The human hand is a multi-functional tool that performs a large number of interactions with the objects daily. The majority of interactions are in the form of grasping of objects to accomplish a certain task. Grasping is an important daily activity, neglecting which leads to human injury and loss of valuable properties. To ensure the success of the task and the well-being of the human, it is important that the grasping performed should be efficient (i.e. maximum grip with the minimum effort) and comfortable. The focus of the study is to explore the material and the geometry (form) of the grasping surface, and to study its variation with the grasp types, to achieve the efficient and comfort grasping.