I can barely remember the last time I used a pick. I did it a couple times on studio gigs that needed the zing of a picked attack, and maybe three times on gigs, but that's it. It's a great sound, but fingerstyle was always my personal perference. There is little hope of getting your fingertips to produce a truly pick-ish attack, but you can meet in the middle and get something that's in a ballpark with the old felt picks...anybody remember those? They were thuddy, but with a decidedly more pronounced attack than fingers alone. And I'm saying "were" as if they no longer exist - they probably do, I just haven't owned one in about three and a half decades. I digress.
Move your picking hand toward the bridge, and don't bother being gentle. Dig in and find the spot that gives you a big, throaty, percussive tone at about the same volume as you usually get from playing more gently but further away from the bridge (the "round" zone). You can practice and tighten your finger technique in that sweet spot and get an array of very percussive tones. I have used that approach to get through stage mixes without any other adjustments, and other times it just works well stylistically. It'll never give you the crisp attack of a pick, but it does lend a lot of definition to finger work.
