<p>The existing research on rescue robots has focused mainly on reconnaissance, detection, and firefighting, and a small number of robots that can achieve human rescue have problems such as poor safety and stability and insufficient carrying capacity. This article addresses the above issues and cleverly combines the advantages of soft robotic arms, underactuated robotic arms, and suction cups based on the principles of bionics. A new design for a robotic arm was proposed, and its working principle was explained. Then, the human rescue process was divided into two stages, and the grasping force of the robotic arm in each stage was analyzed separately. Finally, a prototype of the principle was developed, and the feasibility of the design principle of the robotic arm was verified through grasping experiments on a cross-sectional contour model of the human chest. At the same time, grasping experiments were conducted on different objects to demonstrate the potential application of the robotic arm in grasping ground objects. This research proposes a stress envelope adsorption rescue robot arm inspired by the adhesion ability of the Drosera plant and the stress envelope effect, which can apply force to the entire surface of the human body, reduce local force on the human body, ensure load-bearing capacity and adaptability, and improve the safety and stability of rescue grasping.</p>