Since the advent of robotics, manipulators have been made of rigid materials, and most developments in the field have pursued increasingly precise and dynamic robots. However, in recent years there has been a growing interest in soft robotics, which has led to the development of new mechanical structures based on flexible and deformable elements. Thanks to these properties, soft robots are able to perform new tasks in new fields of application, ranging from non-invasive surgical techniques to the manipulation of delicate and irregular objects.One of the fields in which soft robots can excel and bring significant benefits is space application: lightweight robotic systems and the use of flexible and deformable elements allow the manipulator to be easily contained in a small package and deployed when required.