Babita lost 2-5 to Canada's Diana Weicker in her last round robin match which put paid to her chances of winning gold.
Weicker forced the early advantage by taking a 1-0 lead in the first round.
Although Babita managed to execute a two-point in the second round, the Canadian notched up four more points to wrap up a comfortable win.
Samuel had taken the early lead but Babita pulled off a two-point move to put her nose ahead. She earned another point with a take down to bolster her lead.
Babita was even more dominant in her next bout, defeating Sri Lanka's Deepika Dilhani by fall early in the first period.
Meanwhile, Kiran added to the Indian medals tally by bagging bronze in the women's 76kg category.
She outclassed Katouskia Pariadhaven of Mauritius by technical superiority for the bronze medal.
Kiran had built up a 10-0 lead in the first period itself which promped the officials to award her the bout.
Bouts are awarded on the basis of technical superiority when one wrestler takes a lead of 10 or more points.
She taken a 4-1 lead in the first round before scoring seven consecutive points in the second to wrap up the victory.
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