Abstract— Recently, the soft gripper is widely used for packaging food in industrial, because it can grip both the soft and hard material objects without deforming them by controlling the air pressure in the soft fingers. In this study, we presented two different patterned profiles of pneumatic soft fingers. These patterned profiles were experimented to grip objects in three cases: three-; and four-soft finger gripper. These soft actuators were experimentally tested by picking and placing objects with different weights, shapes, and sizes. The material of the soft actuator is platinum silicone rubber. The casting process was used to create two molds that were fabricated by 3D - printing technology. The molds consist of two parts (a soft chamber and a cover). The soft chamber was connected with the cover by gluing on it. The results showed that the prestressed gripper could stably handle many different types of food and still remain compact with a simple controller and different patterned profiles.