A innovative overlay soft gripper is presented, it employs an assembling mechanism that allows for adjustments in grip size, orientation, and gripping force, providing versatile handling capabilities. The gripping force can be fine-tuned by altering the stiffness, achieved by adjusting the effective length of some of the constituent flexible elements. Furthermore, the displacement transmission mechanism can operate in two distinct modes: functioning as a rigid-body mechanism when not considering the flexible elements, and as a hybrid rigid-body/flexible mechanism when the flexible elements are used, offering adaptability and precision in various applications.