As an application that leverages the spatial benefit of the retractable finger gripping unit, we developed a versatile soft gripper that uses both dual-origami fingers and suction gripper (VSS40-S-X, F.TEC, Figure 12A). For conventional grippers that complementarily utilize the advantages of finger grip and suction grip (in order to grip from rough and rounded object to flat and smooth object), protruding fingers interfere with the suction gripper when contacting the objects, and this problem required additional actuators and control strategies; e.g., attaching linear actuator to suction gripper. In the case of our proposed versatile gripper, the folded fingers are at the rear of the suction cup; they inherently do not interfere with the suction gripper. When the finger units are actuated, they deploy to the front of the suction gripper and can grip the object by themselves or even collaborate with the suction gripper. We attached the versatile gripper to a conventional robotic arm (M1013, Doosan Robotics) and conducted a pick-and-place task for ten objects (Figure 12B and Figure13). The soft fingers could grip various objects ranging from soft and light objects (e.g., 6-g mask, soft doll, confectionery) to a 2.5-kg dumbbell (Figure 12C). The suction grip was selectively used for flat objects, and fingers could be sequentially used for collaborative grasping (soup bowl). Moreover, by attaching artificial nails at the tip, the fingers could pick up a flat coin, reorient it in the upright position, and insert it in a slot precisely (Figure14 and Experimental section for detail, tasks that each requires strength, delicacy, precision and dexterity were conducted).