A soft pneumatic actuator (PneuNet) is an elastomeric continuum robotic mechanism that executes high-compliance bending motion through fluidic chamber pressurization. Fabricated with an asymmetric chamber geometry bonded to a non-extensible strain-limiting backbone layer, internal fluid pressurization induces longitudinal strain differentials across opposing walls. The resulting continuum bending curvature facilitates delicate handling of fragile geometries and adaptive biomimetic grasping.