A two-axial force sensor of octagonal ring is designed

finite element analysis on sensor and strain nodes analysis are carried out with simulation software ANSYS. By sensor statical calibration test to get the calibration matrix

which solves the problem of coupling because of production error and strain gauges pasted error. A two-parallel-fingers hand and a gripper system based on a controller of force closed-loop are designed. And the maximum coefficients of static friction between different materials are detected. Actual gripping experiment shows a good effect of stable gripping using force-ratio control.