Virtual reality (VR) interaction often relies on grasping. However, compact handheld shape displays either restrict users to pinch interactions or require bulky grounding. We present FresnelShape, a compact handheld device that renders local contact-plane tilt at three fingertips (thumb, index, and middle finger). VR visual feedback conveys global geometric cues such as fingertip placement, curvature, and grasp aperture. We detail the hardware design and a visuo-haptic coupling pipeline that maps a virtual object’s local surface orientation at intended contact points to fin tilt angles. This combination enables three-finger precision grasps within a controller-sized form factor without mechanically imposing fingertip positions. Two user studies evaluate the approach. Study 1 compares FresnelShape with a standard VR controller and bare hand tracking across eight 3D shapes. FresnelShape yielded higher visuo-haptic coherence (71.5 vs. 40.9 for a controller and 37.9 for hand tracking on a 0–100 VAS) and improved subjective experience without increasing fatigue. Study 2 uses a visuo–tactile Stroop task and an ex-Gaussian generalized linear mixed model. The analysis found a significant Stroop contrast for tactile circles (66.6 ms, pHolm=0.012 ), whereas the corresponding triangle contrast did not survive Holm correction ( pHolm=0.081 ). Overall, FresnelShape improved coherence by over 30 points and yielded a reliable visuo–tactile Stroop effect for tactile circles. These results suggest that combining visual rendering of global geometry with three-finger haptic contact orientation can enhance perceived shape during handheld VR interaction.
