Soft robots have the potential to solve many problems in areas like robotics surgery, human-robot interaction, unmanned exploration tasks, and food harvesting. However, several aspects of soft robotics are still in development, e.g., efficient designs, actuation methods, modeling, and control. This paper provides some designs of tendon-driven soft robots that can be used for educational and research purposes, boosting the understanding of these systems. The proposed designs focus on five features: low manufacturing costs, accessible fabrication methods, simple assembly processes, an open-source approach, and durability.