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This paper is concerned with experimental analysis of pinching motion by a pair of multi-degrees of freedom robot fingers with rigid hemispherical tips. The experiments were carried out in the case that a parallelepiped object is placed on a non-slippery plate in a horizontal plane and motion of the fingers and the object is confined to the plane. As predicted from the theoretical analyses, experimental results show that stable grasping in a dynamic sense is realized by a sensory feedback constructed by using measurement data of finger joint angles and the rotational angle of the object. Further, it is shown from the experiments that an additional sensory feedback works well in realizing concurrent stable grasp and orientation control of the object.