Soft robotic hands consist of soft materials and are pneumatically driven. They are able to grasp deformable and delicate targets. We applied 3D printers to realize various soft robotic hands. We are applying such soft hands to food industry, especially, to food material packing. Pneumatically driven systems require small-sized, light-weight pneumatic valves. We demonstrate micro pneumatic valves, which consist of unconstrained poppets and vibration devices.