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As per the authors\u2019 knowledge, there is a lack of existing systems that offer hardware\u2010level modularity for on\u2010demand reconfiguration. To overcome the existing gap, the article presents a modular and scalable pneumatic soft gripper with quick\u2010swappable silicone fingers. The proposed methodology combines (1) magnetically coupled modular fingers (swapped in &lt;5\u2009s), (2) parametrically scaled PneuNet actuators (S \u2192 L sizes), and (3) self\u2010sealing pneumatic interfaces. The experiments show linear payload scaling from 0.32\u2009kg (60\u2009mm fingers) to 4.23\u2009kg (150\u2009mm fingers) (\n                    <jats:italic>R<\/jats:italic>\n                    <jats:sup>2<\/jats:sup>\n                    \u2009=\u20090.98), 96.4% grasp success across fragile, irregular, and heavy objects, and 100% swap reliability over 200 cycles. This work enables a single gripper to adapt from micro\u2010precision to heavy\u2010payload tasks, advancing soft robotics toward cross\u2010domain automation.\n                  <\/jats:p>","DOI":"10.1155\/joro\/9148351","type":"journal-article","created":{"date-parts":[[2025,12,19]],"date-time":"2025-12-19T08:26:40Z","timestamp":1766132800000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["A Scalable Pneumatic Soft Gripper With Modular Silicone Fingers for Adaptive Grasping"],"prefix":"10.1155","volume":"2025","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9469-0177","authenticated-orcid":false,"given":"M. S. 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