In this paper, we present a mechanical hand-tracking system with tactile feedback designed for fine manipulation in teleoperation scenarios. Alternative tracking methods based on artificial vision and data gloves have become an asset for virtual reality interaction. Yet, occlusions, lack of precision, and the absence of effective haptic feedback beyond vibrotactile still appear as a limit for teleoperation applications. We propose a methodology to design a linkage mechanism for hand pose tracking purposes, preserving complete finger mobility. Tracking accuracy was evaluated and a teleoperation experiment was involved on ten partecipants with a dexterous robotic arm and hand.