Here is a soft pneumatic bending actuator for robots that can be used to enhance robotic hands and wearable exosuits. It has an inflatable tube and housing. Tubes are made of a bladder wrapped by textile.
As the researchers explain:
Five actuators were attached to a commercial glove fingers and form a wearable glove, the glove shows different gestures and it is able to hold 9 kg weights. With a larger scale, the bending actuator was able to hold 20 kg.