You can safely wear firm or hard ground boots on Artifical Grass playing surfaces, as I have done for many years.
However, alot of people call all artificial grounds astro turf which is misguided.
The carpet type surface is not good for studded boots, and you should only wear astroturf boots (the kind with many tiny rubber studs) on these grounds.
If the ground is artificial but with blades of artificial 'grass' you can wear these boots no problem, n fact, you SHOULD wear those boots.
Have a good game.
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The difference is in the use which is in the name soft ground cleats are designed for soft wetter surfaces. For example you want soft grounds when it is raining or when you right after it rains. The reason they are better for that is they have longer studs and most of the time have fewer amount of studs. Firm grounds are good everyday cleats. you wear these on a daily bases when the ground is dry but not rock hard. These cleats come in many different designs and stud patterns but teand to have sort and more studs then soft ground.
if you are talking about European football cleats then the typical defining differences are, soft ground cleats usually have four studs on the front and two on the back, and soft ground studs are generally longer that hard ground studs.
Of course you can,but it's not recommended.Your feet gonna hurt,because the studs are longer and on the firm ground,they won't get inside the surface.Therefore you'll be feeling like in women's boots with 6 high heels.
Firm ground are better cleats than the soft ground ground b/c the cleat is tougher