Soft manipulators are a new branch of the robot, which is different from rigid manipulators. It is made of soft materials. It can be used to accomplish tasks that rigid manipulators cannot accomplish, such as detecting in an unstructured environment, grasping fragile objects, safer man-machine cooperation, and so on. At present, many countries in the world are investing in the research of soft manipulators. Researchers have designed soft manipulators with different shapes and functions. From the diversity of manufacturing materials to the diversity of driving methods, and then from the diversity of modeling methods to the diversity of control methods, all show the uniqueness of soft manipulators. Due to the different purposes of the task, the driving ways of the soft manipulator are different. This paper first studies three main driving ways of the soft manipulator, namely, the tendon driving (tendon driving), the shape memory alloy driving (SMA driving), and pneumatic driving (pneumatic driving), then the modeling and control methods of the soft manipulator in different driving modes are studied. Finally, the development of soft manipulators is summarized and prospected from three aspects: driving way, modeling method, and control method.