There is a huge difference between a firm mechanical grip vs a compliant grip. This is a physics 201 concept, but very well known for about 25 years.Thank you. My blog link is https://www.yamazaki-shinji.com/pool/ , but older post might be wrong.
And our machine holds with relatively firm grip, because of technical limits. But I believe there is a little, or even no significant, difference between firm and softer grip. I can't discriminate them at least now.
If you’d like to know more, you can ask the question on the Main forum. I and others will answer there.