Abstract Introduction Grip and pinch movements are important to perform daily activities and to manipulate objects. In this paper we describe the development and evaluation of a peripheral device to quantify cylindrical grip, pulp-to-pulp pinch, pulp-to-side pinch strength and range of motion of children. Methods Three objects were selected: a door handle, a switch, and a key, which were instrumented with force sensing resistors to analyse the strength. Potentiometers were used to verify the range of motion and micro switches to assure the correct position of the fingers during the movement execution. Thirty volunteers (8.77 ± 1.28), both male and female, were selected to test the peripheral device functionality. Results The results determined the minimum necessary strength values for the object activation and maximum displacement, in which the values are 2.5N, 40°; 2.7N, 55°; and 2.8N, 100%, for door handle object, key object, and switch object, respectively. In the functionally tests, volunteers have shown a superior strength for activating each object and 73.33% of them have completed the range movement in the key object, 86.67% in the switch object, and 93.33% in the door handle object. Conclusion The developed peripheral device enabled the measurement of range and static and dynamic strength of grip and pinch movements of children.