Control the output force and displacement for the gripper using Topology Optimization

Hi All,

I am attempting to design a gripper that is flexible enough to conform to the shape of the object and stiff enough to transmit the required grasping forces (in 2D & 3D problems). However, I am wondering if HyperWorks software can design a compliant gripper based on Topology optimization like the example below.

Example:
- Input: 10mm displacement or other value (displacement driven) => The output ports will have specific or maximum values such as 20mm and 20 N (Displacement & forces)
Or
- Input: 20N or other value (force-driven) => The output ports will have specific or maximum values such as 20mm and 20 N (Displacement & forces).

Moreover,  I don't know how to set the contact force or pressure between the gripper and the object.

Thank you,
Hung