= 9 mm). Consequently, the two-finger gripping unit undergoes two-step motion of first widening the gripper opening significantly (from 68 mm to 215 mm) and then closing it moderately (Figure 5A).  In the demonstration of the soft gripper with the developed two-finger gripping units, the box-shaped objects with different sizes (width of 100 mm to 208 mm, Figure 5B) were picked and placed (Figure 5C, D, and Movie S6).