Spider monkey
They have long, spindly limbs, which explains the spider monkey's common name. Their tails are fully prehensile, meaning they can pick things up with it, and they can swing from it. The tail, which may be up to  long, is very flexible, with hairless tips and skin grooves similar to fingerprints. This adaptation to their strictly arboreal lifestyle serves as a fifth hand. They are clumsy on the ground.