Robotic manipulation, an area inside the field of industrial automation and robotics, consists of using a robotic arm to guide and grasp a desired object through actuators such as a vacuum or fingers, among others. Some objects, such as fragile ceramic pieces, require special attention to the force and the gripping method exerted on them. For this purpose, two grippers were developed, where one of them is a rotary vacuum gripper and the other is an impact gripper with three fingers, each one equipped with a load sensor capable of evaluating the values of load exerted by the grip actuators onto the object to be manipulated. The vacuum gripper was developed for the purpose of glazing a coffee saucer and the gripper with three fingers was developed for the purpose of polishing a coffee cup. Being that the impact gripper with sensorial feedback reacts to the excess and lack of grip force exerted, both these grippers were developed with success, handling with ease the ceramic pieces proposed.