Movie S1.

The soft gripper with toggle button grasping an object. We demonstrated the chemical resistance of the soft gripper in a base bath of 20% sodium hydroxide (by weight) in water, which caused a metal (aluminum) to react and degrade within seconds. A 3D-printed ABS mold was placed in the base bath to remove support material introduced by the 3D printer; a human user then retrieved the mold from the base bath by pressing the single soft button to toggle between the actuated and unactuated states of the pneu-net gripper.