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<p>Inspired by the remarkable flexibility, environmental adaptability, and dexterous motor capabilities of living organisms, bionic flexible grippers are applied in multiple fields such as space debris cleanup, rehabilitation healthcare, minimally invasive surgery, agricultural picking, underwater organism grasping, and automated production. However, the intrinsic complexity of biological organisms has yet to be fully replicated in the design of soft grippers. This review summarizes advancements in material innovation and structural design of soft grippers from 2005 to 2025. Recently, smart materials have emerged as leading substrates due to their unique properties. Examples include carbon fiber reinforced polymer composites (CFRP), ionic polymer metal composites (IPMC), multi-chemical hybrid composites, and advanced hydrogels. Regarding actuation mechanisms, enzyme-driven and electromagnetic actuation-which eliminate fluidic channels and rely on the intrinsic properties of the gripper itself-represent current research frontiers. Furthermore, the evolution of bionic soft grippers has transitioned from localized structural biomimicry toward refined functional emulation, with certain studies even integrating biological entities directly as actuator units. This research analyzes the development directions of the next generation of flexible grippers. We summarize the challenges and potential development opportunities faced by flexible grippers that possess intelligent plant actuator, near-zero energy consumption, supplementary hierarchical structure, dynamic integration and multimodal perception.</p>

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Research Landscape and Prospects of Bio-Inspired Soft Grippers

  • 期刊论文

  • 发表日期：

    2026年6月1日

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  • Minghao Gong,
  • Enyu Lu,
  • Zezhi Wei,
  • Mingyang Hou,
  • Lianrui Tan,
  • Tianhao Weng,
  • Longlong Feng,
  • Junming Hou

摘要

Inspired by the remarkable flexibility, environmental adaptability, and dexterous motor capabilities of living organisms, bionic flexible grippers are applied in multiple fields such as space debris cleanup, rehabilitation healthcare, minimally invasive surgery, agricultural picking, underwater organism grasping, and automated production. However, the intrinsic complexity of biological organisms has yet to be fully replicated in the design of soft grippers. This review summarizes advancements in material innovation and structural design of soft grippers from 2005 to 2025. Recently, smart materials have emerged as leading substrates due to their unique properties. Examples include carbon fiber reinforced polymer composites (CFRP), ionic polymer metal composites (IPMC), multi-chemical hybrid composites, and advanced hydrogels. Regarding actuation mechanisms, enzyme-driven and electromagnetic actuation-which eliminate fluidic channels and rely on the intrinsic properties of the gripper itself-represent current research frontiers. Furthermore, the evolution of bionic soft grippers has transitioned from localized structural biomimicry toward refined functional emulation, with certain studies even integrating biological entities directly as actuator units. This research analyzes the development directions of the next generation of flexible grippers. We summarize the challenges and potential development opportunities faced by flexible grippers that possess intelligent plant actuator, near-zero energy consumption, supplementary hierarchical structure, dynamic integration and multimodal perception.