According to the joint structure of the human finger exoskeleton, a silicone multi-cavity human-like flexible joint is proposed, a pneumatic software driver for hand rehabilitation robots is designed, and the manufacturing process of the driver is explained in detail. Abaqus software is used to perform finite element simulation of the software driver, and simulation graphics under different air pressures are given. The simulation results show that the theoretical model of the proposed software driver is basically consistent with the experimental data. Compared with other structures, the overall stability and grasping ability are stronger, which provides support for the future application of human-like flexible manipulators.