Here are some excerpts from the rule book straight off the FIBA website
33.1 The hands and arms may be extended in front of the torso no further than the position of the feet, with the arms bent at the elbows so that the forearms and hands are raised. The distance between his feet will vary according to his height.
33.4 Once the defensive player has established an initial legal guarding position, he may move to guard his opponent, but he may not extend his arms, shoulders, hips or legs and by doing so cause contact to prevent the dribbler from passing by him.
** Main points - may not extend arms, causing contact to prevent dribbler passing by him
33.10 Contacting an opponent with the hand(s) and/or arm(s)
The touching of an opponent with a hand(s) is, in itself, not necessarily a foul.
The officials shall decide whether the player who caused the contact has gained an unfair advantage.
If contact caused by a player in any way restricts the freedom of movement of an opponent, such contact is a foul.
Illegal use of the hand(s) or extended arm(s) occurs when the defensive player is in a guarding position and his hand(s) or arm(s) is placed upon and remains in contact with an opponent with or without the ball, to impede his progress.
** Main point - remain in contact
Also 33.10 It is a foul by an offensive player with the ball to:
Point 3 - Use an extended forearm or hand, while dribbling, to prevent an opponent from gaining control of the ball.
** Extended forearm
This is similar in post play where 1 forearm on the offensive player is accepted as long as it is not displacing the offensive player and this arm must be removed when the offensive player turns and faces the basket..