A new type of pressuredriven multifinger flexible manipulator was proposed for the problem of insufficient flexibility of existing manipulator. Based on the selfdeveloped multidrive type oneway bending flexible joint, the pneumatic artificial finger was designed. To achieve a high degree of modularity, four fingers were installed on an anthropomorphic palm to constitute the body structure of hand with four DOFs. Its biggest characteristic is that it can achieve grasp, grip, pinch, bomb and other functions with less than 10 degrees of freedom.The manipulator grasping experiment system is built, and the manipulator grasping experiment are carried out on the experimental system. Experimental results show that the hand is able to perform stable grasping for typical object shape such as spherical, cylindrical and specialshaped and so on.