A laminate linkage with soft actuation includes a plurality of rigid plates joined at flexible joints; at least one balloon bonded to at least one of the rigid plates and configured to generate a displacement (extension, a change of yaw, and/or a change of pitch) of at least one of the rigid plates; and a fluid source in fluid communication with an interior volume of the balloon and configured to pump fluid into the balloon to generate the displacement of at least one of the rigid plates.