Fig. 6.

Untethered soft grippers as smart actuators or manipulators. a Thermomagnetically responsive untethered soft gripper that detects and sorts differently colored beads in the respectively colored drop areas autonomously (reproduced with permission [57]. Adapted with permission under the terms of the Creative Commons Attribution Non Commercial License 4.0 license. Copyright 2017, The Authors). b Shape programmable DNA-crosslinked untethered soft gripper that presents shape morphing in response to external programmed DNA hairpin sequences (reproduced with permission [102]. Copyright 2017, AAAS). c Bifurcation mismatch strain driven shape transformation of stimuli responsive soft gripper that has no hinges in a thin bilayer structure (reproduced with permission [8]. Copyright 2018, Wiley–VCH). d Demonstration of the universal pick up, transport, release, and recovery process of a soft robotic microgripper

(reproduced with permission [21]. Copyright 2018, Wiley–VCH)