The purpose of the study was to evaluate a method for testing bimanual prehension based on a novel experimental device. The device consists of two handles allowing for simultaneous measurement of bimanual hand grip forces (GF) and different patterns of load forces (LF) exerted during compression and tension along the longitudinal axis. In order to assess the reliability of the obtained measures, eight healthy subjects were tested over three consecutive test, while three moderately impaired neurological patients were tested once. In healthy subjects, high coordination was observed between GFs and LFs, as well as between two GFs and two LFs. The results also suggest a satisfactory task performance in regards to exerting the instructed LF profile, as well as a sufficient, but not excessive GF. The reliability of most of the assessed variables proved to be either moderate or high. When compared to healthy subjects, the data obtained from neurological patients mainly revealed irregular patterns of LFs, excessive GFs, as well as a relatively weak relationship between GFs and LFs. It was concluded that the evaluated methodological approach can be applied not only to explore uni- and bi-manual coordination of arm and hand grip forces in various prehensile activities, but also to serve as a basis for future development of specific clinical tests for neurological patients and other populations that demonstrate impaired hand function.