Tangential force (F_t) coordination has received little explicit attention in the human prehension literature. F_t are those forces exerted parallel to the surface of a grasped object, and are often the functional forces (e.g. holding a glass of water). Because they are necessary for mechanical equilibrium, and because of their under-study, this dissertation explores F_t in multiple experimental and computational settings. Adopted methods were similar to those used in other prehension studies, but unique experimental manipulations allowed for a 'fishing expedition' approach to the problem of understanding F_t coordination. Six experiments were conducted that examined factors relevant to F_t coordination including:​ (1) Viscoelastic relaxation of the finger pad subjected to F_t load, (2) Interaction among fingers during maximal multi-finger F_t efforts, (3) F_t performance during a pressing task, (4) The response of F_t to variations in external load magnitude and direction during multi-finger grasping, (5) Mechanically optimal finger forces for non-vertically oriented grasped objects, and (6) Finger pad strain energy minimization as a control scheme for intra-finger normal-tangential force coordination. The results are somewhat disparate in their immediate implications, but are all necessary facts to consider when formalizing hypotheses regarding F_t control. The following hypotheses were developed:​ (1) Minimization of effort drives inter-finger force coordination, and (2) Minimization of strain energy in the contact region of the finger pad drives intra-finger coordination. These hypotheses are intuitive, have a physiological basis, and are supported by the current data. In summary, this dissertation achieves the following:​ (a) Initiates the process of explicit F_t behavioral documentation, (b) Analyzes various factors relevant to F_t behavior, and (c) Develops lines of research for future prehension study.