Abstract: In order to realize the nondestructive picking of vulnerable fruits and vegetables and improve picking efficiency, inspired by the leaves of Venus flytrap, this study proposed the idea of chamber design with silica gel as the body material and gas driven, and designed and manufactured a pneumatic flexible diver. The feasibility and reliability of the driver were explored by finite element simulation and experimental verification method, and the application of the driver in the field of stable grabbing and nondestructive picking was verified. The driver can stably grasp objects of different shapes and pick vulnerable fruits and vegetables of strawberries, peanuts and persimmons. Research showed that: the flexible pneumatic driver of the chamber design can complete the bending deformation in two dimensions within 3 s under the air pressure excitation of 0. 3 kPa and the flow rate of 3 L/min, and can realize the wrapping or semi wrapping grasping of the target. It can achieve adaptive grasping of objects of different shapes and sizes and nondestructive picking of targets. The results showed that the soft manipulator and driver can liberate labor force, improve production efficiency and guarantee fruit and vegetable quality to a certain extent.