Abstract: A gripping device configured as a robot tool or a robot hand includes two gripper fingers rotationally coupled to each other by a joint. The gripper fingers are pivotable about a rotational axis between a gripping position and a release position, the rotational axis being defined by the joint. An angle between the gripper fingers about the rotational axis is larger in the gripping position than in the release position. The gripper fingers are configured to reach through a through-hole in an object to be gripped from a first side of the object. The gripper fingers have an end piece at a distal end thereof, the end piece being configured to engage behind the object at a second side of the object opposite the first side along a length axis of the gripper fingers. The joint is fixed to a joint support extending from a main body.