Authors: 
Mores Prachyabrued, Christoph W. Borst
Abstract: 
We tuned and evaluated visual feedback techniques for virtual grasps. To date, development of such feedback has been largely ad-hoc, with minimal work that can guide technique selection. We considered several techniques including both standard and novel aspects. In terms of impact on real hand behavior, the best techniques all directly reveal penetrating hand configuration in some way. Subjectively, color changes are most liked.