2.5 Summary and research gap Recent research has shown a clear trend toward enhancing the environmental and surface adaptability of adhesion-based grippers through the integration of variable-stiffness materials ( Coulson et al., 2022 ; Linghu et al., 2020 ; Nasab et al., 2023 ), compliant actuator structures ( Jiao et al., 2021 ; Robertson et al., 2021 ), and origami-inspired mechanics ( Zhang et al., 2023 ; Luan et al., 2024 ; Zhang et al., 2021 ).
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