Gripper apparatus and method for controlling the same

A method for controlling a gripper apparatus, comprising the steps of:

• using a controller to control the gripper apparatus, whereas the gripper apparatus comprises at least one gripper unit, and each gripper unit is configured with a first connecting rod and a second connecting rod that are interconnected to each other;
• the first connecting rod has a first end and a second end that are arranged opposite to each other;
• and the second connecting rod has a third end and a fourth end that are arranged opposite to each other while enabling the third end to couple to the second end of the first connecting rod and the fourth end to couple to a driver, and in addition, there is an elastic part disposed at a joint of the first and the second connecting rods, while the elastic part is connected electrically to an encoder that is further to be electrically connected to the controller;
• enabling the controller to control the gripper apparatus to move toward an object in a first operation mode;
• enabling the gripper unit to engage the object and thus exert a force upon the object for enabling the elastic part to be deformed thereby while allowing the deformation of the elastic part to be measured and encoded by the encoder into a force information;
• and
• enabling the controller to switch the control of the gripper apparatus into a second operation mode according to the force information.