This master’s thesis presents the design of a robotic hand aimed at autonomously harvesting grapes for wine production, terminating in a functional prototype. The primary objective is to achieve human-like arm and hand movement, facilitating safe interaction with delicate fruit and reducing the risk of damage. The first phase of this project involved designing custom hardware for a PCB to monitor, in real-time, pressure sensors attached to the robotic hand and controls motors connected to the fingers. This custom board is optimized to measure the pressure applied, emulating a human sense of touch, and adjusting directly the motors response. Bluetooth communication ensures an efficient method to receive commands from the main computational unit and coordination with other custom boards.