It may not sound a good idea but i used java and used simple TCP/IP socket programming to connect to a telnet server and exchange communication. ANd it works perfectly if you know the protocol implemented. For SSH etc, it might be tough unless you know how to do the handshake etc, but simple telnet works like a treat.
Another way i tried, was using external process in java System.exec() etc, and then let the windows built in telnet do the job for you and you just send and receive data to the local system process.