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I've never tried any of the following, but have come across them:

* https://github.com/yudai/gotty - actually gives you a tty in a browser

(edit: formatting)

Even nicer because it does not need a third party server is https://github.com/maxmcd/webtty Communication is done using webrtc

tmate is awesome for pair programming

But it goes through a third party server instead of locally at least by default.