In this paper, a robust nonlinear control scheme of a soft multi-input multi-output (MIMO) micro-hand with uncertainties is proposed to discuss the robust dexterous manipulation issue in performing various actions, in which the endpoint position and the force of each finger are controlled separately to generate desired force in the desired position. In detail, first, a typical miniature pneumatic curling soft (MPCS) actuator which can generate bidirectional curling motions in two directions under different positive and negative pressures is used to build micro-hand with three fingers. Second, to control the bending angular and the forces of fingers, how to factorize the complex MIMO process, and how to design operator controllers to guarantee the robust stability and perform output tracking are investigated by using operator-based robust right coprime factorisation (RRCF) approach. Finally, the conditions of robust stability and tracking are derived, and the effectiveness verifications are also discussed.