What does it feel like when one controls a tool? Would it feel like it is being extended from one’s own body? This thesis is a cornerstone for the PALMS study. Plasticity of the minimal self can be defined as the ability to shape or extend Body Image and Body Action. The PALMS project studies the plasticity of the minimal self in healthy aging in tool-use dependent tasks. In our current study, we developed an object manipulation experiment in AR. Whereby having one’s hand tracked, one could then move their hand to control a tool(gripper) in AR. The aim of the task is for one to touch the gripper’s middle part with the front side of the target cube. Moreover, one should avoid touching the sides of the target cube. One would then put on a tactile glove, which would then generate tactile feedback once the tool comes in contact with a target. The primary question we had for our current experiment was, Would a task with haptic feedback have a better performance than a task without haptic feedback?For our experiment, we divided the participants into two groups, Group A (without Feedback first) and Group B (With Haptic feedback first). In Group A, in the first two blocks (first half of the trials), one will not get haptic feedback as the tool comes in contact with the target. Then in the second two blocks (second half of the trials), haptic feedback would be present. Such that participants will get haptic feedback as the tool comes in contact with the target. Conversely, in Group B, in the first half of the trials, haptic feedback would be present. Then in the second half of the trials, haptic feedback would be absent.Results show that Haptic Feedback helped participants to perform the task better. No differences in the average workloads between the two groups or the two conditions were observed. Each participant had their own threshold level, a level of difficulty that a participant fluctuates within. No learning effects in any of the two groups in blocks with the same condition were observed. No sequence effects were observed. The order of the chunk of blocks between the two groups did not appear to show any differences.