Evaluating a Hardware-Free Grasp-Realistic Pseudo-Haptic Configuration for Fine Motor Object Insertion in Virtual Reality

Precise object manipulation in virtual reality (VR) remains challenging without haptic feedback. Haptic devices can improve motor performance but are often expensive, complex, and unsuitable for some tasks. We evaluate a composite pseudo-haptic configuration combining motion delay with realistic finger-object alignment to support precise object insertion. In a within-subject study, 25 participants grasped objects of different shapes and sizes and inserted them into matching holes. Compared with a default VR hand-grasp baseline, the pseudo-haptic configuration significantly reduced task completion times and collision durations with higher usability, lower workload, and higher presence. We performed a cross-study comparison between hardware-free and glove-based configurations using a prior haptic-glove study’s raw data with identical task structure, objects, and evaluation metrics. Results suggest the pseudo-haptic configuration achieved shorter task completion times and collision durations. Overall, the findings suggest that hardware-free pseudo-haptic configurations are promising for precise VR manipulation while reducing reliance on specialized haptic hardware.