The Pelvic Chair uses soft robotics to gently touch the outer pelvic floor to create awareness of its anatomy and function. Our pelvic floor is an important muscle group that holds up our inner organs. A soma design approach makes out a novel route to know through our senses what an experience in this context feels like, which can provide alternative ways of being in the world. Through annotated imagery, we explore the affordances of soft latex pockets filled with air to convey touch that is appropriate for this intimate, sensitive area. Iteratively, we investigate how layers of materials, area, shape, volume and temporality, together with the specific placement on the body, convey the kinds of experiential qualities we seek. We highlight that somatic design judgements are crucial in guiding this process, going beyond traditional approaches to design that focus on visual assessments, models, or hand-based touch.