Safe and effective physical human–robot interaction requires robotic hands that can adapt to large deformations, external loads, and dynamic contact conditions. Soft robotic hands have the potential to play an important role in manipulation and assistive applications by providing compliant, human-friendly interaction while reducing the risk of injury. Soft Fingers is a pneumatically actuated five-finger soft robotic hand designed to study and enable controlled interaction with objects of varying stiffness and geometry.