This paper presents the design and experimental evaluation of the end-effector of a dexterous encounter type haptic interface aimed at allowing natural interactions with digital mockups in Virtual Reality. This end-effector has two purposes: first, it should be able to precisely measure the 6D position and orientation of a fingertip remotely without equipping the user with any marker on the skin or nail. Second, it should serve as contact surface when force feedback is required. Therefore, we make use of 9 proximity sensors, 8 of which are placed around the finger in two planes, the last one being in front of it. Our results show that, after calibration, this configuration effectively allows measuring the configuration of a mock-up representative of the finger with a good precision for various positions and orientations.