Variable stiffness soft body extension driver based on cross fiber interference and soft body gripper

The invention provides a variable stiffness soft body extension driver based on cross fiber interference and a soft body gripper, the driver comprises: a corrugated pipe, the two ends of which are closed, and which is provided with a first vent hole and a second vent hole; the variable stiffness structure is arranged in the corrugated pipe, the variable stiffness structure comprises two fiber units and a soft body sleeve, each fiber unit comprises a base and a fiber bundle, one end of each fiber bundle is fixedly connected with the corresponding base, the two fiber units are arranged in the soft body sleeve, the two bases are connected with the two ends of the soft body sleeve in a sealed mode respectively, and the two fiber bundles are arranged in the soft body sleeve in a closed mode. The two bases are connected with the two ends of the corrugated pipe respectively, the first vent hole communicates with the space between the corrugated pipe and the soft sleeve, and the second vent hole communicates with the