Gripper, having a gripper main body , at least a first gripper finger (16.1) and at least a second gripper finger (16.2, 16.3), and also a gear mechanism which is designed to mount the at least one first gripper finger (16.1) and the at least one second gripper finger (16.2) on the gripper main body such that they can be adjusted relative to one another, wherein at least one of the first and the second gripper finger (16.1, 16.2, 16.3) has: - a finger main body arranged on the gripper main body , - a gripping element with a first limb (22.1) and a second limb (22.2) which is arranged oriented at a fixed angle in relation to the first limb (22.1) and rigidly connected to the first limb (22.1), - at least one articulation guide which is designed to mount the second limb (22.2) on the finger main body in an adjustable manner, - a force measuring device which is designed to measure both forces in a first direction and forces in an opposite second direction, - wherein the first limb (22.1) has a first gripping area (25.1) on a first surface and a second gripping area (25.2) on a second surface which is situated opposite the first surface, and - the force measuring device is arranged between the second limb (22.2) and the finger main body and is designed to measure a gripping force which acts on the first gripping area (25.1) of the first limb (22.1) and a gripping force which acts on the second gripping area (25.2) of the first limb (22.1), characterized in that the articulation guide has a rotary bearing which mounts the gripping element in a pivotable manner on the finger main body and the force measuring device is arranged between the finger main body and the second limb (22.2), which is mounted on the finger main body in a pivotable manner by the rotary bearing , in order to measure a gripping force which acts on the first limb (22.1) and may be a tensile force or a compressive force. - a finger main body arranged on the gripper main body , - a gripping element with a first limb (22.1) and a second limb (22.2) which is arranged oriented at a fixed angle in relation to the first limb (22.1) and rigidly connected to the first limb (22.1), - at least one articulation guide which is designed to mount the second limb (22.2) on the finger main body in an adjustable manner, - a force measuring device which is designed to measure both forces in a first direction and forces in an opposite second direction, - wherein the first limb (22.1) has a first gripping area (25.1) on a first surface and a second gripping area (25.2) on a second surface which is situated opposite the first surface, and - the force measuring device is arranged between the second limb (22.2) and the finger main body and is designed to measure a gripping force which acts on the first gripping area (25.1) of the first limb (22.1) and a gripping force which acts on the second gripping area (25.2) of the first limb (22.1), characterized in that the articulation guide has a rotary bearing which mounts the gripping element in a pivotable manner on the finger main body and the force measuring device is arranged between the finger main body and the second limb (22.2), which is mounted on the finger main body in a pivotable manner by the rotary bearing , in order to measure a gripping force which acts on the first limb (22.1) and may be a tensile force or a compressive force. <EOS>