近年来，软体机器人成为机器人研究领域的一个重要研究方向。其主体结构由超弹性材料或柔性材料制成，在顺应性、安全性、灵活性以及成本效益等方面具备独特优势。随着软体机器人的发展，其驱动方式的选择变得尤为重要，而流体驱动技术作为软体机器人的重要驱动方式之一，能够充分适配软体机器人高自由度下的复杂运动。文章回顾了传统流体驱动技术(如气压驱动和液压驱动)的应用，讨论最新的智能流体驱动技术(如液压放大自愈静电驱动技术和电共轭流体驱动技术)，以及全软体流体基础元件的研究进展。最后，提出未来流体驱动技术研究的重点关注方向。

In recent years, soft robots have been the research focus in the field of robot research. Their main structures are made of hyperelastic materials or flexible materials, which have unique advantages in compliance, safety, flexibility, and cost-effectiveness.
With the development of the soft robot, the choice of its actuating mode has been particularly important. As one of the important
actuating modes of the soft robot, the fluid actuating technology can fully adapt to the complex motion of the soft robot under a high degree of freedom. We review the applications of traditional fluid actuation technologies (such as pneumatic actuation and hydraulic actuation), and discuss the latest intelligent fluid actuation technologies (such as hydraulically amplified self-healing electrostatic and electro-conjugate fluid), as well as the research progress of all-software fluid basic components. Finally, the future key research directions of fluid actuation technology are proposed.