Food handling gripper

A soft actuator comprising:

• an elastomeric body that extends from a proximal end to a distal end, the elastomeric body:
• surrounding a void configured to receive an inflation fluid,
• comprising a plurality of accordion extensions, and
• being tapered from the proximal end to the distal end in a breadth direction and a thickness direction.

A soft actuator comprising:

• an oval-shaped elastomeric body that extends from a proximal end to a distal end, the elastomeric body:
• surrounding plurality of teardrop-shaped voids configured to receive an inflation fluid,
• comprising a plurality of accordion extensions, and
• configured to bend along a major axis extending in a circumferential direction of the soft actuator and a minor axis extending in an axial direction of the soft actuator when inflated to create a cupping shape.