I. Introduction
SOFT grippers exhibit effective adaptation and safety in manipulating objects with various properties, stiffness, shapes, and consistencies. The functions of soft grippers mainly consist of three categories [1]: changeable stiffness [2] [3], changeable adhesion [4] [5], actuation [6] [7]. They show their advantages on different fields. One may choose and combine the preferred technologies to construct a soft gripper according to task constraints.