A device for sensing a grasp state or position of a user's hand relative to the device, the device comprising: a cylindrical handle; a plurality of proximity sensing elements (111a, 111b) housed within or on the cylindrical handle configured to sense the grasp state or position of the user's hand prior to contact with the cylindrical handle; and an ergonomic feature positioned at a top of the cylindrical handle, the ergonomic feature positioned to guide the position of the user's hand; wherein: at least a portion of the plurality of proximity sensing elements (111a, 111b) are distributed non-uniformly within or on the cylindrical handle, and the plurality of proximity sensing elements comprise: a first sensor (1, 110g) that is positioned near the top of the cylindrical handle and adjacent to the ergonomic feature, the first sensor comprising a first size that is smaller than a second size, wherein the first sensor is positioned on the device in a first location that is configured to specifically sense a first distance between the user's index finger and the first sensor, and a second sensor (6, 110g) that is positioned lower in the cylindrical handle than the first sensor, the second sensor comprising the second size that is larger than the first size, wherein the second sensor is positioned on the device in a second location that is configured to specifically sense a second distance between the user's little finger and the second sensor, wherein measurements from the plurality of proximity sensing elements are correlated to predict a position and grasp state of each finger around the cylindrical handle. a cylindrical handle; a plurality of proximity sensing elements (111a, 111b) housed within or on the cylindrical handle configured to sense the grasp state or position of the user's hand prior to contact with the cylindrical handle; and an ergonomic feature positioned at a top of the cylindrical handle, the ergonomic feature positioned to guide the position of the user's hand; wherein: at least a portion of the plurality of proximity sensing elements (111a, 111b) are distributed non-uniformly within or on the cylindrical handle, and the plurality of proximity sensing elements comprise: a first sensor (1, 110g) that is positioned near the top of the cylindrical handle and adjacent to the ergonomic feature, the first sensor comprising a first size that is smaller than a second size, wherein the first sensor is positioned on the device in a first location that is configured to specifically sense a first distance between the user's index finger and the first sensor, and a second sensor (6, 110g) that is positioned lower in the cylindrical handle than the first sensor, the second sensor comprising the second size that is larger than the first size, wherein the second sensor is positioned on the device in a second location that is configured to specifically sense a second distance between the user's little finger and the second sensor, wherein measurements from the plurality of proximity sensing elements are correlated to predict a position and grasp state of each finger around the cylindrical handle. at least a portion of the plurality of proximity sensing elements (111a, 111b) are distributed non-uniformly within or on the cylindrical handle, and the plurality of proximity sensing elements comprise: a first sensor (1, 110g) that is positioned near the top of the cylindrical handle and adjacent to the ergonomic feature, the first sensor comprising a first size that is smaller than a second size, wherein the first sensor is positioned on the device in a first location that is configured to specifically sense a first distance between the user's index finger and the first sensor, and a second sensor (6, 110g) that is positioned lower in the cylindrical handle than the first sensor, the second sensor comprising the second size that is larger than the first size, wherein the second sensor is positioned on the device in a second location that is configured to specifically sense a second distance between the user's little finger and the second sensor, wherein measurements from the plurality of proximity sensing elements are correlated to predict a position and grasp state of each finger around the cylindrical handle. a first sensor (1, 110g) that is positioned near the top of the cylindrical handle and adjacent to the ergonomic feature, the first sensor comprising a first size that is smaller than a second size, wherein the first sensor is positioned on the device in a first location that is configured to specifically sense a first distance between the user's index finger and the first sensor, and a second sensor (6, 110g) that is positioned lower in the cylindrical handle than the first sensor, the second sensor comprising the second size that is larger than the first size, wherein the second sensor is positioned on the device in a second location that is configured to specifically sense a second distance between the user's little finger and the second sensor, wherein measurements from the plurality of proximity sensing elements are correlated to predict a position and grasp state of each finger around the cylindrical handle.