In this video, manipulating 2-D or 3-D object by two robot fingers with soft and hemispherical ends is shown in numerical simulation and experiment.

From simulation cases 3 and 4, it is shown that physical parameters of stiffness and viscosity of the finger-end soft material are sensitive to performances of stable motion of grasping.

From experiment, it is shown that after realizing stable grasping by using a proposed control input called ``blind grasping'', the control input is robust for external force.
