A framework of tactile telepresence systems will be proposed in the present paper, which enables active touch with time-delay communication between a tactile sensor side system and a display side system. In the framework, a tactile display system can apply tactile stimuli to fingers of an operator in synchronization with touch motions based on physical parameters of objects which are estimated by a tactile sensor. To verify the concepts of the framework, was developed a roughness feeling telepresence system which produces vibratory stimuli computed by estimated surface wavelength of objects and rubbing speed of an operator. To implement the framework, real-time estimation of physical parameters of objects are required as core technology. System implementation and real-time estimation of surface wavelength will be also proposed.
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