The soft manipulator has good environmental adaptability, flexibility and man-machine interaction, and can be used in many fields such as crop picking, underwater exploration, medical rehabilitation, field rescue, and item sorting. In this paper, the driving mode, manufacturing technology, configuration, modeling and control methods of soft manipulator and other key technologies are reviewed, the development status of related technologies in recent years is introduced, the existing problems and difficulties are analyzed, and the future development direction of soft manipulator is discussed.

soft manipulator  /  actuation  /  configuration  /  manufacturing technology  /  modeling and control