The work addresses the problem of identifying objects using remote teleoperator. The application of the research is part of the development of demonstration technologies for the next generation of ROV's currently under development by the US Navy. Two related research issues are developed. The first deals with determining how a teleoperator would remotely probe an unidentified object, and attempt to determine what the object is based only of force feedback through the teleoperator mechanism. Haptic models are tested against experimental data. The second issue addressed is the design of a dexterous, direct drive and effector for use on a teleoperator system. Results concerning the mechanic design of a small scale mechanical hand are discussed.