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Suction in such gripper is actively controlled by applying a negative pressure behind the film. The elastomeric gripper body is 3D\u2010printed, making it easy to customize and integrate into future robotic gripping systems. The gripper can pick a wide variety of objects, such as delicate fruits, small parts, and parts with uneven loads, with high pull\u2010off forces (over 7.4\u2009N with \u2205 20\u2009mm\/55\u2009kPa). The achieved pull\u2010off forces are significantly higher than the previously reported suction cup grippers with films and more comparable with commercial vacuum grippers. The pull\u2010off forces show no significant differences with surfaces of varying roughness (up to root\u2010mean\u2010square roughness of 5.66\u2009\u03bcm) and the gripper is able to pick and release target objects repeatedly. The gripper is also compared with a commercial vacuum gripper with comparable dimensions. It outperforms the commercial gripper in the case of fragile objects, objects smaller than the gripper diameter, and objects with uneven loads. 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