This letter presents a novel wearable haptic controller (WHC) system suitable for teleoperation of demolition machines and robotic platforms. With regard to existing operator controller unit composed by passive joysticks, the WHC has been designed to provide force feedback to the user, hence improving the user performance during the teleoperation of different robotic platforms and the interaction with the environment on the remote construction sites. The haptic feedback is provided through two compact parallel kinematic (CPK) interfaces that will be presented within the paper. The CPK implements a novel variant of the Delta kinematics which allows minimizing the radial encumbrance while preserving same operational workspace. In addition, we propose a new interaction modality that provides users the feeling of directly maneuvering the end-effector of the demolition machine. Finally, the architecture of the proposed system is presented and the results of some preliminary evaluation tests are discussed. The experiments have been performed in simulated environments and on a real machine.