Haptic interfaces allow natural physical interactions with virtual environments. By measuring the user’s movements and providing force feedback, they recreate a physical sense of presence in the virtual world, thus improving the user’s immersion. These characteristics led to their adoption in various VR applications, e.g. fitting, training or ergonomic studies. Until recently however, most of the commercially available systems were equipped with a handle which constraints the simulated movements to the manipulation of tools having a shape similar to the handgrip. More dexterous devices which do not constraint the hand’s posture are required to allow for the simulation of more various grasps and fine manipulation. Such interfaces are currently the subject of intense research, with new products arrived recently on the market. Some of these devices allow generic force feedback on the fingers thanks to multidirectional actuation. They remain however complex and cumbersome. To overcome this limitation, some other devices limit the number of actuators. More compact solutions can be obtained this way, but force feedback is limited to only few directions. In this paper, we present a different approach. By combining force and local pseudo-force feedback, we aim at allowing a rich and multidirectional haptic feedback in a light and compact fashion. This paper presents an innovative haptic glove implementing such hybrid haptic feedback developed for interactions with digital mock-ups, with details on its main components and its integration in a VR application.