<p>This article proposes two-terminal sliding mode Control (TSMC) algorithms to simultaneously carry out the disadvantages of variable-time communication delay, finite-time problem and actuator saturation for bilateral teleoperators (BTs). In existing approaches, TSMC laws are achieved by exponential sliding surface enforcing an inequality estimation of time derivative of Lyapunov function. Traditional TSMC schemes are appropriate for considering finite-time convergence. However, they are not able to handle the disadvantage of variable-time communication delay and actuator saturation. To overcome this challenge, we propose two novel TSMC schemes, which allow us to deal with time-varying delays and input constraint. This is achieved by adding the time derivative of errors between two sides and the dynamic term, which is obtained from the deviation between the actual Control input and the computed Control signal. The theoretical analyses are considered by a Lyapunov function candidate using the integral with variable-time delay-based terminals. Our simulation results exhibit the tracking performance under the effect of actuator saturation and variable-time communication delay.</p>