Research Status and Application Prospect of Underwater Soft Gripper

LYU Yiwei; HU Haozhe; WANG Zeyu; ZENG Xinpei; WU Mingxin; WANG Chen; XIE Guangming

doi:10.11993/j.issn.2096-3920.2025-0107

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Article Navigation > Journal of Unmanned Undersea Systems > 2025 > Accepted Manuscript

LYU Yiwei, HU Haozhe, WANG Zeyu, ZENG Xinpei, WU Mingxin, WANG Chen, XIE Guangming. Research Status and Application Prospect of Underwater Soft Gripper[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2025-0107

Citation:

LYU Yiwei, HU Haozhe, WANG Zeyu, ZENG Xinpei, WU Mingxin, WANG Chen, XIE Guangming. Research Status and Application Prospect of Underwater Soft Gripper[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2025-0107

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Research Status and Application Prospect of Underwater Soft Gripper

doi: 10.11993/j.issn.2096-3920.2025-0107

1.
School of Mechanics and Safety Engineering, Zhengzhou University, Henan 450001, China
2.
International College, Zhengzhou University, Henan, 450000
3.
School of Advanced Manufacturing and Robotics, Peking University, Beijing 100871, China
4.
National Engineering Research Center for Software Engineering, Peking University, Beijing 100871, China
5.
Institute of Ocean Research, Peking University, Beijing 100871, China

Received Date: 2025-08-15
Accepted Date: 2025-09-15
Rev Recd Date: 2025-09-13

Available Online: 2025-10-13

Abstract

Abstract

With the increasing demand for marine resource development and environmental protection, underwater robots have an urgent need for flexible, safe, and efficient soft grasping technology. This paper reviews the research status of underwater soft grippers, and firstly introduces the three actuation methods of underwater soft gripper technology: fluid variable pressure drive, cable drive and smart material drive. In addition, it summarizes the key technological advances of underwater soft grippers, such as bio-inspired design, stiffness adjustment, and underwater sensing. This paper also discusses the unique advantages of soft grippers in minimally invasive sampling, adaptability to multiple types of objects, and deep-sea precision operations. Finally, the future research directions of underwater gripping technology are prospected, which should focus on the development of high-performance underwater smart materials, the integration of multiple actuation methods, and the optimization of efficient energy systems and control systems, to promote the deep-sea and intelligent development of grippers and realize reliable operations in all underwater scenarios.
- soft gripper,
- underwater actuation,
- underwater robot

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References(91)

References

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