Wearable fingertip haptic devices aim todeliver somatosensory feedback for applications such as virtual reality, rehabilitation, and enhancing hardware/physical control interfaces. However, providing various kinds of feedback requires several Degrees of Freedom (DoF) and high mechanical complexity which are mechanically difficult to achieve at the mesoscale. Using compliant low-profile transmissions embedded in an origami structure and PCBmotors as actuators, we designed and fabricated a novel 3-DoF fingertip haptic device, called Haptigami. This under-actuated system, measuring 36 x 25 x 26 mm and weighing 13 g, can render vibrotactile and cutaneous force feedback. We tested our device by creating a novel experimental protocol and robotic platform allowing quantitative characterization of mechanical performance. The current prototype of Haptigami produces 678 mN in compression, and 400 mN and 150 mN in shear for the Y and X directions, respectively. By virtue of its unique origami-inspired design, Haptigami brings a new direction for future designs of lightweight and compact wearable robots.