Pseudo haptic sensation is an illusion based on visual stimuli. In virtual environments the principle of pseudo haptic feedback is used to simulate material properties such as stiffness, mass and friction. Transfering the principle of pseudo haptic feedback to real haptic teleoperation systems can provide a haptic sensation for properties of material, manipulated without active haptic feedback. Hence, the implementation of pseudo haptic feedback to teleoperation systems reduces the requirements for kinematic structures and actuators of the used haptic user interface.