Soft pneumatic dexterous hands have emerged as a compelling alternative to rigid robotic manipulators, offering enhanced compliance, adaptability, and safety. However, current designs often lack sufficient Degrees of Freedom (DOF) and grasping force, limiting their utility in dexterous tasks. This paper presents a novel 11-DOF soft pneumatic dexterous hand featuring joint-independent actuation. The system integrates five individually actuated fingers and a 2-DOF pneumatic palm, driven by a custom control architecture combining Arduino hardware and LabVIEW-based graphical programming. A complete workflow from structural design and material fabrication to control system implementation and performance evaluation is established. Finite element simulation and physical experiments validate the bending behavior and grasping capabilities. The results confirm the hand’s effectiveness in complex manipulation tasks, highlighting its potential for applications in industrial automation, rehabilitation, and assistive robotics.