The act of touching as a social behavior is called social touch, and is considered to be an action to express feelings and affection toward the other person, and is known to reduce stress and relax the user. It is difficult to reproduce social touch. Existing controllers generally use vibration as a method of presenting tactile sensations to the user, but this is because it is a uniform cutaneous sensory stimulation to the entire hand, and it is difficult to produce a fine sense of force. In this study, we develop a controller that mimics the shape and texture of a human hand, and propose a system that enables users to interact with a humanoid character in XR space. This robotic hand-type controller is capable of detecting the user’s strong grip and acquiring the posture angle of the user’s hand. We also designed a system that allows the user to walk while holding hands with a virtual character, and several interactions were designed, including an interaction in which the user holds the controller’s hand back when the user grips it tightly. The controller and system were exhibited at several events, and the portability and quality of the experience were confirmed through user questionnaires.