Described herein are various embodiments for enabling realistic haptic feedback for virtual three-dimensional (3D) objects. A real proxy surface is provided for a virtual object, where the proxy surface may be a relief surface, such as a depth-compressed model of the virtual object. In an exemplary method, when a user touches a proxy surface, a position of the touch point on the surface is detected. The touch point is mapped to a corresponding point on the virtual object. A position of the virtual object is determined such that the touch point is in alignment with the corresponding point on the virtual object, and the virtual object is displayed at the first determined position on an augmented reality display. As a result, a user touching the proxy surface may have the sensation of touching a solid version of the virtual 3D object instead of the proxy surface.