Abstract: In order to improve the performance of the force feedback in bilateral teleoperation,a novel PD(proportion differential) bilateral controller is designed based on the distance information detected by a range sensor on the slave manipulator. Furthermore,the condition of the system stability is proved,and the control method is validated on a single degree of freedom blateral teleoperation experiment platform.The results show that the incremental force feedback from the master manipulator can be obtained when the slave manipulator moves close to the object.This control strategy is an effective method for the operator to securely accomplish the teleoperation mission.