In this paper, we quantify several spatial capabil-ities of the hmnan tactile system needed for tactile feedback, or teletaction. Psychophysics experiments measure the amplitude resolution of the human tactile system, the effects of shear stress on grating orienta-tion discrimination, and the effects of viscoelasticity {creep and relaxation) on tactile perception for static touch. The results are used to determine teletaction system design parameters. We find that 10 % ampli-tude resolution is sufficient for a teletaction system with a 2 mm elastic layer and 2 mm tactor spacing. 