This project proposes a new micro-manipulation system that features a desktop-based programmable design and an origami-based planar fabrication method. The developed micro-manipulation system consists of two printable machineries. One is a printable finger exoskeleton acting as a master, and the other is a printable micro-manipulator acting as a slave. The motion of the finger exoskeleton which is moved with a human finger is reduced in the manipulator domain via a simple hydraulic power transmission system. Operators can pick and place micro objects in 3-D space using the developed printable micro-manipulation system. This research shows that printable robots can be used for micro-robotic and medical applications, and a new physical human robot interaction (pHRI) device.