I'm not saying a drone with a claw arm would be the right design. But if it turned out that that was the right design, it would be designed not to drop its "packages", as opposed to the claw machines where dropping the package is the intended result.
But if not, this is what they do:
> the plane’s crew dropping a bundle of medical gear into the water near the ship, and then four pararescuemen from the 131st Rescue Squadron jumping out themselves. Once in the water, they swam to the Franz, boarding it and treating the fisherman.
https://taskandpurpose.com/news/air-national-guard-parachute...
(1) https://www.aero-news.net/index.cfm?do=main.textpost&id=88E4...
Nets. Nets are how you get people on board in basically all emergency scenarios.
Not that drone rescue ships seem like a particularly good idea, mind you.
https://youtu.be/1B1dnSf6rPk is one example but there are plenty videos of these guys (heroes).