We have developed CyARM, a new kind of sensing device especially for visually impaired persons, to assist with mobility and detection of nearby objects. This user interface has unique characteristics of giving visually impaired persons the impression of an “imaginary arm” that extends to existing obstacles. CyARM is also a communication device for constructing “joint haptic attention” between impaired and unimpaired persons watching or feeling the same objects. In other words, this device offers a new methodology for judging the others’ attentions or intentions without using their eye gaze direction. We verified the efficiency and ability of CyARM for environment recognition through experiments and discuss its possibility as a communication device for realizing joint haptic attention.