Yes, sometimes that's all it takes.
> A broad variety of serpentine and continuum robots have been developed for minimally invasive surgical applications.
Soft robotic grippers are also interesting because they allow you to grasp objects without complex touch/force sensors.
> With their ability to shapeshift and manipulate delicate objects, soft robots could work as medical implants, deliver drugs inside the body and help explore dangerous environments.
It's a pretty cool concept and might have interesting albeit niche applications.