I've never found the need to actually work at trying to hand tame mantises. Nymphs typically get less jumpy as they grow and get some size to them. I mean if you were barely larger than an ant you would probably be pretty flighty too. I don't do much handling outside of maintenance stuff when they are really small because they are easy to loose track of as specks. As they start to get larger I handle more for fun, but once again don't put effort into specifically trying to tame them. I've found most captive reared mantises end up fairly easy to handle as adults. Some species are more skittish than others. and adult males tend to fly first and ask questions later, but still all and all I find most fairly easy to handle.