Handling

Hi I own 2 mantises and handle 1 of them every now and again when she’s comes out of enclosure when I open the door . However with my other giant Asian mantis he just sits still all day and I can never seem to get him to crawl onto my hand . Hes just gotten his wings so I wanna start handling him again . Is there any way to coax him onto my hand without just grabbing him? How do you guys do it?