Table 2.

Inclusion and exclusion criteria considered in the selection of articles based on abstract and title reading.

Inclusion Criteria	Exclusion Criteria
Design of grippers explicitly purposed for use underwater, or tested for use underwater	Design and modelling of grippers whose potential application underwater is proposed but not considered in design or test phase
Control architectures and algorithms for underwater grippers	Decisional algorithms for task planning for underwater autonomous manipulation.
Sensing for underwater grippers	Design, modelling, control and sensing for manipulators, AUV or other type of robots
Object sampling underwater for scientific purposes	Pure sciences articles (Engineering, Biology, Chemistry, Sea Sciences, etc.)
Underwater manipulation for scientific purposes