This article presents a novel soft gripper design for harvesting and pick-and-place operations of small and medium-sized fruits. The gripper is fabricated using 3D printing technology with flexible thermoplastic elastomer filaments, enabling an economical, compact, and easily replicable design. The design integrates a pneumatically actuated soft diaphragm actuator and a flexible structure, allowing for various grip patterns and handling clustered fruits without damaging surrounding ones. The study involved data collection from finger-tracking gloves to adapt the gripper to human movement patterns, ensuring it can perform a wide range of picking motions. The gripper's performance was characterized through static experiments and picking tasks, demonstrating its effectiveness in harvesting different fruits without causing damage. The article also discusses the control system, which uses MATLAB/Simulink for manual and automatic operation, and the integration of the gripper with a dual-arm robotic platform. The results highlight the potential of this soft gripper for automated agricultural tasks, particularly in unstructured environments.This article presents a novel soft gripper design for harvesting and pick-and-place operations of small and medium-sized fruits. The gripper is fabricated using 3D printing technology with flexible thermoplastic elastomer filaments, enabling an economical, compact, and easily replicable design. The design integrates a pneumatically actuated soft diaphragm actuator and a flexible structure, allowing for various grip patterns and handling clustered fruits without damaging surrounding ones. The study involved data collection from finger-tracking gloves to adapt the gripper to human movement patterns, ensuring it can perform a wide range of picking motions. The gripper's performance was characterized through static experiments and picking tasks, demonstrating its effectiveness in harvesting different fruits without causing damage. The article also discusses the control system, which uses MATLAB/Simulink for manual and automatic operation, and the integration of the gripper with a dual-arm robotic platform. The results highlight the potential of this soft gripper for automated agricultural tasks, particularly in unstructured environments.