Mostly used in zoology to describe animals that can grab objects, like monkeys or possums. Opossums use their prehensile tails to hang onto branches.
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Body Parts
Refers to specific body parts adapted for grasping or holding, not just any part. Elephants have prehensile trunks used for manipulating objects.
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Not Human
Rarely used for humans, even though we can grasp because it implies a specialized adaptation. While humans have dexterous hands, they aren't typically described as prehensile.