Two dimensional lateral skin motions during manipulation are vital in ensuring grasping stability. This paper outlines the research, design, construction and testing of a completely portable slip/stretch feedback system for the fingertip. The device uses a V configuration of miniature motors to provide sensations of relative lateral motion (direction and velocity) onto the user?s fingertips. This device has a mass of 22g at the fingertip, 105g at the forearm, Bluetooth communication to the simulation computer and a capacity of over 2hrs continuous use. Testing involved user trails to determine quantitatively and qualitatively the realism and accuracy of the integrated system. These results show good levels of user ability to discriminate both directional and speed movements.