In　this　paper,　we　propose　a　pneumatic　double-joint　soft　actuator　based　on　fiber　winding　and　build　a　dexterous　hand　with　11　degrees　of　freedom.　Firstly,　soft　actuator　structural　design　is　carried　out　according　to　the　actuator　driving　principle　and　gives　the　specific　manufacturing　process.　Then,　an　experimental　analysis　of　the　bending　performance　of　a　single　soft　actuator,　including　bending　angle,　speed,　and　force　magnitude,　is　carried　out　by　building　a　pneumatic　control　experimental　platform.　Finally,　a　series　of　dexterous　robotic　hand-grasping　experiments　is　conducted.　Different　grasping　methods　are　used　to　catch　the　objects　and　measure　the　objects’　change　in　height,　length,　and　rotation　angle　during　the　experiment.　The　results　show　that　the　proposed　soft　actuator　is　more　consistent　with　the　bending　rule　of　human　fingers,　and　that　the　gestures　of　the　dexterous　hand　are　more　imaginable　and　flexible　when　grasping　objects.　The　soft　actuator　can　carry　out　horizontal　and　vertical　movements,　and　rotation　of　the　object　in　the　dexterous　hand,　thus　achieving　better　human–computer　interaction.　©　2023　by　the　authors.