This is the DragonClaw: a 3D-printable, pneumatically actuated, three-fingered dexterous gripper with embedded magnetic tactile sensing that can perform power grasps. It can complete a modified Kapandji test with its magnetic sensor (ReSkin) allowing it to respond to external disturbances.
The idea for this project is to make soft grippers with embedded sensing accessible to people who are not soft robot experts. The above video shows it in action. Detailed instructions and materials are available on DragonClaw’s website.