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We report the development of a joystick controlled gripper for the real-time manipulation of micron-sized objects, driven using holographic optical tweezers (HOTs). The gripper consists of an arrangement of four silica beads, located in optical traps, which can be positioned and scaled in order to trap an object indirectly. The joystick can be used to grasp, move (lateral or axial), and change the orientation of the target object. The ability to trap objects indirectly allows us to demonstratedoi:10.1088/1367-2630/9/1/014 fatcat:hiohw4oglrft7dnm2p7uogztf4