This study investigated the use of the deformation of the fingertips of a virtual hand to enhance depth perception during freehand interaction in a virtual reality (VR). Artificial fingertip deformation may generate mapping of real hand position and pseudo-haptics, improving UI usability. We conducted two experiments focusing on depth manipulation in both pointing and steering tasks. Our results revealed that changes in fingertip shape reduced operation time in pointing tasks and improved accuracy in steering tasks. Additionally, we conducted subjective evaluation surveys for both experiments, which showed improvements in pseudo-haptics, spatial perception, and user experience. Based on these results, we propose several applications and demonstrate that fingertip deformations in virtual hands can contribute to better 3D UI design.