The fields of programmable matter, actuated materials, and Soft Robotics are becoming increasingly more relevant for the design of novel applications, interfaces, and user experiences in the domain of Human-Computer Interaction (HCI). These research fields often use soft, flexible materials with elastic actuation mechanisms to build systems that are more adaptable, compliant, and suitable for a very broad range of environments. However, at the intersection between HCI and the aforementioned domains, there are numerous challenges related to fabrication methods, development tools, resource availability, nomenclature, design for inclusion, etc. This workshop aims to explore how to make Soft Robotics more accessible to both researchers and nonresearchers alike. We will (1) investigate and identify the various difficulties people face when developing HCI applications that require the transfer of knowledge from those other domains, and (2) discuss possible solutions and visions on how to overcome those difficulties.