A soft robot hand includes a palm, a first fabric-reinforced textile actuator coupled to the palm, and a second fabric-reinforced textile actuator coupled to the palm. The first actuator is moveable relative to the palm between a collapsed position and an inflated position to approximate a joint in a first human finger. The second actuator is spaced apart from the first actuator. The second actuator is moveable relative to the palm between a collapsed position and an inflated position to approximate a joint in a second human finger.