The force telepresence telerobot system is a typical human-robot-environment-interaction system.The environment as a terminal unit of the whole teleoperation system is the object perceived and manipulated by the telerobot.The environment dynamics directly affects the control performance of the teleoperation system.This paper analyzes the characteristics of environment dynamics,then proposes three kinds of dynamics models of environment under three contact conditions such as collision contact,linear steady contact,and non-linear steady contact,and gives their equivalent impedance forms,respectively.The research results in this paper provide a basis for the force telepresence telerobot system analyzing.