Flexible wires are widely used in mechanical and electrical products. As a kind of deformable linear object (DLO), the posture of the wire in the gripper changes dynamically especially during the following process in a limited operating space. For the following manipulation of flexible wires, we design a compact parallel gripper based on a flexible hinge and a tactile sensor is installed on the gripper. And we adopt a suitable algorithm for wire posture estimation. In addition, we build a planar pulling model of the wire-gripper and construct the relationship between the end position adjustment and the wire posture to keep the wire at the center of the sensor. Experiments are carried out to verify the accuracy of posture estimation algorithm and the effect of following wire.