Fig. 7.

Stimuli responsive soft grippers for biomedical drug delivery or surgical biopsy. a Thermoresponsive self-folding microgrippers that can capture yeast cells by the deswelling induced contraction in the thermoresponsive layer that results in bending of the soft gripper at low temperature (reproduced with permission [18]. Copyright 2011, The Royal Society of Chemistry). b Therapeutic soft gripper that can grasp a clump of cells and demonstrate the endoscopic in vivo food dye delivery test to porcine stomach (reproduced with permission [10]. Copyright 2014, Wiley–VCH). c Biodegradable thermomagnetically responsive soft gripper for drug delivery (reproduced with permission [83]. Copyright 2018, American Chemical Society). d Self-folding thermo-magnetically responsive soft gripper that can capture and excision of cells from a live fibroblast clump

(reproduced with permission [9]. Copyright 2015, American Chemical Society)