Kari mentioned that the Super-Release intern Aidan had some picks for soft robotics on Instructables.
Super-Releaser created the Glaucus soft robot and Adafruit has an in-depth tutorial for how to make it.
Some videos of soft actuators and soft robots:
Rat heart cell robot from Popular Mechanics
First Autonomous Entirely Soft Robot (Harvard Octobot)
VoxCad Tutorial for simulating soft robotics