Microsoft released 3D motion holograms back in 2011.
In 2012, they claimed to have a "Touchable Hologram"
Their so called "Touchable Hologram" was really, "Interactive" Not Touchable.
There was no sense of feel involved, only hand and motion tracking so that if you reached for the object, the object would respond.
http://www.youtube.com/watch?v=lW7k-6FUxooThis however is ultrasonic technology that provides a sense of touch along with the motion tracking.
Released in 2009
http://www.youtube.com/watch?v=3seTlvQtIgc