We derive combinatorial formulas for invariants of smooth embeddings of
$(2\ell-1)$-spheres into
$\mathbb{R}^{3\ell}$ for
$\ell\geq 2$. In particular, we obtain such a formula for the Haefliger invariant, which classifies smooth knots
$S^{4k-1}\hookrightarrow \mathbb{R}^{6k}$ up to isotopy. Our approach is similar in spirit to the work of Goussarov, Polyak, and Viro, who expressed finite-type invariants of classical knots in terms of Gauss diagrams. Analogously, we project higher-dimensional knots and links onto a hyperplane and study the preimages of the loci of double and singular points in the embedded spheres. As an auxiliary result, we show that the space of
$n$-dimensional braids with
$m$ strands in
$\mathbb{R}^{n+q}$ is a homotopy retract of the space of string links
$\underset{m}{\sqcup}\mathbb{R}^n\hookrightarrow\mathbb{R}^{n+q}$ for
$q\geq 3$, thereby providing a short proof to a conjecture of Komendarczyk, Koytcheff, and Volić.