Haptic Squishiness
 

I created a mole out of 2 spheres and I'm trying to create a realistic squishy mole feeling for it. I know I can adjust damping for that, but I feel that every time I make the mole seem more squishy, it is harder for the user to stay on the mole to feel it. We are zoomed into the avatar's face where the mole is on the forehead, but it's still a little small for the haptic pen to stay on and feel. When the haptic pen touches the mole, it kind of slides off really quickly. How should I adjust the damping, static friction, dynamic friction, and hardness, so that the mole can appear squishy while at the same time not sliding off?

Have you tried increasing the friction? This might help keep the pen stuck on the object. I'll try to test this out myself and get back to you if it works.