Same word as palm:

apperceive, caress, clasp, clutch, explore, finger, fondle, frisk, fumble, grapple, grasp, grip, grope, handle, manipulate, maul, palm, palpate, paw, perceive, pinch, ply, poke, press, run hands over, sense, squeeze, test, thumb, tickle, try, twiddle, wield