Abstract: Aiming at the problem of rapid hemostasis of wounded limbs in unmanned rescue work in a battlefield environment, a rigid-soft hybrid hemostatic manipulator is designed, which can be installed at the end of the rescue robotic arm. The manipulator is composed of a hemostatic airbag and a rigid underactuated gripper. The softness of the airbag makes the contact between the manipulator and the injured limb more secure. Constrained by the rigid structure, the airbag inflates and expands to the center to wrap the bleeding limbs of the wounded to achieve compression hemostasis. The kinematics and static analysis of the manipulator is carried out, the finite element model of the radial deformation of the airbag is established, and the boundary contour and contact width of the inflated airbag are obtained. Moreover, a theoretical model of the squeezing pressure of the hemostatic airbag is established based on the human limbs. In addition, the experimental prototype is tested on human upper and lower limbs. The experimental results show that the manipulator has reliable clamping and hemostatic abilities, which verifies its effectiveness.