Soft driver based on annular cross fiber interference and soft gripper

The invention provides a soft driver based on annular cross fiber interference and a soft gripper, the driver comprises: an inner soft tube, the side wall of which is internally provided with a fiber line and is provided with a first vent hole communicated with the interior of the inner soft tube; the variable stiffness structure comprises two fiber units, each fiber unit comprises a base and a plurality of fiber bundles, only one end of each fiber bundle is connected with the base, the fiber bundles are arranged around the edge of the base at intervals, and the bases of the two fiber units are fixedly connected with the two ends of an inner soft pipe respectively. One fiber bundle of each fiber unit is inserted between the two fiber bundles of the other fiber unit; and the outer soft body sleeve is provided with a second vent hole which is communicated between the outer soft body sleeve and the inner soft body pipe. The soft body extension driver has the beneficial effects that the variable stiffness structu