A device for gripping, holding, and releasing objects of varying sizes and shapes, which comprises an elongated torus (30) enclosing a fluid material (31), an external control rod (40), and an internal control rod (38). Torus (30) may be made of a flexible membrane and able to seal in fluid material (31). Fluid material (31) can be a gas, liquid, solid particles, semisolid particles, or mixtures of these. Central channel (34) of torus (30) is collapsed due to pressure of fluid material (31) within torus (30). Both control rods are securely attached to torus (30), with rod (38) attached to the interior portion of the torus along collapsed central channel (34), and rod (40) attached to the exterior portion of the torus on outer surface (32). Gripping action is achieved by differential linear motion of control rods (38) and (40) along the longitudinal (elongated) axis of torus (30). This causes front portion (36) of the torus to slide radially inward or outward to grip objects. Further movement of the control rods can cause the object to be pulled completely inside the collapsed channel for secure gripping by completely surrounding the object. The soft flexible nature of torus (30) allows grasping even the most delicate objects without damaging them. Even over-ripe strawberries can be rapidly grasped without bruising.