I do agree with Tora about the logic behind Falcon catching the Shield. I mean logically speaking, if the shield can embed itself into a tree, how could a human hand be able to catch it straight? The shield can actually lop off a head with it's sharp edges. Even as a super soldier, it's nigh impossible not to get hurt just catching it. Unless you use some kind of device to safely catch it. Attributable perhaps to comics physics? Seriously though, if it is possible for Steve Rogers to catch it, it is doable by any ordinary person. You just have to notice that while Steve catches it using one hand, Sam Wilson needs to use both hands.