Based on flexible pneumatic joints, a new kind of flexible finger was proposed. The structure and operating principle of the finger was presented. The kinematics equation of the finger was built by homogeneous transformation matrix. Based on the static experiment of joints, the kinematic simulation of the finger was carried out and the motion trajectory of the finger was obtained. The simulation results show that the finger has good flexibility and can complete the functions of forward bending, reverse bending and lateral swing of human hand.