This paper will give a brief insight into the field of soft robotics. It will define the term soft pneumatic actuator, which will be the main type of actuator used in modelling an anthropomorphic soft robotic fist. The selected material for manufacturing the soft robotic fist was first tested. Testing was performed at the Laboratory for Experimental Mechanics of the Faculty of Mechanical Engineering and Naval Architecture in Zagreb. Samples of Filaflex60A material were tested by a tensile testing machine, after which the data was firstly processed in Excel, to obtain the initial stress-strain curves for each sample. These data sets were then loaded into MATLAB, where they were further processed so that a mean stress-strain curve of the tested values can be obtained. The values obtained by the MATLAB analysis were then uploaded into Abaqus, where the coefficients of the hyperplastic material model were calculated for the values of the uploaded mean stress-strain curve. After that, the basic shape of the pneumatic actuator was designed in Solidworks. This pneumatic actuator was then loaded into Abaqus, and the coefficients of the hyperplastic material model, calculated in the previous analysis, were used to define its material properties. The simulated model is then subjected to the gravitational force and air pressure, in the value of 30 KPa is applied to the inner cavities of the model. The obtained simulation results were compared with a manufactured model, for the same loads. Basic criteria for designing an anthropomorphic human fist is defined. It is described how the set of functionality criteria guided the design in the way it has. The process of designing the conceptual model of an anthropomorphic robotic fist is described. An analysis of the finished functional model of the fist is given and based on these findings, some comments are given for further design improvements with the aim of extending the service life of the fist, as well as its function.