  We propose a haptic system that applies forces or skin deformation to the
user's arm, rather than at the fingertips, for believable interaction with
virtual objects as an alternative to complex thimble devices. Such a haptic
system would be able to convey information to the arm instead of the
fingertips, even though the user manipulates virtual objects using their hands.
We developed a set of haptic sketches to determine which directions of skin
deformation are deemed more believable during a grasp and lift task. Subjective
reports indicate that normal forces were the most believable feedback to
represent this interaction.
