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This paper deals with teleoperated robotic systems which are commanded by a human operator via a command interface that provides task feedback information. Advanced task performance requires not only a visual but also a haptic feedback that is more intuitive. Such command interface with the haptic feedback is called a haptic interface and the teleoperator system is controlled bilaterally. The paper proposes a novel bilateral control scheme which is designed based on a modal decomposition to decouple force and position coordinates for the vivid haptic interface. The control algorithm is derived following the sliding mode control approach which guarantees robustness to model perturbation, parameters uncertainty and system disturbance. It was experimentally validated on a simple master-slave teleoperator with 1DOF robotic systems.