This paper presents control method of grasping-manipulating-system with haptic function. Grasping-manipulating systems are expected that will be applicable to medical equipment and assistive products. Robustness of the systems comes to fruition by acceleration control with disturbance observer. Previous system was too big and could not keep high transparency. Therefore new system has novel structure to be miniaturized and keep high transparency. It consists of two coils and one shaft, and they grasp objects by using two coils. Then, proposed system needs to apply control method which includes damper and limiter. Unstable motion occurred by difference of structure is restrained by limiter. Meanwhile, damper restrains operator from quick operating. Moreover, bilateral control system that is based on mode conversion by Quarry matrix is introduced to grasping-manipulating system. The validity of the proposed method is experimentally confirmed.