The number of dismantling sites for buildings has been rapidly increased and these processes are very dangerous. So many research papers have been published addressing the development of a remote controller for the dismantling equipments. In this paper, a novel concept of applying tele-operated haptic device is proposed for the remote control of an excavator-like dismantling equipment. As a haptic device, this controller is designed to improve the operability of the excavator. This paper also includes all the necessary kinematic analysis to design the haptic device. In order to explore the feasibility of the device, modeling of the haptic device is used to demonstrate its convenience. Then, the hydraulic system of excavator which uses the proportional valve system is also studied. Lastly, motion control simulations to the real excavator working at construction site are conducted. As a result, before manufacturing the real haptic device, 3D graphical model of haptic device is proposed to confirm the feasibility of the developed haptic device. And operator can control the real excavator intuitively with this new model of haptic device.