A gripper apparatus and its control method are provided. The gripper apparatus includes at least one gripper unit, and each gripper unit is configured with a first connecting rod and a second connecting rod. In addition, there is an elastic part disposed at the joint of the first and the second connecting rods, an encoder and a controller. Thereby, the controller is enabled to control the gripper apparatus to move toward an object in a first mode so as to enable the gripper unit to engage the object and thus exert a force upon the object. Consequently, the elastic part is deformed and the deformation of the elastic part is measured and encoded by the encoder into a force information to be transmitted to the controller for enabling the controller to switch the control of the gripper apparatus into a second mode according to the force information.