An interaction peripheral device capable of controlling an element for touching and grasping multidimensional virtual objects, including at least two interaction modules, each interaction module being intended to be actuated by a finger of an operator and including a control sensor allowing control of displacement, according to a predetermined number of degrees of freedom, of a portion of the element for touching and grasping 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 of said element for touching and grasping virtual objects, characterized in that each interaction module is attached to said peripheral device through a connection in a damping material.