Abstract: A structural devise of a dexterous hand with multi-fingers driven by pneumatic artifical muscle is introduced.By studying the shape,structure,driving-model and the rules of movement of human hand from anthropotomy,a dexterous hand close to a human hand in structure and functions with 5 fingers and 19 DOFs is designed.Expeimental results show that the adoption of pneumatic artifical muscle and artifical tendons makes it more flexible.Besides,this sort of dexterous hand can match up with the effect of personification both in external shape and the range of movement.