Disclosed in the present invention is an electromagnetic-based haptic device that utilizes a flat wire coil type to provide the user with kinesthetic feedback in mid-air without direct contact. The invention comprises an array of flat wire coils, a localization system, a cooling fluid source, a magnetic agent attached to a stylus or a wearable device, current drivers and computer software. The flat wire coil comprises longitudinal packed flat conductive turns, each two turns are separated by an axial air gap. The cooling fluid source generates a fluid flow to pass over the surfaces of the coils to dissipate the heat generated by the device during the operation. The array of flat-wire coils is used to generate controlled magnetic fields and magnetic field gradients at a point in the workspace, the magnetic agent is attached to a wearable device or a handhold stylus to translate the magnetic fields/magnetic fields gradients to forces/torques feedback and thus haptic sensation.