In this paper, we present the design and testing of a continuum, lightweight, multi-degree of freedom (DOF) soft robotic module made of high-stretch knit fabric. A set of design criteria, inspired by muscular hydrostats found in elephant trunks, is presented in order to create a highly articulated and robust soft robotic module. The soft continuum robotic module can vertically extend and twist along its central axis, as well as bend in 3D space. The material properties of the knit fabrics are characterized. The bending articulation and payload capabilities of the module are investigated. This work also demonstrates the embedded integration of a thin, flexible, and conductive fabric stretch sensor with the module to provide pose information for motion tracking. An on-board electropnuematic system is also developed. This system allows for the future creation of safe human-robot interfaces that are multi-functional integration of multiple soft robotic modular units that are deployable for various complex tasks.