Abstract: Highlights•We propose the manipulable cone which is constructed based on the two-bend camera model. The user is allowed to manipulate the objects inside the cone, removing the occlusion before the target object in high occlusion scenes.•We propose a new bare hand interaction design. We define three gestures and five states. The user can use gestures to smoothly control the switching between states and select the occluded object.•Two user studies to evaluate the efficiency, utility, and adaptability of our proposed method. The results indicate that MCBOS significantly reduces Task Completion Time, Total Rotation, Total Translation, Error Rate, Task Load, and Simulator Sickness Questionnaire scores.