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Interaction in virtual reality (VR) environments is essential to achieve apleasant and immersive experience. Most of the currently existing VRapplications, lack of robust object grasping and manipulation, which are thecornerstone of interactive systems. Therefore, we propose a realistic, flexibleand robust grasping system that enables rich and real-time interactions invirtual environments. It is visually realistic because it is completelyuser-controlled, flexible because it can be used for different handconfigurations, and robust because it allows the manipulation of objectsregardless their geometry, i.e. hand is automatically fitted to the objectshape. In order to validate our proposal, an exhaustive qualitative andquantitative performance analysis has been carried out. On the one hand,qualitative evaluation was used in the assessment of the abstract aspects suchas: hand movement realism, interaction realism and motor control. On the otherhand, for the quantitative evaluation a novel error metric has been proposed tovisually analyze the performed grips. This metric is based on the computationof the distance from the finger phalanges to the nearest contact point on theobject surface. These contact points can be used with different applicationpurposes, mainly in the field of robotics. As a conclusion, system evaluationreports a similar performance between users with previous experience in virtualreality applications and inexperienced users, referring to a steep learningcurve.

A Visually Plausible Grasping System for Object Manipulation and Interaction in Virtual Reality Environments