摘要Traditional robotic grippers encounter significant challenges when handling small objects in confined spaces,underscor-ing the need for innovative instruments with enhanced space efficiency and adaptability.Erodium cicutarium awns have evolved hygroresponsive helical deformation,efficiently driving seeds into soil crevices with limited space utilization.Drawing inspiration from this natural mechanism,we developed a biomimetic thin-walled actuator with water-responsive helical capabilities.It features a composite material structure comprising common engineering materials with low toxic-ity.Leveraging fused deposition modeling 3D printing technology and the composite impregnation process,the actuator's manufacturing process is streamlined and cost-effective,suitable for real-world applications.Then,a mathematical model is built to delineate the relationship between the biomimetic actuator's key structural parameters and deformation charac-teristics.The experimental results emphasize the actuator's compact dimension(0.26 mm thickness)and its capability to form a helical tube under 5 mm diameter within 60 s,demonstrating outstanding space efficiency.Moreover,helical char-acteristics and stiffness of the biomimetic actuators are configurable through precise modifications to the composite mate-rial structure.Consequently,it is capable of effectively grasping an object smaller than 3 mm.The innovative mechanism and design principles hold promise for advancing robotic technology,particularly in fields requiring high space efficiency and adaptability,such as fine tubing decongestion,underwater sampling,and medical endoscopic surgery.