Aiming at the problems that most current manipulators can only perform fixed actions, cannot selfadjust and softgrab,a 12DOF bionic manipulator based on multisensor data fusion is designed in this paper.The manipulator uses the PVDF sensor to collect the charge signals of four fingers,through the Q/U transformation,conditioning,acquisition circuit, extract the useful signal and send to the controller,then to integrate the touching, slipping,thermal and space status information of the object in order to obtain further action command. In this way,the bionic manipulator is controlled to adjust the grip mode.After testing and analysis,the design of the manipulator can be wiped within 0.5 s arbitrary irregular shape such as raw eggs and other fragile objects.The integrated information can reflect the approximate shape of the object to achieve the bionic function of the robot.