This seems like a really good idea for a robotic gripper.
It would be cheap to manufacture and can handle a wide range of objects. A design of this kind radically simplifies both the mechanical and computational requirements for a "tidying up" kind of robotic application, eliminating the need for complex sensing of the shape of the object and motion planning of fingers. Even if a soft manipulator wears out or breaks after a few million cycles, it wouldn't be particularly expensive to replace.
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