Detecting how heavy an object is would be possible - also those grippers will simply not grasp something too heavy. Your big problem will be simply in not detecting some object that coat-hangers it.

Let's not pretend a consumer model is even remotely ready though, these scenarios are highly contrived. The goal at the current time is research, and at that price point there are a few options available.

When it lifts something, it can apply the force gradually. When that force approaches the tipping limit, it would abandon the lift.