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This paper presents an enhanced sliding mode control for pneumatic master-slave teleoperation systems that are actuated by low-cost solenoid valves. A five-mode sliding control is incorporated into position-position, force-force, and force-position teleoperation architectures. While on/off valve pneumatic actuators have previously been modeled as having three discrete operating modes, an extension to five discrete control levels as proposed here helps to improve the actuator dynamic performance and reduce the switching activities of the valves. Stability and transparency analyses of the closed-loop teleoperation system are carried out. The proposed control design is experimentally tested on a single-degree-of-freedom pneumatic teleoperation system. Experimental results demonstrate high accuracies in terms of position and force tracking in the teleoperation system.