Human-robot interaction robot is currently the frontier and hotspot of the robotics research.While telepresence is core technique for the human-robot interaction.In this paper,we review the history of the telepresence telerobot technology,and illustrate its applications in areas of nuclear detection,space exploration,and tele-surgery.Then we analyze its four key techniques,namely sensing technique,force feedback and tactile display technique,control strategy under time delay,and modeling technique for virtual predictive environment.We briefly introduce the development of telepresence telerobot research and its applications in nuclear detection and rehabilitation therapy areas at Southeast University during the past two decades.At last,we point out the future research directions of the force telepresence telerobot.