Slip a razor blade under the skin and slide it along the limb under the skin. There will be glue residue left on the limb. Will need to sand that lightly, perhaps with 120 or 220 grit, then 320, and then refinish. Spray finishes like Deft and Helmsman work well.
Be sure to keep the razor blade almost flat to the limb. Of course, you can just sand off the skin as well. That's a little messier though. Use a flat sanding block for all your sanding so you don't wear any low spots into the glass.