Telemanipulation, an advanced technology used for remotely controlling robots, is currently advancing to address challenges related to haptic feedback and dexterity. The adoption of bilateral architectures to connect operator and remote devices has been highlighted to ensure seamless connectivity between operators and remote manipulators, promoting telepresence for optimal performance. Additionally, robotic hands, initially designed for prosthetic purposes, have garnered recognition for their dexterity and versatility in telemanipulation tasks. This study proposes a novel tendon-driven haptic glove system to provide active force feedback in a remote environment. The system is a versatile device able to properly track finger motion while delivering accurate haptic feedback. A real-time embedded controller ensures proper haptic feedback during manipulation tasks executed in a virtual environment. The proposed haptic glove was found to be effective in reducing failure rates and enhancing movement accuracy when haptic feedback was delivered. Participants reported experiencing moderate cognitive load and minimal physical strain during the experiments. Analysis of the contact force feedback reported that interaction forces were modulated on each fingertip according to the user's motion and the object's stiffness. The results of this study represent a promising solution in the context of bilateral architecture for the telemanipulation of robotic hands.