We propose a wireless embedded system on a glove, incorporating 3 infrared LEDs positioned in an equilateral triangle above the wrist tracked by an infrared filter pass camera, for hand tracking in 3D space. Pitch and roll rotation are handled by an accurate gyroscope accelerometer. 5 vibration motors of both customizable frequency and intensity are controlled by a raspberry pi providing a high fidelity haptic experience to the user. A 3D game was implemented in order to evaluate our wireless glove prototype. Graduate engineering students wore our glove and played the game incorporating touch-driven actions: users could interact with objects by touching them with their fingers. The user was required to grab an object and attempt to collide it with another object. Most users were able to successfully grab the objects and collide them with each other.