Grasping and manipulation are fundamental ways for many creatures to interact with their environments. Different morphologies and grasping methods of “grippers” are highly evolved to adapt to harsh survival conditions. For example, human hands and bird feet are composed of rigid frames and soft joints. Compared with human hands, some plants like Drosera do not have rigid frames, so they can bend at arbitrary points of the body to capture their prey. Furthermore, many muscular hydrostat animals and plant tendrils can implement more complex twisting motions in 3D space. Recently, inspired by the flexible grasping methods present in nature, increasingly more bio‐inspired soft grippers have been fabricated with compliant and soft materials. Based on this, the present review focuses on the recent research progress of bio‐inspired soft grippers based on impactive gripping. According to their types of movement and a classification model inspired by biological “grippers”, soft grippers are classified into three types, namely, non‐continuum bending‐type grippers, continuum bending‐type grippers, and continuum twisting‐type grippers. An exhaustive and updated analysis of each type of gripper is provided. Moreover, this review offers an overview of the different stiffness‐controllable strategies developed in recent years.

中文翻译：

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基于冲击式抓取的仿生软夹具

抓取和操纵是许多生物与其环境互动的基本方式。“抓手”的不同形态和抓取方法经过高度进化，以适应恶劣的生存条件。例如，人的手和鸟的脚都是由刚性框架和软关节组成的。与人类的手相比，茅膏菜等一些植物没有刚性框架，因此它们可以在身体的任意点弯曲以捕获猎物。此外，许多肌肉发达的静水动物和植物卷须可以在 3D 空间中实现更复杂的扭转运动。最近，受自然界中存在的灵活抓取方法的启发，越来越多的仿生软抓手已采用柔顺且柔软的材料制成。基于此，本文重点介绍基于冲击抓取的仿生软质夹具的最新研究进展。根据其运动类型和受生物“抓手”启发的分类模型，软抓手分为三种类型，即非连续弯曲型抓手、连续弯曲型抓手和连续扭转型抓手。提供了每种类型的夹具的详尽且最新的分析。此外，这篇综述概述了近年来开发的不同刚度可控策略。