In this research, control characteristic of human grasp force in natural handing motion is experimentally analyzed under the case without reaching motion. As the results, the profile of change of hander’s grasp force is divided into two patterns; one is a change with peak just before starting decrease and the other is a change without peak, which can be modeled by the minimum jerk model. The profile of change of receiver’s grasp force is divided into another two patterns; one is a change with overshoot before stabilizing to a constant force value and the other is a change without overshoot. In addition, the timing to start adjustment of grasp force of the hander and the receiver is divided into three patterns. In the first pattern, the hander starts decreasing grasp force before the receiver contacts the object. In the second pattern, the hander starts decreasing grasp force after the receiver contacts the object. In the third pattern, the hander starts decreasing grasp force just when the receiver contacts the object.