Both handles and grips are devices used for gripping or operating, but they differ in purpose, shape, and function.
Handles are typically used for pulling or pushing, such as door handles and drawer handles. They are primarily used for opening, closing, or moving objects. Grips are typically used for supporting, holding, or controlling, such as bicycle handlebars and chair armrests.
Handles are usually small, fixed devices, which can be shaped like a lever, knob, or button. They are usually fixed to the surface of an object to provide a grip. Grips are generally larger, providing a better grip area and a more comfortable feel. Grips are usually integrally molded with or attached to an object.

