Haptic gloves have been developed and commercialized for virtual reality, but they don't solve the problem for people without hands. For example, HaptX is a company that develops haptic gloves for VR training, simulation and design. VRgluv is another example of this kind of technology, but they don't offer the complete haptic feedback, just the force feedback. Plexus and Avatar VR are some other examples.

"Slave hand" prosthesis have been broadly developed, and there are many prototypes, from the simplest and less precise ones that you can build at home to the most complicated ones that have many features; but, again, they don't solve the haptic problem. They have been so studied, that nearly everyone with some simple knowledge in electronics and programming is able to develop one at their homes with all the online tutorials we have nowadays. As examples for commercialized ones we have: Bebionic, HeroArm, i-limb ultra, etc.

But, as I said before, little has been commercialized mixing both. However, some researches in this topic, "muscle sense", have taken place with optimistic results:

• Keio University, Japan: Development of Haptic Prosthetic Hand for Realization of Intuitive Operation
• SynTouch, LLC: Evaluation of Force, Vibration and Thermal Tactile Feedback in Prosthetic Limbs 
• S. Raspopovic, M. Capogrosso, F. M. Petrini, M. Bonizzato, J. Rigosa, G. Di Pino, J. Carpaneto, M. Controzzi, T. Boretius, E. Fernandez, G. Granata, C. M. Oddo, L. Citi, A. L. Ciancio, C. Cipriani, M. C. Carrozza, W. Jensen, E. Guglielmelli, T. Stieglitz, P. M. Rossini, S. Micera: Restoring Natural Sensory Feedback in Real-Time Bidirectional Hand Prostheses. Science Translational Medicine
• Antfolk, C., Balkenius, C., Rosén, B., Lundborg, G., & Sebelius, F.: SmartHand tactile display: A new concept for providing sensory feedback in hand prostheses. Journal of Plastic Surgery and Hand Surgery, 44(1), 50–53.

These are some examples, but there are many other researches.