Both the current and the old name refer to the white, bristle-like hairs covering leaves and branches in this species (hirtipes = with hairy stalks, hystrix = hedgehog).
The type plant was collected in the southern part of the distribution area, where some of the plants have almost hairless leaves. This probably explains the fact that the name hirtipes refers to the hairiness of the branches only. These branches are rather brittle and form tufts to 15 cm in diameter.
The leaves are lance- to egg-shaped, from round in cross-section to flat above and strongly convex below; they are 8-20 x 4-7 mm and usually as thick as wide.
The small tubular flowers are cream to yellow and appear from August to October.
Plants are found from Komaggas to near Vanrhynsdorp in habitats varying from gravelly slopes to loamy flats, often under rocks or bushes.