Steve's Factory Manager might be able to do that with the Advanced Inventory Relay. Possibly in conjuntion with a Comparator, but the player needs to give the block permission to interact with their inventory. You could work around it by throwing an item on the ground, walking over the relay to open the door, and then picking up the item making use of the delay in picking up an item that you just dropped, but that's true of any inventory check. It can, however, also remove items from your inventory just to make sure. As can MFFS, as already stated. PneumaticCraft also has a player inventory block, which needs to be tuned in to the individual player.