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In this paper, we consider a bilateral control of an assistive mobile robot over communication channels with constant/variable time delays. The mobile robot is used for exploring a domestic environment. The main purpose of the present work is to help the human in controlling better the slave robot. In addition, the proposed control scheme improves the operator perception of the remote environment. The human operator can actively control the mobile robot, using its intrinsic sensors, and "feel" the robot's environment. The haptic device is used like a joystick and controls the linear velocity and heading angle of the mobile robot. Many experiments have been performed to validate the proposed control scheme, and to show, in the same time, the importance of the force feedback in such applications and accessibility situations : doorways, obstacle exploration, wall tracking, etc.