A bidirectionally bendable modular multifunctional soft dexterous hand consists of a large palm, a small palm, a silicone adjustable connection and five bidirectionally bendable finger actuators installed on the palm. The palm is made of two hard materials and The middle soft silicone connection is composed of each pneumatic finger with a modular design, consisting of three soft joints, two soft knuckles with enhanced structure and a bending sensor, which is bonded to the lower layer of the finger actuator. The soft body joints adopt the principle of pneumatic network, and the knuckles adopt an equidistant enhanced structure. The two are respectively equipped with air holes and connected with the air circuit, and realize independent or coupled drive control when inflated. The invention has a simple structure and can monitor and control the bending angle in real time. The two-way bending module of the palm joint can realize forward bending and reverse active telescopic movement; the multi-module form can realize flexible operation with multiple degrees of freedom, and has more Good hand rehabilitation training utility.