An exemplary virtual object presentation system accesses depth data for surfaces of a three-dimensional (“3D”) virtual object. The system determines, based on the depth data, a set of element configuration operations that, when performed by field formation elements included within an array of reconfigurable field formation elements, form a field in accordance with the depth data. Specifically, the field formed is to be haptically perceptible to a user using a field perception apparatus. The system may direct the field formation elements included within the array of reconfigurable field formation elements to perform the set of element configuration operations to thereby form the haptically perceptible field. In this way, the array of reconfigurable field formation elements generates a haptically perceptible virtual object representative of the 3D virtual object for perception by the user using the field perception apparatus. Corresponding methods are also disclosed.