As an important branch of robotics, soft manipulators have demonstrated significant potential in recent years across industrial automation, medical rehabilitation, and service robotics [1]. Compared with traditional rigid manipulators, soft manipulators offer greater adaptability and safety, enabling more effective handling of grasping tasks in uncertain environments. Gripper-type soft manipulators emulate biological grasping mechanisms to achieve stable handling of irregular and fragile objects, thereby overcoming the limitations of conventional rigid grippers [2].