Soft robotics has emerged as a transformative field aimed at creating machines with compliant, adaptable, and bioinspired machines for human-centered applications. This chapter presents an integrative overview of the key technologies that drive soft robotic systems, particularly in assistive and neuroadaptive contexts. We begin by examining diverse actuation strategies—such as pneumatic, hydraulic, shape memory alloys, dielectric elastomers, and magnetic actuation—highlighting their mechanical principles and suitability for flexible, human-interactive tasks. The role of sensing and control is explored through resistive, capacitive, fiber-optic, and proprioceptive sensor modalities, and we describe the use of open-loop, closed-loop, and autonomous control strategies. Emphasis is placed on the synergy between soft robotics and brain-computer interfaces (BCIs), detailing both invasive and non-invasive paradigms such as EEG, fNIRS, and MEG. Applications discussed include rehabilitation for motor impairments, lower-limb gait assistance, facial expression recognition, and emotion-aware interaction. Finally, recent trends over the last five years are covered, including advancements in AI integration, embodied intelligence, smart materials, and multi-robot systems. This multidisciplinary view provides a foundation for researchers developing soft robotic systems for real-world human interaction and neuroadaptive control.