For　detecting　the　movement　shape　of　pneumatic　soft　manipulators,　a　kinematic　parameter　detection　device　was　designed　with　a　measure　structure　of　three　wires　based　on　wire-drawing　encoders.　According　to　piece-wise　constant　curvature　method,　the　motion　detection　model　was　established　for　soft　manipulator　with　pneumatic　modularization.　Based　on　flexible　material　characteristics　of　manipulators,　the　stiffness　method　was　introduced　to　derive　the　map　from　actuation　pressure　to　configuration　shape　and　kinematic　parameters　precisely.　A　novel　soft　manipulator　with　pneumatic　modularization　was　presented　to　verify　the　accuracy　of　modelling　and　the　device.　The　presented　manipulator　was　consisted　of　silicon　backbone,　motion　chambers　and　connecting　plates　for　modularizing　assembly.　The　relative　errors　of　motion　detection　model　were　obtained　via　derivation　and　simulation.　Finally,　the　accuracy　of　modelling　and　the　features　of　manipulator　in　actuation,　configuration　and　movement　were　verified　by　tests.　The　results　showed　that　compared　with　traditional　visual　tracking　method,　the　designed　device　achieved　the　highly　precise　detection　for　movement　shapes　of　soft　manipulators.　©　2021,　China　Mechanical　Engineering　Magazine　Office.　All　right　reserved.