A soft fetching manipulator is designed by using the new film sensor PVDF based on the piezoelectric effect and the thermoelectric effect. The grasping state is judged through the change of charge quantity in the process of grasping and releasing, soft fetching is achieved using the fuzzy control theory to regulate the steering gear rotate.The grasping quality is less than 1 kg and the volume is less than 10-3 m3,at the same time it can grab objects move steady 0.6 m to the specified location with the error less than 3 cm. Adding hot sense perception function, the manipulator can bounce off automatically when the temperature is higher than 60 ℃. The soft fetching manipulator based on the piezoelectric thin film sensor overcomes the disadvantages of traditional manipulator which is unable to judge the clamping force independently,and also improve the bionic function.