Here is an Arduino Robotic Gripper by Sam Baumgarten and Graham Hughes that can be controlled using a glove with flex sensors. The gripper has 3 servos to control 3D printed fingers. The vibrating motors combine with pressure sensors to provide you with haptic feedback.
You will just need Arduinos, sensors, and a 3D printer to try to make your own. Watch the above videos to get a better idea how these robotic grippers work.