Abstract: The rapid growth of space debris has become a major challenge constraining the sustainable development of space activities, while contact-based capture, characterized by its directness, effectiveness, and controllability, is regarded as a important pathway for active debris removal technologies. We systematically review the technological evolution and research progress of contact-based capture. First, we outline the sources, characteristics, and potential threats of space debris. Subsequently, the two major technical paradigms of rigid capture and flexible capture are discussed. The mechanical characteristics, control strategies, applicable scenarios, and limitations of rigid approaches, such as single robotic arms and multi-robotic arms, as well as flexible solutions including net capture, space harpoons, and tethered robots, are comprehensively summarized. On this basis, we further explore the key technologies in the capture process, including parameter identification of non-cooperative targets, debris detumbling, and impact minimization. Finally, the development trends of contact-based capture technology are envisioned.