Is there a material that can be reshaped at will?

I'm pretty sure the answer is no, but I was thinking about the problem of not being able to have real robust tactile feel of a vr world. Controllers are a stop gap and are not the same thing as interacting in the real world where you can reach out and touch things. But what if there were some sort of advanced gloves with some exotic material that could deform and reshape itself depending on what the player is touching in the virtual world. If he tries to knock on a door if the entire glove stiffened in the right areas and sort of pulled back at the point of contact, could that simulate something close to a real door tap? My guess is the answer is no, so is all lost? Can we ever get what we are searching for sans creating an actual matrix?