Robots are essential in many industries, and they are becoming increasingly collaborative with workers, which enhances productivity by combining the workers' creativity and problem-solving skills with the robots' speed, endurance, and accuracy. Different tools can be attached to a robot arm, and one handy tool is the gripper that allows the robot to pick up different objects. For a gripper to be as helpful as possible, it must adapt to different objects to handle them correctly. The project in this thesis focuses on building a prototype module that can be attached to a currently used gripper at the University of Halmstad. The prototype has been designed and evaluated using stress analysis using SolidWorks, a computer-aided design software. The prototype has a microcontroller that converts analog to digital signals from force-sensing resistors wired up in a voltage-dividing configuration. This allows the microcontroller to estimate the contour of an object and sense how much force is applied to different segments of the object. The prototype has also been evaluated by performing over 1300 pick-and-place actions on 12 different objects with various forces used to grasp the objects. The pick-and-place success rate for the prototype was 99% while the success rate without the prototype was 82%.