This study presents the development of a bioinspired anthropomorphic gripper based on a multi-matrix fiber-reinforced composite design. By combining Tailored Fiber Placement and Tailored Matrix Placement, locally rigid and flexible zones were integrated within a single composite body, eliminating the need for discrete mechanical joints or hinges. Two distinct matrix systems, namely rigid epoxy and soft polyurethane, enabled local tuning of the mechanical response, while pneumatic silicone actuators manufactured by Liquid Additive Manufacturing provided active finger articulation. Experimental testing demonstrated effective finger flexion and a pronounced nonlinear force-pressure response, reaching up to 4.68 N at 45°, supporting the feasibility of functional gripping. This work demonstrates a multifunctional composite design approach for soft robotics, in which composites act as both structural and functional elements in adaptive systems.