Contact brings impressions into the heart, which gets retrained at an involuntary level and affect our immediate response to life in terms of fear, mistrust, desire. There are ways of clearing this—the result is joy.
An aspect of our Kammic patterning is the mode of consciousness that is selected to process experience—normally this is visual or conceptual. If we use the tactile consciousness it has an emotive resonance and truer response.
Grasping affects the way we conceive experience: "Head Language," "Body Language." Body language is freer from reactions, assumptions, interpretations.
Embodying the mind - mindfulness of body - counteracts the effects of "loss" (ignorance). Loss is loss of presence - accompanied by either tightening or collapsing.