In the episode "Confidence & Paranoia" when Lister & Rimmer are in the sleeping quarters talking about love, Rimmer gets into bed and knocks the blanket hanging from Lister's bunk. As Rimmer is a soft-light hologram at this point, he shouldn't be able to touch or move anything.
Also all through this episode when Rimmer salutes, he does a Half-Rimmer with 3 hand twirls. This is only for emergencies and as Rimmer invented the salute he would always use the Full Rimmer (5 hand twirls) unless there was an emergency.