In this paper, we consider Tactile Cyber Physical Systems (TCPS), which differ from typical CPS in that haptic sensory feedback is included. In particular, we design and implement a TCPS testbed, called TCPSbed, using well-defined components and interfaces glued together using APIs. In addition to real connections, our testbed supports the interconnection of components over an NS3-emulated network. The testbed also supports the integration of applications that mimic the behaviour of real-world embedded objects. Since controlling latency and ensuring stability is crucial for TCPS applications, the testbed includes tools for fine-grained characterization of latency and control performance. Finally, through proof-of-concept experiments with our testbed, we demonstrate TCPSbed's capabilities to facilitate TCPS research and development.