Grasping Real and Virtual Objects in AR: Study of Carry-Over Effects on Grasping Anticipatory Behavior

Juri Yoneyama, Etienne Peillard, Guillaume Moreau, Ferran Argelaguet
January, 2026
PDF Project

Abstract

This study examines how virtual-object interaction changes the preparation of the next grasp of a real object in Augmented Reality. In a counterbalanced within-subject pick-and-place experiment with 28 participants, it compares pinch and physics-based virtual grasping with a real-only baseline, for small and large cylindrical objects. Anticipatory grip pre-shaping—peak grip aperture and its timing—reveals carry-over effects from the virtual interaction space: the way a virtual object is grasped changes the uncertainty expressed in the subsequent real grasp. The results highlight that interaction fidelity, depth cues, and missing tactile feedback must be considered when virtual and physical tasks alternate.

Type
Journal article
Publication
IEEE Transactions on Visualization and Computer Graphics

Experiment media

Participant preparing to grasp the small real cylinder used in the experiment
Small physical objectThe real cylindrical object used to measure anticipatory hand shaping after virtual interaction.
Participant preparing to grasp the large real cylinder used in the experiment
Large physical objectObject-size manipulation in the counterbalanced pick-and-place task.
Pinch graspingVirtual-object interaction with the pinch technique.
Physics-based graspingVirtual interaction with the large object in the physics-based condition.
Juri Yoneyama
Juri Yoneyama
PhD Student

IMT Atlantique

Etienne Peillard
Etienne Peillard
Associate Professor

IMT Atlantique
LS2N
CNRS IRL CROSSING

My research focuses on perception and embodied interaction in Virtual and Augmented Reality, including augmented affordances, body perception, and human-system cooperation in immersive environments.

Guillaume Moreau
Guillaume Moreau
Dean for Research and Innovation of IMT Atlantique

IMT Atlantique
Lab-STICC

Ferran Argelaguet
Ferran Argelaguet
Inria Research Scientist

Inria
IRISA

Research scientist investigating Virtual and Augmented Reality, 3D interaction, and human perception.