In this thesis work, a prototype of a 2-finger grip hand was developed and manufactured. It was decided to design and to develop the CAD of this gripper and later to print the different parts using a 3D printer. Moreover, a computer control hardware and software were also developed for computer control of the prototype. A MATLAB code was developed for the motion control and force control of the fingers. The gripper was made in order to work in places that are not easily accessible. One possible application is to connect it to a robotic arm and taking advantage of telepresence technology.