The objective of this work is to develop a communication system that allows two people to shake hands while being in different locations. To this end, a novel haptic interface that is capable of performing a robotic handshake is designed and built. At the final stage of the project, the system will be composed of two such interfaces. In this paper, the attention is focused on the development of the haptic interface itself. The design process and the control strategy are first discussed. Then, an experimental session is proposed in order to analyze the robotic handshake performed by the interface. The collected data will be used to tune the interface’s behavior in the context of the communication system.