Well it seems when dealing with humans, mantids aren't all that defensive or aggressive so typically won't hurt you... but I got bitten because I pissed this mantis off. I picked it up from the back of its neck, and it managed to reach around and grab me with one of the raptorials (that was reasonably ouch too) and before I could let it go, it swiveled itself around and chomped into my finger big time!!
I think when they feel like it, they can easily cause you pain... be careful! Lol, would hate to have a 100mm+ female turn nasty while handling it!