  Research in soft manipulators has significantly enhanced object grasping
capabilities, thanks to their adaptability to various shapes and sizes.
Applying this technology to on-orbit servicing, especially during the capture
and containment stages of active space debris removal missions, might offer a
secure, adaptable, and cost-effective solution compared to the trend of
increasing the degrees of freedom and complexity of the manipulator (e.g.
ClearSpace, Astroscale). This work aims to conduct an experimental proof of
concept, for which challenges such as radiation, vacuum, and microgravity are
significant, but the predominant issue is ensuring effective operation in the
extreme temperature swings, where flexible materials may exhibit cryogenic
crystallization or drastic shifts in their elasticity. This work addresses this
challenge through an initial stage of analytical modeling of the thermal
dynamics inside the manipulator in orbit; which is then used for the
development of a first experimental prototype tested with liquid nitrogen and
heat guns. The multi-layered design for Low Earth Orbit (LEO) leverages the
properties of TPU at low infill rates for lightweight inherent flexibility,
silicone rubber ensuring structural integrity, PTFE (Teflon) for unparalleled
thermal stability, and aerogel for insulation. The tendon-actuated servo-driven
gripper is tested in the laboratory by varying the shape and size of objects
during the grasping. The results, based on servomotor force metrics to assess
the flexible manipulator's adaptability and object capture efficiency across
temperature changes, affirm the concept's viability. Forces increase up to
220$\%$ in cryogenic conditions and decrease by no more than 50$\%$ at high
temperatures.
