Abstract: For the shortcomings of existing dexterous hands, such as structure complexity and control difficulty, a new type of pneumatic multi-fingered dexterous hand, named ZJUT Hand, is proposed. Based on a flexible pneumatic actuator (FPA), pneumatic stiffness/compliance bending joint and side-sway joint are designed. After that, a 4-DOF pneumatic anthropomorphic finger with four joints is assembled. To achieve a high degree of modularity, five identical fingers are installed on a anthropomorphic palm to constitute the body structure of ZJUT Hand with 20 DOFs. The structural parameters of ZJUT Hand are determined by the bionic optimization method, and grasping simulation experiments are carried out for body structure of ZJUT Hand. Simulation results show that: ZJUT Hand can grasp objects with typical shapes such as cylinder, strip and spherical objects, and achieve the pinching, gripping, pulling and other complex movements like human hand. The force/position sensory system for ZJUT Hand is developed. The grasp planning experiments for ZJUT Hand is completed. Experimental results show that ZJUT Hand is able to perform stable grasping for typical target objects. Finally, the characteristics of ZJUT Hand are summarized.