A vacuum cup assembly and a method of lifting an object are provided. The vacuum cup assembly includes a cup structure defining an opening at a proximal end, a recess at a distal end, and a cavity region between the proximal and distal ends, where the cavity region includes at least one cavity. The opening is in fluid communication with the recess and with the cavity region. Inner structures are disposed in the cavity region. The inner structures are configured to hold the cup structure in a gripping position when a negative pressure is applied to the cavity region through the opening in the cup structure. The cup structure is configured to be in a resting position without the negative pressure being applied to the cavity region. The vacuum cup assembly has a first shape in the resting position and a second shape in the gripping position.