US Patent 10168873 Virtual interactions for machine control

The technology disclosed relates to providing simplified manipulation of virtual objects by detected hand motions. In particular, it relates to a detecting hand motion and positions of the calculation points relative to a virtual object to be manipulated, dynamically selecting at least one manipulation point proximate to the virtual object based on the detected hand motion and positions of one or more of the calculation points, and manipulating the virtual object by interaction between the detected hand motion and positions of one or more of the calculation points and the dynamically selected manipulation point.