The need for gentle, efficient, and sustainable harvesting solutions in modern agriculture is becoming increasingly important as global demand for fresh produce continues to rise. Conventional rigid robotic grippers often cause mechanical damage to delicate fruits and vegetables, leading to significant post-harvest losses and food waste. To address these challenges, soft robotic technologies are emerging as effective alternatives due to their compliance, adaptability, and ability to interact safely with biological materials. This project presents a low-cost pneumatic soft robotic system designed for fruit harvesting, integrating pressure and color sensing to detect ripeness and prevent bruising. The gripper is fabricated from silicone Ecoflex using a custom 3D-printed mold and actuated through an air pump–valve assembly. A pressure sensor detects contact pressure to ensure safe gripping, while a TCS34725 color sensor evaluates ripeness based on fruit surface color. The control is implemented with an Arduino Uno, which coordinates actuation by integrating sensor data for decision-making in real time. Experimental trials are carried out on different fruits with varying hardness and ripeness levels. The results demonstrate reliable ripeness detection with over 80% accuracy and successful picking with minimal visible surface damage, confirming the effectiveness of integrating pneumatic actuation with low-cost sensing. Overall, the developed system provides a practical, sustainable, and accessible approach to precision agriculture, contributing to reduced food waste, improved crop handling, and advancement toward intelligent, automated harvesting technologies.