A dual mode robotic mechanical hand is disclosed in a preferred embodiment with one fixed and two opposed articulated fingers, each with a base and a tip digit. In a first mode, the two independently controlled articulated fingers are operated to soft grip an object against the fixed finger. In a second mode, the base digits are anchored so that only the tip digits rotate, allowing smaller size objects to be conveniently manipulated. The preferred embodiment is designed for particular compactness and simplicity, as well.