I think that you're right on the interpretation - if someone were to have him delve into just what he meant, I doubt if he'd advocate for a crushing grip either. His point was that in order to maintain control of the gun, you have to have a very firm grip on it - like travistheone said, it's a sandwich with pressure on all sides.The right grip is very important for trigger control for rapid fire shooting. If you look closely at Rob shooting you can clearly see that he isn't using a crushing grip. People interpret him saying use a tight grip or as he said "as tight as I can" as using a crushing grip...saying "as tight as I can" in my opinion is the four words he shouldn't have said....but words can be interpreted in many ways.
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I'm not even going to attempt to explain why he shot his 1st round 6 ft over the target, but because I shoot rapid fire a lot I understand how he did it.
As for him missing that one shot, I noticed that too. My thought was that he wasn't truly shooting for accuracy at that point - he was giving a demonstration about other things. I'm pretty sure that had his focus really been on hitting the target, I'm thinking he would have hit it.
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