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In order to achieve awareness of collision during teleoperation and to support operator with valuable information (object stiffness and shape), we elaborated approaches to object parameter identification and delivering this information to the operator's skin through tactile display. The tactile sensory ability of the remote manipulator allows collision detection and exploration of contacting object. A new type of tactile display that accounts for effectiveness of the information presentation,doi:10.1109/whc.2009.4810895 dblp:conf/haptics/TsetserukouT09 fatcat:wci4z6rvufcufhkvjow6t2v3ji