We analyse and compare several prototypes of the HandNavigator, a peripheral device allowing a user to interact with a virtual environment by controlling a virtual hand with fine dexterity. Our prototypes, as easy to manipulate as a computer mouse, integrate a large panel of small sensors enabling the simultaneous control of a large number of degrees of freedom. Based on this architecture, we address the problems of designing a device where physical phenomena, physiological behavior and device structure are all tightly combined and significantly influence the overall interaction. The issues addressed include the generation of degrees of freedom and decoupling of virtual hand and finger movement, the influence of device shape and sensor type on the decoupling necessary for various tasks, dexterity, and performance. Using these different prototypes, we are able to perform complex tasks, such as virtual sculpture and manipulation of deformable objects in a natural way. The choice of the sensors and of their placement on the device show their influence on the dexterity of the virtual hand and on the range of configurations that can be achieved and addressed by a prototype.