Robotic system with haptic cutting tool

A robotic grasping device, comprising

• a rigid base;
• a finger to facilitate grasping of objects, the finger pivotally mounted to the rigid base at a proximal end to facilitate a pivot motion by the finger and having an elongated length which extends away from the rigid base to a distal end;
• at least one sensor which is configured to sense a first force applied to the finger;
• a cutting tool attached to the rigid base, the cutting tool including a first cutting jaw arranged to pivot on a pivot axis in a direction toward a second cutting jaw when the finger applies a pushing force on the first cutting jaw;
• wherein forces exerted on the first or second cutting jaw are sensed with the at least one sensor during a first predetermined range of the pivot motion by the finger associated with a cutting mode.