A solid block of silicone shouldn’t be able to pick up a ripe tomato, a raw egg, and a stack of loose paper without bruising, cracking, or tearing any of them. Rochu’s soft grippers do exactly that, and the trick is that they barely “decide” anything at all. These are PneuNet actuators: pneumatic networks. Each finger is a strip of platinum-cure silicone moulded with a row of internal air chambers sitting on a thin, near-inextensible strain-limiting layer. Inflate the chambers and the top wall expands while the bottom refuses to stretch. That asymmetry has only one geometric resolution: the finger curls toward the stiff side. A few things fall out of this that rigid grippers can’t touch: • One air line, infinite shapes. The finger is underactuated. A single pressure input drives the whole bend, yet the contact line passively wraps to whatever it meets. No per-joint servo, no object model, no grasp planning. • Force spreads, not spikes. A rigid jaw concentrates load at a few points...