A pneumatic flexible five-finger manipulator is designed, which uses single-drive and multi-drive unidirectional bending flexible joints as single-degree-of-freedom finger joints, which can perform multi-degree-of-freedom grasping, grasping, pinching and other flexible hand movements; build a kinematics experiment platform for the manipulator And the grasping experimental system, using the 3D motion capture system to obtain the movement space of the fingers of the manipulator, the manipulator can stably grasp objects of different shapes and qualities in daily life, which verifies that it has a grasping ability similar to that of a human hand. The experimental results show that the fingers of the manipulator basically fulfill the design requirements, realize their own grasping functions, and have good flexibility and adaptability.