Humanoid　robot　has　a　wide　application　area　and　thus　attracts　a　large　number　of　researchers　to　study　it.　In　this　paper,　we　designed　and　implemented　a　human-arm-like　manipulator　with　seven　Degrees　of　Freedom　(DOFs)　according　to　the　human-arm　model　of　KIT　motion　capture　database.　DOF　configurations　of　the　robot　are　similar　to　those　of　human-arm,　and　the　mechanical　structure　is　designed　to　make　the　motion　of　every　DOF,　which　is　actuated　by　a　pair　of　antagonized　pneumatic　artificial　muscles　(PAMs),　independent　from　each　other.　Bowden　cables　are　elaborately　deployed　to　make　the　motion　of　adjacent　DOFs　decoupling　from　each　other　in　favor　of　the　control　of　the　robotic　arm.　As　a　result,　the　robot　can　achieve　motions　as　the　same　as　those　of　the　human　arm.　We　validate　it　via　simulations　using　the　KIT　human　motion　capture　data,　and　suggest　that　this　design　scheme　of　the　robotic　arm　can　be　used　to　improve　the　performance　of　humanoid　robot　in　the　human-centered　environment　as　a　cooperative　robot　or　in　the　tele-manipulation　application　as　a　homogeneous　slave　robot.　©　2019　IEEE.