An interaction peripheral device capable of controlling an element for touching and grasping multidimensional virtual objects, the peripheral device including at least two interaction modules (12, 13, 14, 15, 20), each interaction module (12, 13, 14, 15, 20) being intended to be actuated by a finger of an operator and including a control sensor with which a displacement may be controlled according to a predetermined number of degrees of freedom, of a portion (8, 9, 10, 11) of the element for touching and grasping of virtual objects, by bending/extending and/or adduction/abduction displacement of the finger of the operator and a vibrator able to emit a vibration upon touching and/or letting go of a virtual object by a portion (8, 9, 10, 11) of said element for touching and grasping virtual objects, each interaction module further including a pressure sensor, capable of delivering a representative signal of the pressure exerted by the operator and of exerting resistance to the pressure force exerted by the operator, the peripheral device being characterized in that each interaction module (12, 13, 14, 15, 20) is attached to said peripheral device through a connection in a damping material, the peripheral device being further characterized in that: - upon clamping a virtual object by actuating a finger of the operator on an interaction module, the following operational succession of the sensors and of the vibrator of said interaction module is applied: - activation of the control sensor until contact with said virtual object, - deactivation of the control sensor and activation of the vibrator, - activation of the pressure sensor, and/or - upon loosening a virtual object by actuating a finger of the operator on an interaction module, the following operational succession of the sensors and of the vibrator of said interaction module is applied: - activation of the pressure sensor until a sensitivity threshold of said pressure sensor is reached, - deactivation of the pressure sensor and activation of the vibrator, - activation of the control sensor. - upon clamping a virtual object by actuating a finger of the operator on an interaction module, the following operational succession of the sensors and of the vibrator of said interaction module is applied: - activation of the control sensor until contact with said virtual object, - deactivation of the control sensor and activation of the vibrator, - activation of the pressure sensor, and/or - activation of the control sensor until contact with said virtual object, - deactivation of the control sensor and activation of the vibrator, - activation of the pressure sensor, and/or - upon loosening a virtual object by actuating a finger of the operator on an interaction module, the following operational succession of the sensors and of the vibrator of said interaction module is applied: - activation of the pressure sensor until a sensitivity threshold of said pressure sensor is reached, - deactivation of the pressure sensor and activation of the vibrator, - activation of the control sensor. - activation of the pressure sensor until a sensitivity threshold of said pressure sensor is reached, - deactivation of the pressure sensor and activation of the vibrator, - activation of the control sensor.