Actually, this was an area of study for me. Research has shown that there is a much greater incidence of carpal tunnel syndrome in teens and young adults who have inadequate pencil grips. Unfortunately, it has to be caught early. I have had some small successes retraining students when I introduce them to cursive writing. For students who have physical difficulty mastering the traditional tripod grip, there are other alternatives that can be taught that don't cause damage over time.
Here is a good reference:
Linda PATCHogue, NY