Underwater Grippers for Dexterous Manipulation: A Review on Design and Enabling Technologies

ABSTRACT With the advancement of deep‐sea resource exploration and scientific research, underwater operations are evolving from rough manipulation to precise and intelligent tasks, imposing higher demands on the dexterity and environmental adaptability of underwater grippers. However, existing reviews often focus on superficial classifications based on actuation modes or application scenarios, there by lacking in‐depth analysis grounded in robotic grasping theory and system‐level integration. This paper presents a comprehensive review of underwater dexterous grippers, proposing a novel classification framework based on the integration of force/form closure theory and energy input methods. Under this framework, we systematically analyze the structural designs and mechanisms of grippers ranging from Fully Passive to Fully Active configurations. Furthermore, the review delves into kinematic and dynamic modeling methodologies for rigid, continuum, and rigid‐continuum coupled structures, alongside the challenges and solutions for underwater tactile and deformation perception systems. We also examine control strategies, progressing from low‐level open‐loop control to model‐based intelligent approaches, including the dynamic coupling within vehicle‐manipulator‐gripper systems (UVMS). To address the lack of standardized benchmarking, this study establishes a unified evaluation system incorporating quantitative metrics (e.g., Load‐to‐Weight Ratio, Normalized Durability Index) and benchmark protocols, providing a multi‐dimensional comparative analysis of existing technologies. Finally, the paper identifies emerging trends, suggesting that bio‐inspired rigid‐soft hybrid designs, multimodal perception fusion, and hybrid modeling approaches combining Physics‐Informed Neural Networks with Computational Fluid Dynamics (PINN‐CFD) represent critical directions for achieving highly reliable and dexterous underwater manipulation.