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, India's Kiran lost in the semi-finals to crash out of the women's 76kg competition.
Kiran was no match for Blessing Onyebuchi of Nigeria, conceding a 0-10 deficit in the first round itself to lose by technical superiority.
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.
Kiran will fight Katouskia Pariadhaven of Mauritius for the bronze medal.
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