As underwater missions become more and more complex, novel underwater manipulators with better performance are demanding. Soft underwater manipulators are judged to be the development direction and expected to have better performance in safe and compliant interaction with the target in underwater operations such as biological sampling. This paper provides an overview on the state-of-the-art of both hard and soft underwater manipulators to give a prospect for soft underwater manipulators. Key technologies in the design of soft underwater manipulators are identified, including the configuration design, actuator design and stiffening design of them.

中文翻译：

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为了安全和合规的交互：软水下机械手的展望

随着水下任务变得越来越复杂，需要具有更好性能的新型水下机械手。软体水下机械手被判断为发展方向，有望在生物采样等水下作业中与目标的安全、顺从交互方面具有更好的性能。本文概述了硬和软水下机械手的最新技术，以展望软水下机械手的发展前景。确定了软水下机械手设计的关键技术，包括其构型设计、执行机构设计和加强设计。