasp is where an infant holds an item such as a crayon with the palm of their hand, where as the pincer grasp is where they hold it between their thumb and index finger (more sophisticated)

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Q: What is the difference between palmar grasp and pincer grasp?
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What is delicate palmar grasp?

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What is delicate palmer grasp?

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What is the correct terminology for defining fine motor skills for grasping objects between the thumb and fore finger pincer or pincher?

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Why does a baby grasp you when you stroke there palm?

This reaction is called a palmar grasp in a baby. This reaction usually persists until six months of age and sometimes longer in some babies. The babies typically begin to gain control of the grasp around six months. They use this as a method to support an object, and use their fingers as a type of scoop. Around 6-9 months the babies gain enough control to begin pulling their palm towards their face and mouth. This can usually signal the baby is ready to start self-feeding.