TactReceiverForHand.cs

using UnityEngine;

namespace Bhaptics.Tact.Unity
{
    public class TactReceiver : MonoBehaviour
    {
        public PositionTag PositionTag = PositionTag.Body;
        public bool IsActive = true;

        void OnTriggerEnter(Collider bullet)
        {
            if (IsActive)
            {
                Handle(bullet.transform.position, bullet.GetComponent<TactSender>());
            }
            
        }

        void OnCollisionEnter(Collision bullet)
        {
            if (IsActive)
            {
                Handle(bullet.contacts[0].point, bullet.gameObject.GetComponent<TactSender>());
            }
        }

        private void Handle(Vector3 contactPoint, TactSender tactSender)
        {
            if (tactSender != null)
            {
                ////////////////////// please change this part
                var targetCollider = // get collider from the body not from hand // GetComponent<Collider>();
                tactSender.Play(PositionTag, contactPoint, targetCollider);
            }
        }
    }
}