One embodiment is an untethered, handheld, kinesthetic, haptic device that produces torque using gyroscopic precession to eliminate the need for a grounded surface. In particular, one embodiment is a haptic device that includes: (a) an angular momentum generator apparatus; and (b) a torque generator apparatus coupled to the angular momentum generator apparatus; wherein: (i) the angular momentum generator apparatus is adapted to generate one or more predetermined values of angular momentum; and (ii) the torque generator apparatus is adapted to apply a torque to the angular momentum generator apparatus to cause the angular momentum generator apparatus to rotate about a rotation direction which is perpendicular to a direction of the angular momentum generated by the angular momentum generator apparatus.