Unless you mean something with real haptic feedback that isn't just a rumble (meaning it actually pushes back if you hit something instead of going through it), then I dunno. The limitation there is probably hardware.
The Novint Falcon that I linked came with a demo program in which you could 'touch' spheres made of different kinds of materials (I remember sandpaper, sand, ice, molasses) each one providing different kind of feedback (slipping in case of ice, stickiness in case of molasses).
One limitation I see is the size of workspace but with right setup I think it could be an interesting concept to explore.
Oculus Medium truly blew me away, I've tried sculpting in the likes of Zbrush, Mudbox etc before and it's never really clicked. But being able to actually use your hands in 3D space with Medium is probably one of the most magical computing experiences I've had since first touching an iPhone.
Highly recommend people giving it a go if you get a chance.
What would such hardware be like? The first thing that comes to mind to me is some kind of glove that covers the arm and shoulder too, and can dynamically tense up many different regions on its surface, to restrict muscles/tendons.
https://www.oculus.com/medium/
https://www.tiltbrush.com/
Unless you mean something with real haptic feedback that isn't just a rumble (meaning it actually pushes back if you hit something instead of going through it), then I dunno. The limitation there is probably hardware.