Abstract: A tactile micro-gripper is disclosed having a combined lever and spring linkage. The lever flexes at predetermined points and is coupled to the spring and to an actuator. The spring is of a parallelogram type, so that the ends remain parallel to one another when the spring is bent. When the actuator causes the lever to move transversely, the end of the spring is caused to move laterally in a parallel manner. A pair of lever and spring linkages are arranged together so that they cooperatively act together to manipulate a pair of fingers, which are attached to the ends of the springs, to grip and release objects. Tactile sensing is accomplished by means of a cantilever beam and an optical detection system disposed in the tip of the fingers.