Current trends in Robotics, both in Service applications and in the Industrial sector through the continuous growth of Collaborative Robotics, show an increasing proximity between robots and humans, creating the need for safe, reliable and versatile robotic systems. This thesis addresses this need by developing a simple, multipurpose soft gripper that is motorless, gearless and lightweight. The gripper features silicone fingers actuated by nickel-titanium (nitinol) tendons, Shape Memory Alloy (SMA) wires that contract when heated above a known activation temperature. Each finger incorporates both agonist and antagonist SMA tendons for enhanced control. Additionally, an air channel embedded within the silicone matrix connects a compliant, hollow fingertip to a precision pressure sensor at the finger base, enabling contact detection between the finger and grasped objects.