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These characteristics grant them excellent environmental adaptability and reduce damage to delicate samples and organisms. Nonetheless, existing underwater soft robots are primarily designed to mimic the movements of marine organisms or for specific functions, and little attention is paid to the camouflage ability. To address these challenges, in this study, a reconfigurable transparent soft robot with variable stiffness for underwater operations is presented. The design and fabrication methodology of the robot module is presented, followed by the kinematic analysis and stiffness characterization. Leveraging the proposed robot module, a soft manipulator and a soft gripper are designed for underwater operations. The soft manipulator excels in underwater pipeline detection and obstacle avoidance, while the soft gripper showcases considerable load\u2010bearing capacity (about 71 times its weight), making it suitable for tasks such as retrieving aquatic biological samples or garbage fishing. The proposed reconfigurable soft robot demonstrates robust camouflage capabilities, high environmental adaptability, and notable versatility, suggesting potential solutions to existing challenges in the field of underwater exploration.<\/jats:p>","DOI":"10.1002\/aisy.202300688","type":"journal-article","created":{"date-parts":[[2024,3,25]],"date-time":"2024-03-25T04:59:03Z","timestamp":1711342743000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Reconfigurable Transparent Variable\u2010Stiffness Soft Robot for Underwater Operations"],"prefix":"10.1002","volume":"6","author":[{"given":"Qin","family":"Fang","sequence":"first","affiliation":[{"name":"The State Key Laboratory of Industrial Control and Technology Institute of Cyber\u2010Systems and Control Zhejiang University  Hangzhou 310027 China"}]},{"given":"Jingyu","family":"Zhang","sequence":"additional","affiliation":[{"name":"The State Key Laboratory of Industrial Control and Technology Institute of Cyber\u2010Systems and Control Zhejiang University  Hangzhou 310027 China"}]},{"given":"Pingyu","family":"Xiang","sequence":"additional","affiliation":[{"name":"The State Key Laboratory of Industrial Control and Technology Institute of Cyber\u2010Systems and Control Zhejiang University  Hangzhou 310027 China"}]},{"given":"Nenggan","family":"Zheng","sequence":"additional","affiliation":[{"name":"College of Computer Science and Technology Zhejiang University  Hangzhou 310027 China"}]},{"given":"Yue","family":"Wang","sequence":"additional","affiliation":[{"name":"The State Key Laboratory of Industrial Control and Technology Institute of Cyber\u2010Systems and Control Zhejiang University  Hangzhou 310027 China"}]},{"given":"Rong","family":"Xiong","sequence":"additional","affiliation":[{"name":"The State Key Laboratory of Industrial Control and Technology Institute of Cyber\u2010Systems and Control Zhejiang University  Hangzhou 310027 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1572-117X","authenticated-orcid":false,"given":"Zhefeng","family":"Gong","sequence":"additional","affiliation":[{"name":"The State Key Laboratory of Medical Neurobiology School of Brain Science and Brain Medicine Zhejiang University  Hangzhou 310027 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1393-3040","authenticated-orcid":false,"given":"Haojian","family":"Lu","sequence":"additional","affiliation":[{"name":"The State Key Laboratory of Industrial Control and Technology Institute of Cyber\u2010Systems and Control Zhejiang University  Hangzhou 310027 China"}]}],"member":"311","published-online":{"date-parts":[[2024,3,25]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2020.0011"},{"key":"e_1_2_8_3_1","doi-asserted-by":"crossref","unstructured":"Y.Girdhar N.McGuire L.Cai S.Jamieson S.McCammon B.Claus J. 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