From The Collaborative International Dictionary of English v.0.48:
Rasp \Rasp\ (r[.a]sp), v. t. [imp. & p. p. Rasped (r[.a]spt);
p. pr. & vb. n. Rasping.] [OF. rasper, F. r[^a]per, to
scrape, grate, rasp, fr. OHG. rasp[=o]n to scrape together,
to collect, probably akin to E. rap. Cf. Rap to snatch.]
[1913 Webster]
1. To rub or file with a rasp; to rub or grate with a rough
file; as, to rasp wood to make it smooth; to rasp bones to
powder.
[1913 Webster]
2. Hence, figuratively: To grate harshly upon; to offend by
coarse or rough treatment or language; as, some sounds
rasp the ear; his insults rasped my temper.
[1913 Webster]