Techniques for low bit rate parametric encoding of haptic-tactile signals. The techniques encompass a parametric encoding method. The parametric encoding method includes the steps of: for at least one frame of a plurality of frames of a source haptic-tactile signal, representing the source haptic-tactile signal in the frame as a set of parameters and according to a functional representation; and including the set of parameters in a bit stream that encodes the source haptic-tactile signal. The functional representation is based on one of a set of orthogonal functionals, or polynomial approximation. For example, the functional representation can be based on one of Chebyshev functionals of the first kind through order n, Chebyshev functionals of the second kind through order n, or k-th order polynomial approximation.