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This paper is based on the "Fast Pneumatic Mesh Driver" (FPN) used to couple a silicone rubber soft body with a rigid skeleton. A rigid-flexible coupling soft-body human-like finger design scheme is proposed to solve the problem of low load on the soft-body gripping hand. The second-order Yeoh model is used to establish the statics model of the soft humanoid finger, and the ABAQUS simulation analysis software is used for correction and comparison to verify the feasibility of the soft humanoiddoi:10.3390/machines10060448 fatcat:jawcfuia2vb6tjq7iqsv536axi