A handheld interface device configured to provide an electrostatic friction (ESF) effect is provided. The device comprises a plurality of more than two electrodes, with each electrode being separately disposed at a respective portion of an outer surface of the interface device. Each electrode is covered by or forms a respective portion of the outer surface of the handheld interface device. The device includes a control unit that is configured to determine a contact condition at each electrode of the plurality of electrodes, to select a subset of the plurality of electrodes based on the determined contact condition at each electrode of the plurality of electrodes, and to apply a drive signal for generating electrostatic friction to only one or more electrodes in the selected subset of the plurality of electrodes.