Many grippers rely on rigid point contacts, which can bruise, crush, or drop fragile, deformable, or living targets—especially under small misalignments or limited user dexterity. Off-the-shelf reacher-grabbers have the same issue: stiff pinching jaws that are hard to aim and unforgiving with delicate items. We address this with a soft pneumatic gripper designed to wrap rather than pinch. By tuning a lattice of internal air pockets, the actuator curls to “cocoon” an object, spreading forces over a larger area and reducing peak pressure while tolerating pose and control errors. This project investigates how to optimize that pneumatic lattice for gentle, enveloping grasps and integrate it into a simple, syringe-driven handheld device for safer rescue handling and more intuitive assistive gripping.