With the increasing prevalence of virtual reality (VR), the findings from this work can be used to increase realism for video games, simulations, or rehabilitation. The index finger module of the Maestro hand exoskeleton is modeled and implemented in this study. Results from the simulation validate the human-robot model for forward kinematics (visualized in CHAI 3D) and inverse kinetics (used to implement kinesthetic feedback). We propose a human subject study and have conducted pilot testing on two users. The pilot testing results indicate that the proximal and distal finger joints may have different levels of importance for virtual object size discrimination. The resulting insights about cognitive human-robot interaction (cHRI) can motivate design choices for wearable hand devices in VR applications.