https://www.csail.mit.edu/news/soft-robotic-gripper-can-pick-and-identify-wide-array-objects
How it works
Researchers control the gripper via a series of pistons that push pressurized air through the silicone fingers. The pistons cause little bubbles to expand in the fingers, spurring them to stretch and bend.
The hand can grip using two types of grasps: “enveloping grasps,” where the object is entirely contained within the gripper, and “pinch grasps,” where the object is held by the tips of the fingers.
Silicon rubber