The　development　of　robotic　interaction　is　becoming　an　increasing　topic.　The　excellent　grasp　ability　of　low　safety　and　fragile　objects　will　greatly　solve　the　complex　labour　of　people.　Rigid　actuation　have　made　significant　progress　for　manufacturing　and　automation　assembly,　but　it　lacks　of　excellent　interaction　ability　for　humans　and　unstructured　environments.　Soft　manipulator　is　the　basic　part　of　man-machine　safety　cooperation,　which　can　make　up　for　the　deficiency.　This　paper　describes　the　current　research　status　of　soft　manipulator,　driving　methods,　structures　of　soft　manipulator　and　principles.　Then,　we　specially　show　the　joint　fluid-elastic　pneumatic　drive,　which　enables　control　bending　of　different　joints　of　the　fingers.　A　detailed　classification　and　principle　description　of　intelligent　materials　is　made　for　the　flexible　hands　application.　In　addition,　the　principle　of　two　new　driving　modes:　biological　driving　and　gas-liquid　driving　are　presented.　The　performance　of　different　driving　modes　is　compared　in　detail,　and　the　advantages　and　disadvantages　of　different　pneumatic　driving　modes　are　listed.　Finally,　we　make　some　prediction　for　the　application　prospect　of　soft　manipulator　in　the　future.　The　practical　application　and　key　problems　of　soft　manipulator　are　summarised　endly.