This paper explores enhancing mobile immersive augmented reality manipulations by providing a sense of computer-captured touch through the use of a passive deformable haptic glove that responds to objects in the physical environment. The glove extends our existing pinch glove design with a Digital Foam sensor that is placed under the palm of the hand. The novel glove input device supports a range of touch-activated, precise, direct manipulation modeling techniques with tactile feedback including hole cutting, trench cutting, and chamfer creation. A user evaluation study comparing an image plane approach to our passive deformable haptic glove showed that the glove improves a user’s task performance time, decreases error rate and erroneous hand movements, and reduces fatigue.