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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, power consumption, ergonomics, and usability for particular teleoperation task was developed. The experimental results of object shape and stiffness presentation to the human's forearm revealed the most efficient vibration patterns.