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This paper presents an approach for grasping virtual objects in virtual environments with a data glove. Our focus lies on developing new methods that allow sensible realistic grasping gestures, which correspond to human grasping behavior. To meet the demands of industrial applications, users must be able to grasp an object in an intuitive way with one or two hands and, beyond that, manipulate grasped objects between their fingers. To avoid the use of expensive force or touch feedback hardware, but also to ensure a safe grip on virtual objects, sever al forms of visual feedback are provided. First, we describe the basic algorithm for grasping with one or two hands and finally, we present a method to precisely manipulate the grasped objects between the virtual fingers.