The medical massage for massage therapist has high working strength,therefore the mechanical massage hands for medical massage has important application value. A mechanical massage hand is designed and completed,the thumb of the hand joint adopts steer engine drive,and four finger joints is driven by pneumatic flexible metamorphic mechanism. Therefore,in the process of massage to human body,it has higher flexibility and very good at the massage hand meet the important technical index of must have flexibility,the kinematic analysis of massage hand is completed. This massage hands should have good application prospects in the field of medical massage.