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Yu et al. Soft Sci. 2026, 6, 19 Page 17 of 24

Figure 5. Experimental platform and performance validation of the MSG. (A) Setup of the experimental platform and prototype of the
MSG; (B) Performance validation of the gripper during grasping experiments. MSG: Magnetically driven soft gripper; DC: direct current;
DAQ: data acquisition.

instrumentation included a water tank, multimeter, and Gauss meter. The gripper and coil system [Figure
5A, inset] was encapsulated in a lightweight PLA 3D-printed shell and flange-mounted to the robotic arm.
The gripper was hinge-connected to the coil housing, with a total weight of 680 g, which is substantially
lighter than conventional hydraulic or pneumatic end-effectors, thereby extending the endurance of remote
operated vehicles (ROVs) and AUVs during underwater operations.