Since the processes of dismantling are very dangerous, there have been many studies to develop remote operating devices using joystick. In this paper, in order to improve the operability of the dismantling equipment that is usually an excavator, a novel concept of tele-operated haptic device is proposed. Operators who use this haptic device with additional environmental sensing devices can work safely away from the dangerous sites. First, based on the concept design of the haptic device, its workspace is analyzed and the workspace mapping from the haptic device to the excavator is explored. Second, after 7 steps of the excavating processes are defined, the kinematics which deals with the conversion from the 3 dimensional position information of the haptic device to the joint variable information of the backhoe is included in this paper. Lastly, 3D graphical simulation of both haptic device and the backhoe will be shown. This new design of the haptic device can be easily manufactured and gives the workers very convenient and transparent remote control capability.