A vision-based sensing system is developed for the measurement of gripping force in a polymer microgripper system. The system is implemented by a force sensing arm integrated with a microgripper, a CCD with microscopic system, and an image processing algorithm. The integrated force sensor and microgripper mechanism is fabricated by utilizing Polyurethane film. The microgripper is actuated by Shape memory alloy. The gripping force on a copper rod of diameter 20μm is analyzed, measured, and calibrated. The main specifications of the gripper system are: maximum force resolution (@0.86μm/pixel) of 1μN, sensitivity of 988.24μN-μm/deg, maximum gripping force of 15μN, maximum gripping size of 40μm, and mechanism and actuator size of 937 x 477 x 600μm3.