Systems and methods of creating a realistic grab experience in virtual reality/augmented reality environments

A method of manipulating virtual objects using real motions of at least one hand in a three-dimensional (3D) sensory space, the method including:

• capturing an image of at least one hand in a three-dimensional (3D) sensory space and sensing a location of a first hand;
• incorporating the image of the first hand into a virtual reality scene;
• and
• sensing a pinch action between a thumb and first finger of the first hand and rendering a first virtual pinch force image positioned between the thumb and the first finger while the pinch action continues.

A method of manipulating virtual objects using real motions of at least one hand in a three-dimensional (3D) sensory space, the method including:

• capturing an image of the hands in a three-dimensional (3D) sensory space and sensing a location of a first hand;
• incorporating the image of the first hand into a virtual reality scene that includes a grabable virtual object;
• sensing a gesture of the first hand, the gesture made by unconstrained movement of the first hand in the three-dimensional (3D) sensory space and determining whether the gesture is intended to interact with the grabable virtual object by grabbing the virtual object, the determining further including taking into account at least:
• an angular relationship of a normal to a palm of the first hand to a proximate surface of the virtual object;
• fingertip separations between the fingertips of the first hand and the proximate surface;
• a gesture rate at which the first hand closes on the virtual object;
• a hand posture, whether suitable for grasping the virtual object or incompatible with grasping;
• and
• linear velocity of the palm of the first hand relative to the virtual object;
• and
• responsive to determining that a gesture of the first hand is intended to grab the virtual object, linking motion of the first hand to manipulation of the virtual object.

A method of manipulating virtual objects using real motions of at least one hand in a three-dimensional (3D) sensory space, the method including:

• capturing an image of the hands in a three-dimensional (3D) sensory space and sensing a location of a first hand;
• incorporating the image of the first hand into a virtual reality scene that includes a pushable virtual object;
• sensing a gesture of the first hand, the gesture made by unconstrained movement of the first hand in the three-dimensional (3D) sensory space and determining whether the gesture is intended to interact with the pushable virtual object by pushing the virtual object, the determining further including taking into account at least:
• an angular relationship of a normal to a palm of the first hand to a proximate surface of the virtual object;
• fingertip separations between the fingertips of the first hand and the proximate surface;
• a hand posture, whether suitable for pushing the virtual object or incompatible with pushing;
• and
• linear velocity of the palm of the first hand relative to the virtual object;
• and
• responsive to determining that a gesture of the first hand is intended to push the virtual object, linking motion of the first hand to manipulation of the virtual object resulting in a displacement of the virtual object in the virtual space.

A method of manipulating virtual objects using real motions of one or more hands in a three-dimensional (3D) sensory space, the method including:

• capturing an image of the hands in a three-dimensional (3D) sensory space and sensing a location of the hands;
• incorporating at least part of the image of the hands into a virtual reality scene;
• outlining using a separate outline having an appearance contrasting the image of the hands in the virtual reality scene, a modeled position of the location of the hands and incorporating the outline into the virtual reality scene;
• detecting that at least part of the hands is obscured by a virtual object in virtual reality scene;
• and
• rendering one of the outline and the image but not both where the hands are obscured.