Biological organisms have long served as a source of inspiration for the design of artificial systems. The ability of animals, plants, fungi, and above all nanoscale organisms to adapt to different environments is the prove for a highly specialized evolutionary structure where the observation represents an infinite source of innovative revelations. Among these, the chameleon’s tongue exhibits remarkable characteristics in terms of speed and precision during prey capture, clearly differen- tiating it from other reptiles. This thesis work adopts a biomimetic approach finding in the Chamaleon’s mechanism of tongue projection as inspiration. A new solution in the field of linear soft robotic actuators is proposed, investigated primarily through experimental and numerical modeling.