Abstract: Teleoperator plays an important role in operation in unknown or hazardous environment.Because the environment is unknown or partly unknown,the human operator is not able to recongnize the dynamics of the environment before he controls the slave manipulator to interact with the environment.When there are interactions between slave manipulator and environment,it is necessary to consider the nonlinearity of collision in the control loop,therefore,the sensing and recongnization of collision between slave manipulator and environment on time is important.In this paper,proximity sensor is used to measure the distance between slave manipulator and environment,and a controller based on active time delay neural network is proposed to control the nonlinear contact,the effectiveness of which is showed by the result of simulation experiment.