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

Figure 6. High pressure and low temperature experiments of the MSG. (A) High-pressure chamber instrument panel and its parameters;
(B) Comparison of the gripper’s appearance and residual magnetism before and after high-voltage testing; (C) Underwater cryogenic
grasping experiment using MSG after high pressure. MSG: Magnetically driven soft gripper.

Low temperature grasping experiments: To evaluate grasping capability at low temperatures, grasping trials
were conducted in water below 4 °C using both conventional (control) MSGs and MSGs that had been
subjected to the high-pressure treatment described above [Supplementary Movies 13-22]. The high pressure
treated MSGs were able to stably grasp targets and transport them to designated locations under low
temperature conditions, as shown in Figure 6C. The cryogenic capture of conventional MSGs is shown in
Supplementary Figure 6. Grasping performance under low temperature was consistent with that observed at
ambient temperature, indicating that low temperature alone does not substantially impair MSG functionality.
Through comprehensive evaluation of high-pressure experiment and low-temperature grasping experiment,
the MSG can still maintain a sufficiently high success rate in low temperature environment after high