The absolutely perfect tool for those screws is Leatherman Squirt pliers.
Don't try to grab the head "from the top", instead lay them flat and grab the bolt from the side. You will notice that the teeth on the Squirts pliers align perfectly with teeth/groves on the screw's head working like a wrench.
Absolutely no slipping or damage to the bolt. Just keep in mind that the femail end won't spin in the handle.