Handling soft and irregularly shaped objects without causing harm has proven to be an extremely difficult and tedious operation using the gripper with hard fingers. To address these issues, a gripper including soft fingers and several actuation methods, including pneumatic, vacuum, and tendon mechanisms, has been used in diverse applications recently. Nevertheless, these grippers offer increased flexibility, requiring the implementation of new techniques to actuate the fingers with a greater grasping force. Therefore, a novel gripper with soft fingers with magnetorheological fluid has been proposed in this study. A magnetorheological fluid was prepared by combining 85% carrier fluid, such as mineral oil, with 15% ferromagnetic particles, and used as the actuating medium in this investigation. A three fingered gripper was developed using two step fabrication method and tested under different magnetic field conditions. An Ar-duino-based closed loop feedback control system was used to assess finger de-flection and regulate the flow rate of MR fluid into the gripper. The experimental findings illustrate the capacity to manipulate diverse items of varying weights. The findings indicate that the gripper using MR fluid provides more grabbing force than the other grippers.