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The soft gripper grasp can lift objects using the suction generated by the pump in the soft disc. Moreover, the protruded funnel\u2010shaped end of the deformed suctorial mouth can adapt to smooth and rough surfaces. Furthermore, when the gripper contacts the submerged target objects in a turbid environment, local suctorial mouth arrays on the suction disc are locked, causing the variable flow inside them, which can be detected as a tactile perception signal to the target objects instead of visual perception. Aided by the 3D\u2010printed linkage mechanism, the soft gripper can grasp objects of different shapes and dimensions, including flat objects, objects beyond the grasping range, irregular objects, scattered objects, and a moving turtle. The results report the soft gripper's versatility and demonstrate the vast application potentials of self\u2010adaptive grasping and sensing in various environments, including but are not limited to underwater, which is always a key challenge of grasping technology.<\/jats:p>","DOI":"10.1002\/advs.202104382","type":"journal-article","created":{"date-parts":[[2022,4,7]],"date-time":"2022-04-07T03:55:00Z","timestamp":1649303700000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":140,"title":["Glowing Sucker Octopus (<i>Stauroteuthis syrtensis<\/i>)\u2010Inspired Soft Robotic Gripper for Underwater Self\u2010Adaptive Grasping and Sensing"],"prefix":"10.1002","volume":"9","author":[{"given":"Mingxin","family":"Wu","sequence":"first","affiliation":[{"name":"State Key Laboratory for Turbulence and Complex Systems College of Engineering Intelligent Biomimetic Design Lab Peking University  Beijing 100871 P. R. 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China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xin","family":"Guo","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Turbulence and Complex Systems College of Engineering Intelligent Biomimetic Design Lab Peking University  Beijing 100871 P. R. China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jianing","family":"Wu","sequence":"additional","affiliation":[{"name":"School of Aeronautics and Astronautics Sun Yat\u2010Sen University  Guangzhou 510006 P. R. China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chen","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Turbulence and Complex Systems College of Engineering Intelligent Biomimetic Design Lab Peking University  Beijing 100871 P. R. 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