Soft robotics are robotic systems made of materials that are similar in softness to human soft tissues. Recent medical soft robot designs, including rehabilitation, surgical, and diagnostic soft robots, are categorized by application and reviewed for functionality. Each design is analyzed for engineering characteristics and clinical significance. Current technical challenges in soft robotics fabrication, sensor integration, and control are discussed. Future directions including portable and robust actuation power sources, clinical adoptability, and clinical regulatory issues are summarized.

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