This paper presents a very simple way to design a robotic system having a visual feedback loop. Generally, human motor control is constructed on the basis of a largely-delayed dynamic system from the viewpoint of neurophysiological aspect and musculoskeletal structure. In particular, the optic nerve system potentially contains large delay time for image capturing and its processing that is absolutely imperative not only for human usual movements but also for robotic operations. Despite that, conventional robotic systems have been being explored for an extremely-fast processing system that is constructed on recent ultra-high-speed cameras. This study elaborates on the stability of soft-fingered manipulation on a situation at which enormously large time-delays exist. In addition, we show that, even in that case, the design method for controlling a target object grasped by a two-fingered robotic hand can be simply described. Finally, we say that the large time-delay system is an advantage architecture for achieving refined movements of humans and robots.