Recent research demonstrated that incidental physical experiences influence social perception. The present research examined how touching either a hard object or soft, i.e. haptic experience, can affect goal perception and self-perception, related to hope. It is hypothesized that there are connections between hope-directed perception,namely future goal perception and anxious self state perception,and soft versus hard haptic experience. Participants were 46 Japanerse undergraduates. They were instructed to squeeze either a soft rubber ball or a hard wired ball while completing future goal perception and self anxiety state perception tasks. Parcitipants squeezing the soft rubber ball were more apt to rate attainment of their future goal more possible and evaluated him/her less anxious. These results suggested that soft versus hard haptic experiences influence differently on future goal percption and self-perception.