The project, from Heroes creator Tim Kring, will focus on Martin (Sutherland), who discovers that his autistic son Jake (David Mazouz) may have the power to predict events before they happen.
Glover will play Professor Arthur DeWitt, an expert on children who possess special gifts, according to TV Line.
Glover is best known for playing Detective Roger Murtaugh in the Lethal Weapon films, and has also appeared in such movies as Saw and Predator 2.
His past television credits include the recurring role of Isaac Marshall on Brothers & Sisters and guest roles on Human Target and My Name is Earl.
Tim Kring wrote the pilot script for Touch and will also executive produce alongside Katherine Pope and Peter Chernin of 20th TV and Chernin Entertainment.
Touch is expected to debut at mid-season, though a pilot episode has not yet been shot due to Kiefer Sutherland's commitment to a Broadway play.
Fox's entertainment president Kevin Reilly previously described Touch as "a compelling drama" with "a really extraordinary [pilot] script".
> More news on the 2011-12 television season