In this paper, we investigate the impact of the deformable bodies on the control algorithms for physically simulated characters. We hy- pothesize that ignoring the effect of deformable bodies at the site of contact negatively affects the control algorithms, leading to less ro- bust and unnatural character motions. To verify the hypothesis, we introduce a compact representation for an articulated character with deformable soft tissue and develop a practical system to simulate two-way coupling between rigid and deformable bodies in a robust and efficient manner. We then apply a few simple and widely used control algorithms, such as pose-space tracking control, Cartesian- space tracking control, and a biped controller (SIMBICON), to sim- ulate a variety of behaviors for both full-body locomotion and hand manipulation. We conduct a series of experiments to compare our results with the motion generated by these algorithms on a char- acter comprising only rigid bodies. The evaluation shows that the character with soft contact can withstand larger perturbations in a more noisy environment, as well as produce more realistic motion.