Telerobotics is the process by which human operators control the movement of robots to achieve specific tasks. However, conventional control interfaces, such as joysticks and remote controllers, are not intuitive to use for novice users. Training to use these interfaces requires a considerable amount of training. Wearable control interfaces are more inclusive because they allow humans to control the movement of robots with their own body movements through intuitive gestures without the need for excessive training. Haptic devices integrated in these interfaces can help users learn to teleoperate robots by applying forces to the parts of the body where corrective action is needed. Typically, these devices require the use of bulky actuators that can hinder natural user mobility and induce fatigue over prolonged usage. This thesis presents a framework in which users can successfully learn to teleoperate robots using fabric-based wearable haptic interfaces composed of electroadhesive clutches and free of actuators.