Interaction systems using ultrasound haptics technology present tactile stimuli in fixed coordinates in space; hence, system delays cause not only temporal differences in the stimuli but also spatial shifts in presentation points when targets are moving. In particular, if the transducer array is placed surrounding the hand workspace, a shift in ultrasound focus could result in providing strong tactile stimuli to unintended parts of the hand, such as the opposite side of the fingers. In this study, we examine the feasibility of mitigating the delay effect by predicting the surface shape of the hand. The verification system fits the hand surface shape acquired by a depth camera with a hand model represented by low-dimensional posture parameters, and then performs Kalman prediction on the parameter transitions. The results of the user study show that for finger contacts under constant velocity motion conditions, the prediction method can mitigate the decrease in perceived intensity due to ultrasonic focus shift and increase in perceived intensity at undesirable areas.