Traditional industrial robotics, dominated by rigid metallic linkages, are inherently unsuited for handling fragile biological goods or working in close proximity to humans. This paper explores the development of Pneumatic Soft Actuators using 3D-printed Elastomeric Polylactic Acid (E-PLA) and bionic geometries. By mimicking the "hydrostatic skeleton" of an octopus tentacle, we have engineered a robotic gripper capable of a "Conformal Wrap," allowing it to handle objects of irregular geometry without pre-programmed coordinates. Our study analyzes the use of Tactile E-Skin sensors that provide real-time pressure feedback at a resolution of 1.2 kPa. The results show a 99% success rate in the damage-free handling of soft tissues and delicate electronics, marking a significant advancement for the agricultural and surgical automation sectors in India.