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This paper presents the design and control of a sensorized microgripper using a voice coil motor and a flexure mechanism. To increase the gripping sensitivity, shape design and determination of sensor attachment position are performed using finite element analysis. Empirical models of the microgripper are acquired for the design of position control and gripping force control. By using the identified models, both the perfect tracking controller for position control and the adaptive zero-phase error tracking controller for force control are implemented. The effectiveness of the proposed model-based control methods is verified by experimental studies.