The evolution from human-robot interaction (HRI) to human-robot collaboration (HRC), and ultimately to human-robot teaming (HRT), represents a significant paradigm shift in how humans and robots work together. HRI initially framed robots as tools under human command, while HRC introduced greater autonomy in shared tasks. Today, HRT reimagines robots as equal team members, capable of adaptive communication and synchronized decision-making. A critical challenge in achieving effective HRT is developing haptic feedback systems that provide operators with real-time sensory information. This work presents a low-cost software-driven haptic feedback framework using ROS and micro-ROS to enhance real-time control in HRT environments. Unlike current costly, hardware-specific solutions, the proposed framework emphasizes accessibility and flexibility. System validation through precise force control tasks demonstrates the framework's potential to advance HRT through cost-effective, software-centric solutions.