Robert Goodman wroteDoes the definition use the word "grasp"? Then it would depend on whether that word implies use of hands.
No, it doesn't, so no, it doesn't.
2-4-1 CATCH: "A catch is the act of establishing player possession of a live ball
which is in flight..."
2-34-1 POSSESSION: "A ball in player possession is a live ball held or controlled by a player
after it has been handed or snapped to him, or after he has caught or recovered it."