I wanted to make one of the soft grippers but I never got a chance to order the Eco-flex so I thought of some other materials I could use to make a similar gripping mechanism. I decided to use bike tubes since they are very flexible and very durable. Bike tubes also seemed like the cheapest and most feasible way to scale the size of the gripper to pick up larger objects.
The gripper is made up of three gripper fingers all attached at the center. Each finger is composed of 2 deflated tubes that are duct taped together and a closed tube that has a valve to pump in air. When the closed tube is inflated it bends the arm inward.
Here are some pictures of the working prototype.