Existing haptic interfaces providing both tactile and kinesthetic feedback for virtual object manipulation are still bulky, expensive, and often grounded, limiting users’ motion. We present a wearable, lightweight and affordable embedded system aiming to provide both tactile and kinesthetic feedback in 3D applications. We created a PCB for the circuitry and used inexpensive components. The kinesthetic feedback is provided to the user’s hand through a 3D-printed exoskeleton and five servo motors placed on the back of the glove. Tactile feedback is provided through fifteen coin vibration motors, placed in the inner side of the hand vibrating at three levels. The system is scalable and upgradeable. This work will progress to provide haptic feedback for surgical simulation.