The skill preservation of an expert has been a serious problem for countries with aging population because decrease of the number of successors. The concepts of haptic database and force sensor recorder which have been developed recently suggests solutions of using third multimedia type of haptic communication. Haptic information is a bilateral information of the law of action and reaction. The reaction from real world includes not only position and force information but also environmental impedance. In this paper, the behavior of environmental impedance has been studied with the changes of the different motion parameters like applied force, velocity, position and depth on the object 3D space. This idea is exemplified using a rubber balloon and a rubber sponge which is often modeled using simple linear equations. The experimental results show the importance of considering motion parameters when abstracting haptic information for a haptic database. Nonlinear impedance variations against the motion parameters suggest the necessity of adopting complex haptic abstraction techniques.

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Accessibility for remote locations could be easily overcome by teleoperation. When manipulating an object at a remote place, it is beneficial if the operator is capable of feeling the force and position information including environmental object impedance for successful remote manipulation. In this chapter, bilateral control, based on acceleration architecture is explained from the basics starting from the human's haptic perception. The sensorless sensing mechanism “Reaction Torque Observer” is applied to the gripper which enables the operator to feel the remote environment while on remote manipulation. “Disturbance Observer” which is a popular control tool used to attain robustness is also successfully adopted for this application. Further, authors introduce force lock during bilateral teleoperation, which facilitate handling delicate objects. Practical as well as experimental results are discussed and the chapter concludes with suggestions for possible future research directions.