This is no easy task. For example, traditional voice and video conferencing systems capture only a small part of these dynamics. When the voice channel is of low audio quality, a person's speech dynamics are not as clear to others as they could be. With half-duplex channels, people cannot speak at the same time. This also makes it is harder for listeners to interrupt or to inject back-channel utterances such as 'ok', 'ums', and so on.
Video channels are also problematic.
When compressed video is used to preserve bandwidth, the jerky and often blurred image looses almost all the subtle body cues. Even with full video, the tightly zoomed in 'talking head' means that body gestures are not visible. Yet zooming out to include the whole body compromises image fidelity and resolution. Research is now addressing the human factors of telepresence. Eye contact in video can be maintained just by positioning cameras and screens behind half-silvered mirrors.