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The end-effector is a key device for direct contact and operation between the operator and the workpiece, and its mechanical structure will directly affect the quality of the machine and expand its application. The theoretical research and technical implementation of the end-effector for compliance control are facing a lot of urgent challenges to be solved, therefore, the research results of active compliance control of robot end-effectors have a very broad application prospect. This paper describes the design and research results of different end-effectors under impedance-based control, hybrid force/position control, and intelligent flexible control methods, respectively. Under each control method, the structural characteristics and the optimized control scheme under different drives are introduced. Finally, key techniques for achieving compliance control are derived by summarizing, which broadens the engineering applications and provides methods and ideas for future research.