Is it difficult to build robotic hands that do

When I hear “massage”, I think of someone lying on the stomach and a man/woman grabs the back, shoulders, neck etc, like in TV shows and movies. But current automated massaging devices are far from that.

(1)Chairs: They just vibrates. They don’t grab. (2)So-called massaging robots on YouTube: They have some rotating weird thing, not grabbing hands.

Also, they all are large and bulky. With our current technologies, can’t we build two robot arms with hands, that grab like a real human? Using a camera, the robot can identify human body. Smartphones can detect human faces in a picture, so I think detecting human neck, shoulders is also possible. Then, the arms can move to gently grab the human’s body. All it needs is two arms and a camera like a chess-playing robot, so I guess it does not have to be big and bulky like a chair.

Of course, I have no skills to build such a robot myself, but I would like to buy of if such thing is commercially available. And I think a lot of other people would like it, too. Do you think such robots are feasible with the current technologies?