This master’s thesis presents the mechanical and electrical design of a hand-like end-effector integrated into an innovative autonomous grape harvesting system. To interact safely and effectively with delicate, irregularly shaped fruit such as grapes, the end-effector, and its control system were designed to replicate the movements and approach typically employed by human harvesters. A core aspect of this design is the skin-like pressure sensor network embedded within the robotic hand, enabling the end-effector to continuously monitor and regulate the applied force during interactions with the fruit, ensuring optimal handling. This sensor network was intentionally built with scalability in mind, allowing future system iterations to enhance the “resolution” of pressure sensing capabilities, thus facilitating more refined control during harvesting tasks.