Robotic microhandling is disturbed by the adhesion phenomenon between the micro-object and the grippers. This phenomenon is directly linked to both the object and the gripper surface chemical composition. We propose to control adhesion by using chemical self-assembly monolayer (SAM) on both surfaces. Previous distance-force measurements done with AFM have shown that the liquid pH can be used to modify the adhesion and created repulsive force between the gripper fingers and the micro-objet. This paper shows the correlation between the force distance distance measurements and the micromanipulation tasks using chemically functionalized grippers.