In this chapter, a pneumatic soft manipulator as well as its experiment system are designed and developed. In Sect. 2.1, the design schematic and the kinematic model of the soft actuator are presented. The experiment setup used to measure the elastic stiffness, which is necessary in the numerical calculation of the kinematic model, is designed and developed. In Sect. 2.2, the kinematic model of the soft manipulator, which is an assembly of three soft actuators, is deduced. The shape of the soft manipulator changes with the increase of the gas pressure and is calculated and analyzed in the numerical examples. In Sect. 2.3, the prototype of the soft manipulator is developed by stacking three soft actuators, which are printed using the selective laser sintering (SLS) technology. The pneumatic control system and the position measurement system are designed and developed. The correctness of the proposed model and the end repeat positioning accuracy are validated experimentally. Finally, the conclusions are presented.