Abstract: A robotic system which includes a fluid controller, an arm portion, and a soft end effector apparatus coupled with the fluid controller and the arm portion. The soft end effector apparatus includes a base constructed and arranged to mount to the arm portion, a set of wrist assemblies coupled with the base, and a set of finger assemblies coupled with the set of wrist assemblies. Each wrist assembly of the set of wrist assemblies (i) couples with a respective finger assembly and (ii) provides movement to that respective finger assembly relative to the base during actuation of that wrist assembly and during independent actuation of that respective finger assembly in response to control from the fluid controller. Along these lines, the fluid controller may individually provide pressurized fluid to each wrist assembly and each finger assembly when controlling interaction between the soft end effector apparatus and an external object.