This paper presents the development of miniature machines inspired by the hook-climber *Galium aparine* for on-leaf sensing and delivery. The machines utilize multifunctional microhooks for precision anchoring to leaf tissues. The researchers studied anchoring forces, fabricated a wireless multiparameter sensor, and created degradable hooks for molecular delivery. A soft robotic demonstrator showcases ratchet-like motion on leaves. The research demonstrates opportunities for designing multifunctional machines for targeted plant ecosystem applications.

Isabella Fiorello, Fabian Meder, Alessio Mondini, Edoardo Sinibaldi, Carlo Filippeschi, Omar Tricinci, Barbara Mazzolai