The operator usually uses his hands to perform manipulation tasks. She has to feel the reaction forces in highprecision manipulation. The mechanism applied in the human interface device for force and tactile feedback is the most challenging (and usually the most expensive) part of a telepresence device. Bilateral control is a common solution in these systems. However, the coupled force and position control loops have contradicting requirements. Usually, the human operator has to learn a lot until she can "feel the task" in her hand, even in direct manipulation. However, using the plasticity of the human brain sensory substitution can be used to achieve a cheaper and partially decoupled system. The main contribution of this paper is a model of human contrast vision, which is applied to feedback of the grasping force in a telemanipulation system in order to decouple the bilateral control and to achieve a less complex haptic device. A contrast model of a the human vision is introduced and it is applied for grasping force feedback via peripheral vision. The preliminary results are presented.