The invention discloses a dual-drive soft gripper capable of reconstructing finger arrangement and a gripping space. The device comprises a central palm module, the central palm module is provided with a reconfigurable configuration, the central palm module comprises at least one swing angle
actuator, and the swing angle
actuator is configured to change the relative angle of a finger base through controlled deformation to achieve switching of finger arrangement configurations; the at least one telescopic
actuator is configured to drive the finger base to synchronously stretch out and draw back in the radial direction so as to adjust the
effective length of the finger; the at least two
soft finger modules are arranged in the circumferential direction of the central palm module, the rear end of each
soft finger module is connected with the corresponding finger base, and the front end of each
soft finger module is a free end. On the premise that the flexibility of the soft gripper body is kept and any electronic driving element is not needed, reconfigurable adjustment of the length, the arrangement mode, the rigidity and the overall
working space of the fingers can be achieved at the same time.