This paper discusses about a haptic communication system. Recently the haptic information is attracted attention as the third sense of communication information. And the real world haptics is the key technology for the haptic communication. However, the present approach of the teleoperation system postulates that human touches the remote object via the device like as the remote surgery. Considering using the real world haptics for person-to-person haptic communication tool, the exoskeletonendoskeleton haptic system is necessary. Thus in this paper, we focus the exoskeleton-endoskeleton haptic system and bilateral control in the human modal space is proposed. The availability of the proposed method is shown by experiments.