The robot arm can mimic wrist and elbow movements, as well as finger movements. That's going to be a pretty large glove...
A haptic device provides feedback to the user (the glove wearer), so that, for instance, the user can sense how heavy the object being picked up is, and squeeze harder for heavy objects than for light objects.
Presuming you figure out how to sense the position of the fingers, wrist, and elbow, and you figure out how to map those movements to the robot arm, how will you provide the force feedback?