This article presents a soft gripper design for small and medium-sized fruit harvesting and pick-and-place operations. The gripper is fabricated using 3D printing technology with a flexible thermoplastic elastomer filament, enabling the production of an economical, compact, and easily replicable gripper. The design integrates a pneumatically actuated soft diaphragm actuator with a 3D-printed flexible structure into a single compact module. Data collected from finger-tracking gloves were used to design the gripper, which adapts to human movement patterns. The gripper is suitable for agricultural tasks and pick-and-place operations, with the main novelties including the study of movement patterns for blueberry harvesting, the design of a compact hybrid soft gripper, the development of a simplified control system for soft grippers, and the creation of an easily replicable and cost-effective actuator. The gripper is capable of harvesting fruits or objects found in clusters without damaging surrounding ones. The design takes advantage of soft robotics technology, using 3D additive manufacturing to integrate flexible structures and pneumatic actuation in a compact form. The gripper is controlled using MATLAB/Simulink and can operate automatically with a PID control mechanism. Experimental tests were conducted to evaluate the gripper's performance, showing a maximum grasping force of 13 N at a vacuum pressure of -52 kPa. The gripper was tested for its ability to harvest different fruits, including cherry tomatoes, blueberries, raspberries, and grapes, with successful results. The study concludes that the proposed soft gripper is versatile, easy to manufacture, and suitable for unstructured agricultural scenarios, capable of harvesting small and medium-sized fruits in bunches without damaging the surrounding ones. Future research will focus on integrating various sensors into the gripper and defining soft gripper joints in ROS for better integration into next-generation robot harvesters.This article presents a soft gripper design for small and medium-sized fruit harvesting and pick-and-place operations. The gripper is fabricated using 3D printing technology with a flexible thermoplastic elastomer filament, enabling the production of an economical, compact, and easily replicable gripper. The design integrates a pneumatically actuated soft diaphragm actuator with a 3D-printed flexible structure into a single compact module. Data collected from finger-tracking gloves were used to design the gripper, which adapts to human movement patterns. The gripper is suitable for agricultural tasks and pick-and-place operations, with the main novelties including the study of movement patterns for blueberry harvesting, the design of a compact hybrid soft gripper, the development of a simplified control system for soft grippers, and the creation of an easily replicable and cost-effective actuator. The gripper is capable of harvesting fruits or objects found in clusters without damaging surrounding ones. The design takes advantage of soft robotics technology, using 3D additive manufacturing to integrate flexible structures and pneumatic actuation in a compact form. The gripper is controlled using MATLAB/Simulink and can operate automatically with a PID control mechanism. Experimental tests were conducted to evaluate the gripper's performance, showing a maximum grasping force of 13 N at a vacuum pressure of -52 kPa. The gripper was tested for its ability to harvest different fruits, including cherry tomatoes, blueberries, raspberries, and grapes, with successful results. The study concludes that the proposed soft gripper is versatile, easy to manufacture, and suitable for unstructured agricultural scenarios, capable of harvesting small and medium-sized fruits in bunches without damaging the surrounding ones. Future research will focus on integrating various sensors into the gripper and defining soft gripper joints in ROS for better integration into next-generation robot harvesters.