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Current virtual reality (VR) haptic gloves either deliver limited haptic feedback or are bulky and heavy. The authors develop a haptic glove or HaptGlove, an untethered and lightweight pneumatic glove, that allows users to \u201cphysically\u201d interact in a VR environment and enables both kinesthetic and cutaneous sensations naturally and realistically. Integrated with five pairs of haptic feedback modules and fiber sensors, HaptGlove provides variable stiffness force feedback and fingertip force and vibration feedback, allowing users to touch, press, grasp, squeeze, and pull various virtual objects and feel the dynamic haptic changes. Significant improvements in VR realism and immersion are\u00a0observed in a user study with participants achieving 78.9% accuracy in sorting six virtual balls of different stiffnesses. 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