diff --git a/interface/src/Application.cpp b/interface/src/Application.cpp
index f12cd94578..90d7fdb22a 100644
--- a/interface/src/Application.cpp
+++ b/interface/src/Application.cpp
@@ -240,6 +240,9 @@ Application::Application(int& argc, char** argv, timeval &startup_time) :
     // probably not the right long term solution. But for now, we're going to do this to 
     // allow you to move a particle around in your hand
     _particleEditSender.setPacketsPerSecond(3000); // super high!!
+    
+    // Set the sixense filtering
+    _sixenseManager.setFilter(Menu::getInstance()->isOptionChecked(MenuOption::FilterSixense));
 }
 
 Application::~Application() {
diff --git a/interface/src/Application.h b/interface/src/Application.h
index a37e13147a..b3b8ebf8f5 100644
--- a/interface/src/Application.h
+++ b/interface/src/Application.h
@@ -151,6 +151,7 @@ public:
     SerialInterface* getSerialHeadSensor() { return &_serialHeadSensor; }
     Webcam* getWebcam() { return &_webcam; }
     Faceshift* getFaceshift() { return &_faceshift; }
+    SixenseManager* getSixenseManager() { return &_sixenseManager; }
     BandwidthMeter* getBandwidthMeter() { return &_bandwidthMeter; }
     QSettings* getSettings() { return _settings; }
     Swatch*  getSwatch() { return &_swatch; }
diff --git a/interface/src/Menu.cpp b/interface/src/Menu.cpp
index 13510067cd..646fcadc40 100644
--- a/interface/src/Menu.cpp
+++ b/interface/src/Menu.cpp
@@ -357,11 +357,17 @@ Menu::Menu() :
                                            appInstance->getWebcam()->getGrabber(),
                                            SLOT(setDepthOnly(bool)));
 
-    QMenu* raveGloveOptionsMenu = developerMenu->addMenu("Hand Options");
+    QMenu* handOptionsMenu = developerMenu->addMenu("Hand Options");
 
-    addCheckableActionToQMenuAndActionHash(raveGloveOptionsMenu, MenuOption::SimulateLeapHand);
-    addCheckableActionToQMenuAndActionHash(raveGloveOptionsMenu, MenuOption::DisplayLeapHands, 0, true);
-    addCheckableActionToQMenuAndActionHash(raveGloveOptionsMenu, MenuOption::LeapDrive, 0, false);
+    addCheckableActionToQMenuAndActionHash(handOptionsMenu,
+                                           MenuOption::FilterSixense,
+                                           0,
+                                           true,
+                                           appInstance->getSixenseManager(),
+                                           SLOT(setFilter(bool)));
+    addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::SimulateLeapHand);
+    addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::DisplayLeapHands, 0, true);
+    addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::LeapDrive, 0, false);
  
 
     QMenu* trackingOptionsMenu = developerMenu->addMenu("Tracking Options");
diff --git a/interface/src/Menu.h b/interface/src/Menu.h
index aa3b925517..aac503af6f 100644
--- a/interface/src/Menu.h
+++ b/interface/src/Menu.h
@@ -167,6 +167,7 @@ namespace MenuOption {
     const QString DisableLowRes = "Disable Lower Resolution While Moving";
     const QString DisplayFrustum = "Display Frustum";
     const QString DisplayLeapHands = "Display Leap Hands";
+    const QString FilterSixense = "Smooth Sixense Movement";
     const QString DontRenderVoxels = "Don't call _voxels.render()";
     const QString DontCallOpenGLForVoxels = "Don't call glDrawRangeElementsEXT() for Voxels";
     const QString EnableOcclusionCulling = "Enable Occlusion Culling";
diff --git a/interface/src/avatar/Hand.cpp b/interface/src/avatar/Hand.cpp
index b718729fcb..f59929b35a 100755
--- a/interface/src/avatar/Hand.cpp
+++ b/interface/src/avatar/Hand.cpp
@@ -48,7 +48,9 @@ Hand::Hand(Avatar* owningAvatar) :
     _collisionCenter(0,0,0),
     _collisionAge(0),
     _collisionDuration(0),
-    _pitchUpdate(0)
+    _pitchUpdate(0),
+    _grabDelta(0, 0, 0),
+    _grabDeltaVelocity(0, 0, 0)
 {
     for (int i = 0; i < MAX_HANDS; i++) {
         _toyBallInHand[i] = false;
@@ -72,7 +74,6 @@ void Hand::reset() {
 }
 
 void Hand::simulateToyBall(PalmData& palm, const glm::vec3& fingerTipPosition, float deltaTime) {
-
     glm::vec3 targetPosition = fingerTipPosition / (float)TREE_SCALE;
     float targetRadius = (TOY_BALL_RADIUS * 2.0f) / (float)TREE_SCALE;
     const Particle* closestParticle = Application::getInstance()->getParticles()
@@ -101,8 +102,6 @@ void Hand::simulateToyBall(PalmData& palm, const glm::vec3& fingerTipPosition, f
 
     // Is the controller button being held down....
     if (palm.getControllerButtons() & BUTTON_FWD) {
-        //  If grabbing toy ball, add forces to it.
-
         // If we don't currently have a ball in hand, then create it...
         if (!_toyBallInHand[handID]) {
             //  Test for whether close enough to catch and catch....
@@ -170,6 +169,23 @@ void Hand::simulateToyBall(PalmData& palm, const glm::vec3& fingerTipPosition, f
     }
 }
 
+glm::vec3 Hand::getAndResetGrabDelta() {
+    const float HAND_GRAB_SCALE_DISTANCE = 5.f;
+    glm::vec3 delta = _grabDelta * _owningAvatar->getScale() * HAND_GRAB_SCALE_DISTANCE;
+    _grabDelta = glm::vec3(0,0,0);
+    glm::quat avatarRotation = _owningAvatar->getOrientation();
+    return avatarRotation * -delta;
+}
+
+glm::vec3 Hand::getAndResetGrabDeltaVelocity() {
+    const float HAND_GRAB_SCALE_VELOCITY = 5.f;
+    glm::vec3 delta = _grabDeltaVelocity * _owningAvatar->getScale() * HAND_GRAB_SCALE_VELOCITY;
+    _grabDeltaVelocity = glm::vec3(0,0,0);
+    glm::quat avatarRotation = _owningAvatar->getOrientation();
+    return avatarRotation * -delta;
+    
+}
+
 void Hand::simulate(float deltaTime, bool isMine) {
     
     if (_collisionAge > 0.f) {
@@ -200,6 +216,13 @@ void Hand::simulate(float deltaTime, bool isMine) {
                 
                 simulateToyBall(palm, fingerTipPosition, deltaTime);
                 
+                if (palm.getControllerButtons() & BUTTON_4) {
+                    _grabDelta +=  palm.getRawVelocity() * deltaTime;
+                }
+                if ((palm.getLastControllerButtons() & BUTTON_4) && !(palm.getControllerButtons() & BUTTON_4)) {
+                    _grabDeltaVelocity = palm.getRawVelocity();
+                }
+                
                 if (palm.getControllerButtons() & BUTTON_1) {
                     if (glm::length(fingerTipPosition - _lastFingerAddVoxel) > (FINGERTIP_VOXEL_SIZE / 2.f)) {
                         QColor paintColor = Menu::getInstance()->getActionForOption(MenuOption::VoxelPaintColor)->data().value<QColor>();
@@ -246,6 +269,7 @@ void Hand::simulate(float deltaTime, bool isMine) {
                     }
                 }
             }
+            palm.setLastControllerButtons(palm.getControllerButtons());
         }
     }
 }
diff --git a/interface/src/avatar/Hand.h b/interface/src/avatar/Hand.h
index a6f3014797..451da1b878 100755
--- a/interface/src/avatar/Hand.h
+++ b/interface/src/avatar/Hand.h
@@ -61,6 +61,10 @@ public:
     const float getPitchUpdate() const { return _pitchUpdate; }
     void setPitchUpdate(float pitchUpdate) { _pitchUpdate = pitchUpdate; }
     
+    // Get the drag distance to move
+    glm::vec3 getAndResetGrabDelta();
+    glm::vec3 getAndResetGrabDeltaVelocity();
+    
 private:
     // disallow copies of the Hand, copy of owning Avatar is disallowed too
     Hand(const Hand&);
@@ -95,6 +99,7 @@ private:
     void handleVoxelCollision(PalmData* palm, const glm::vec3& fingerTipPosition, VoxelTreeElement* voxel, float deltaTime);
     
     void simulateToyBall(PalmData& palm, const glm::vec3& fingerTipPosition, float deltaTime);
+
     
     #define MAX_HANDS 2
     bool _toyBallInHand[MAX_HANDS];
@@ -103,6 +108,9 @@ private:
     int _lastControllerButtons;
     
     float _pitchUpdate;
+    
+    glm::vec3 _grabDelta;
+    glm::vec3 _grabDeltaVelocity;
 
 };
 
diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 7518d639c3..e462426f2e 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -271,6 +271,14 @@ void MyAvatar::simulate(float deltaTime, Transmitter* transmitter) {
     
     updateChatCircle(deltaTime);
     
+    //  Get any position or velocity update from Grab controller
+    glm::vec3 moveFromGrab = _hand.getAndResetGrabDelta();
+    if (glm::length(moveFromGrab) > EPSILON) {
+        _position += moveFromGrab;
+        _velocity = glm::vec3(0, 0, 0);
+    }
+    _velocity += _hand.getAndResetGrabDeltaVelocity();
+    
     _position += _velocity * deltaTime;
     
     // update avatar skeleton and simulate hand and head
diff --git a/interface/src/devices/SixenseManager.cpp b/interface/src/devices/SixenseManager.cpp
index a76bed3ac9..3a5c2bf95c 100644
--- a/interface/src/devices/SixenseManager.cpp
+++ b/interface/src/devices/SixenseManager.cpp
@@ -16,7 +16,6 @@
 SixenseManager::SixenseManager() {
 #ifdef HAVE_SIXENSE
     sixenseInit();
-    sixenseSetFilterEnabled(1);
 #endif
 }
 
@@ -26,6 +25,18 @@ SixenseManager::~SixenseManager() {
 #endif
 }
 
+void SixenseManager::setFilter(bool filter) {
+#ifdef HAVE_SIXENSE
+    if (filter) {
+        qDebug("Sixense Filter ON\n");
+        sixenseSetFilterEnabled(1);
+    } else {
+        qDebug("Sixense Filter OFF\n");
+        sixenseSetFilterEnabled(0);
+    }
+#endif
+}
+
 void SixenseManager::update(float deltaTime) {
 #ifdef HAVE_SIXENSE
     if (sixenseGetNumActiveControllers() == 0) {
diff --git a/interface/src/devices/SixenseManager.h b/interface/src/devices/SixenseManager.h
index 43e11b682f..874f29fc34 100644
--- a/interface/src/devices/SixenseManager.h
+++ b/interface/src/devices/SixenseManager.h
@@ -10,13 +10,19 @@
 #define __interface__SixenseManager__
 
 /// Handles interaction with the Sixense SDK (e.g., Razer Hydra).
-class SixenseManager {
+class SixenseManager : public QObject {
+    Q_OBJECT
 public:
     
     SixenseManager();
     ~SixenseManager();
     
     void update(float deltaTime);
+    
+public slots:
+    
+    void setFilter(bool filter);
 };
 
 #endif /* defined(__interface__SixenseManager__) */
+
diff --git a/libraries/avatars/src/HandData.h b/libraries/avatars/src/HandData.h
index 6fba4d5e2c..e299382c66 100755
--- a/libraries/avatars/src/HandData.h
+++ b/libraries/avatars/src/HandData.h
@@ -158,8 +158,11 @@ public:
     
     // Controller buttons
     void setControllerButtons(int controllerButtons) { _controllerButtons = controllerButtons; }
-    int getControllerButtons() { return _controllerButtons; }
+    void setLastControllerButtons(int controllerButtons) { _lastControllerButtons = controllerButtons; }
 
+    int getControllerButtons() { return _controllerButtons; }
+    int getLastControllerButtons() { return _lastControllerButtons; }
+    
     void setTrigger(float trigger) { _trigger = trigger; }
     float getTrigger() { return _trigger; }
     void setJoystick(float joystickX, float joystickY) { _joystickX = joystickX; _joystickY = joystickY; }
@@ -181,6 +184,7 @@ private:
     glm::vec3 _tipPosition;
     glm::vec3 _tipVelocity;
     int _controllerButtons;
+    int _lastControllerButtons;
     float _trigger;
     float _joystickX, _joystickY;