Glover's character was found dead by Martin (Kiefer Sutherland) in the most recent episode, 'Lost and Found'.
"This has been a long time in the making," Kring told TV Guide. "He was the kind of character that runs its course eventually."
The showrunner explained that Lethal Weapon star Glover had only ever been contracted for six episodes of Touch.
"We had him for six episodes, and he appeared in five out of the six," he said. "That's our first indication that there's a serialised story going on here.
"Now we will be rolling out a mythology that will deal with who is interested in someone like Jake (David Mazouz), and who would want to do him some harm. That becomes the big engine that raises the stakes."
Maria Bello (Prime Suspect) and Ian Gomez (Cougar Town) are among the guest stars due to appear in future episodes of Touch.
The series continues tonight at 9/8c on Fox, and airs on Tuesdays at 8pm on Sky1 in the UK.
> Touch Tim Kring interview: There is a yearning for a connected world
Watch Kiefer Sutherland discuss Touch with Digital Spy below: