A manipulator can includes a frame, a first deployable support element configured to extend or retract with respect to the frame when acted on by an actuator, a static support element fixedly connected with the frame and comprising a second set of retention elements, and any suitable number of additional deployable support elements. Each support element can further include a respective set of retention elements configured to retain an item. In use, a manipulator can be used to move items by identifying an item contact area of an item to be moved, selectively deploying or retracting the deployable support elements based on the item contact area, and then contacting and retaining the item with the retention elements of the selected support elements.