Abstract: This paper introduces a master-slave robot system with force and touch telepresence. The system is composed of a master robot and a slave robot which is a modified PUMA robot, realizes force and touch telepresence, identifies and grasps work-pieces automatically. In order to offer a open robot assembling workbench for integrating different kinds of sensors, we have reconstructed PUMA robot. This reconstruction is going to provide an open I/O for users.