An impression device has a base having a recess and a conduit for fluidly coupling the recess to a vacuum source configured to temporarily apply a vacuum pressure to the recess. The device has a first plurality of particles positioned in the recess, the first plurality of particles sealed from an external environment and consisting essentially of a plurality of circular glass beads. The device has a flexible membrane coupled to the base adjacent to the first plurality of particles and holding the first plurality of particles in the base. The first plurality of particles has a first coefficient of friction between each other selected to allow the particles to move relative to each other in the absence of the vacuum pressure and to prevent the particles from moving relative to each other in the presence of the vacuum pressure.