diff --git a/src/pyhpp/pinocchio/device.cc b/src/pyhpp/pinocchio/device.cc
index f0689a8..1a68797 100644
--- a/src/pyhpp/pinocchio/device.cc
+++ b/src/pyhpp/pinocchio/device.cc
@@ -224,19 +224,71 @@ static JointIndex getParentJointId(const GripperPtr_t& gripper) {
   return model.frames[model.getFrameId(gripper->name())].parentJoint;
 }
 
+// Class NameResult and NameDescriptor are temporary work-around to tranform
+// getter "name" in class Gripper into a property and to warn users when they
+// call the deprecated name method.
+class NameResult {
+ public:
+  explicit NameResult(const std::string& name) : name_(name) {}
+
+  std::string str() const { return name_; }
+  std::string call() const {
+    std::cerr
+        << "Calling pyhpp.pinocchio.Gripper.name() as a method is deprecated. "
+           "Use the 'name' property instead."
+        << std::endl;
+    return name_;
+  }
+
+ private:
+  std::string name_;
+};
+
+// --- 2. Descriptor to handle both attribute access and calls ---
+class NameDescriptor {
+ public:
+  explicit NameDescriptor(std::string (*getter)(const GripperPtr_t&))
+      : getter_(getter) {}
+
+  // Python descriptor protocol: __get__(self, instance, owner)
+  bp::object get(const bp::object& instance,
+                 const bp::object& /*owner*/) const {
+    if (instance.is_none()) {
+      // Accessed via class (e.g., Gripper.name), not an instance
+      return bp::object();
+    }
+    GripperPtr_t g = bp::extract<GripperPtr_t>(instance);
+    return bp::object(NameResult(getter_(g)));
+  }
+
+ private:
+  std::string (*getter_)(const GripperPtr_t&);
+};
+
 void exposeGripper() {
+  // Expose NameResult (callable + string-like)
+  bp::class_<NameResult>("NameResult", bp::no_init)
+      .def("__str__", &NameResult::str)
+      .def("__repr__", &NameResult::str)
+      .def("__call__", &NameResult::call);
+
+  // Expose NameDescriptor
+  bp::class_<NameDescriptor>("NameDescriptor", bp::no_init)
+      .def("__get__", &NameDescriptor::get);
   // DocClass(Gripper)
-  class_<Gripper, GripperPtr_t>("Gripper", DocClassDoc(), no_init)
-      .add_property("localPosition", &getObjectPositionInJoint)
+  class_<Gripper, GripperPtr_t> gripper_class("Gripper", DocClassDoc(),
+                                              no_init);
+  gripper_class.add_property("localPosition", &getObjectPositionInJoint)
       .add_property(
           "clearance",
           static_cast<value_type (Gripper::*)() const>(&Gripper::clearance),
           static_cast<void (Gripper::*)(const value_type&)>(
               &Gripper::clearance))
-      .def("name", &getGripperName)
       .def("getParentJointId", &getParentJointId,
            "Get index of the joint the handle is attached to"
            " in pinocchio Model");
+  // Add the 'name' descriptor
+  gripper_class.attr("name") = NameDescriptor(&getGripperName);
   class_<std::map<std::string, GripperPtr_t> >("GripperMap")
       .def(
           boost::python::map_indexing_suite<std::map<std::string, GripperPtr_t>,