This project develops a topologically optimized compliant gripper with real-time force feedback for precise and damage-free object grasping. The gripper integrates capacitive sensors and a PID-controlled closed-loop system to adjust grip force dynamically. The Gripper is tested on the Tinkerkit Braccio arm for demonstrating grasping tasks; it ensures adaptability for applications in medical robotics, warehouse automation, and agriculture, enhancing efficiency and reducing damage rates.