This　study　presents　a　soft　gripper　incorporating　a　novel　belt　loop　actuated　adhesion　design,　offering　a　comprehensive　solution　for　the　fabrication,　variable-scale　actuation,　and　contact　sensing　of　directional　adhesives.　The　solution　facilitates　high-resolution　control　of　directional　adhesives　with　relatively　low　device　requirements.　On　this　basis,　the　gripper　adopts　a　minimal　interaction　force　actuation　strategy,　thereby　enabling　the　maximum　gentleness　in　handling　objects.　The　gripper　has　demonstrated　its　non-destructiveness　and　efficiency　on　various　fragile　flat　objects.　Additionally,　the　sensing　capabilities　for　adhesive　pairs　allow　it　to　percept　and　handle　unlocated　objects.