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We describe the Tango, a new passive haptic interface for whole-hand interaction with 3D objects. The Tango is shaped like a ball and can be grasped comfortably in one hand. Its pressure sensitive skin measures the contact pressures exerted by the user's hand, and accelerometers within the device measure its motion and attitude. This information can be used for novel modes of interaction with three-dimensional objects. We describe the design of the device, and the software for interpreting the sensor data for user interaction. Accompanying this paper, there is a demonstration of the device at the Hands-On Demo session of the conference.