Look into tactile feedback.
They are bulky as hell, but some guy created a 3d printed system that does the opposite of detection.
It stops your finger so you can actually feel the 3d item you picked up.
Imho since you are doing this anyway, you should combine the 2 systems so that the effect is complete for VR.
Touch an actual item, get the engine to adjust accordingly.
Grab a virtual item, get the glove to tell you by tactitle feedback…