Soft robotics is a modern technique that allows robots to have more capabilities than conventional rigid robots. Pneumatic Muscle Actuators (PMAs), also known as McKibben actuators, are an example of soft actuators. This research covered the design and production of a pneumatic robot end effector. Smooth, elastic, flexible, and soft qualities materials have contributed to the creation of Soft Robot End-Effector (SREE). To give SREE compliance, it needs to handle delicate objects while allowing it to adapt to its surroundings safely. The research focuses on the variable stiffness SREE’s inspiration design, construction, and manufacturing. As a result, a new four-fingered variable stiffness soft robot end effector was created. SREE has been designed using two types of PMAs: Contractor PMAs (CPMAs) and Extensor PMAs (EPMAs). Through tendons and Contractor PMAs, fingers can close and open. SREE was tested and put into practice to handle various object types. The innovative movement of the suggested SREE allows it to grip with only two fingers and open and close its grasp with all of its fingers.