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This is especially important in industries such as healthcare, manufacturing, agriculture, food handling, and biomedical, where accuracy, safety, and preservation of the objects being handled are critical. This article reviews the use of 3D printing technologies in soft grippers, including those made of functional materials, nonfunctional materials, and those with sensors. 3D printing processes that can be used to fabricate each class of soft grippers are discussed. Available 3D printing technologies that are often used in soft grippers are primarily extrusion\u2010based printing (fused deposition modeling and direct ink writing), jet\u2010based printing (polymer jet), and immersion printing (stereolithography and digital light processing). The materials selected for fabricating soft grippers include thermoplastic polymers, UV\u2010curable polymers, polymer gels, soft conductive composites, and hydrogels. 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