  The field of bio-inspired soft grippers has emerged as a transformative area
of research with profound implications for biomedical applications. This book
chapter provides a comprehensive overview of the principles, developments,
challenges, and prospects of soft grippers that draw inspiration from
biological systems. Bio-inspired soft grippers have gained prominence due to
their unique characteristics, including compliance, adaptability, and
biocompatibility. They have revolutionized the way we approach biomedical
tasks, offering safer interactions with delicate tissues and enabling complex
operations that were once inconceivable with rigid tools. The chapter delves
into the fundamental importance of soft grippers in biomedical contexts. It
outlines their significance in surgeries, diagnostics, tissue engineering, and
various medical interventions. Soft grippers have the capacity to mimic the
intricate movements of biological organisms, facilitating minimally invasive
procedures and enhancing patient outcomes. A historical perspective traces the
evolution of soft grippers in biomedical research, highlighting key milestones
and breakthroughs. From early attempts to emulate the dexterity of octopus
tentacles to the latest advancements in soft lithography and biomaterials, the
journey has been marked by ingenuity and collaboration across multiple
disciplines. Motivations for adopting soft grippers in biomedical applications
are explored, emphasizing their ability to reduce invasiveness, increase
precision, and provide adaptability to complex anatomical structures. The
requirements and challenges in designing grippers fit for medical contexts are
outlined, encompassing biocompatibility, sterilization, control, and
integration.
