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This paper presents the design, and control of a sensorized microgripper using VCM (voice coil motor). In order to increase the sensitivity of the sensorized microgripper, shape design and determination of sensor position are performed using finite element analysis. Micro EDM (electric discharge machine) and wire cutting technique are employed to fabricate the microgripper. Empirical model of the microgripper is achieved to analyze the performance and to control the position and gripping force. By using this identification model, both the perfect tracking controller (PTC) for the position control, and the adaptive zero-phase error tracking controller (ZPETC) for the force control are implemented. The effectiveness of the proposed model-based control method is verified by both simulation and experimental studies. Simulation and experimental results show that the proposed control method can be effectively applied to improve the motion tracking performance. Especially, in case of force control to grip and manipulate soft materials such as biomaterials and tissues, the proposed controller can be very useful to prevent the invasion of the target material by excessive force.