 This research has developed a 3D printed soft robotic hand with embedded soft sensors, pattern recognition control and simultaneous proportional control. The mechanical structure of the whole hand, Aces V2, was fabricated as a monolithic structure using a low-cost and open-source 3D printer. This allowed for the addition of the embedded sensors in the hand without requiring any post-processing. These sensors were used to detect the positions of the fingers, allowing the robotic hand to avoid collisions and switch between gestures quickly and easily. Additionally, the hand could detect initial contact of each finger, which enabled the pre-shaping of multi-finger grasps, tripod grips and power grasps, improving the stability and quality of the grasps. Furthermore, combinations of different gestures allowed the hand to perform multi-stage grasps to seize and carry multiple objects simultaneously. This research has provided a novel approach to enhancing the dexterity and grasping diversity of a robotic hand. This article was authored by Hao Zhou, Scharbell Talk, and Gersel Alessi.