<p>Electro-hydrostatic actuators (EHAs) are widely employed in modern industries due to their superior efficiency and high force capability. Bilateral teleoperation enables an effective solution for controlling EHAs in environments inaccessible to human operators. While teleoperation control has been widely studied for electric actuators, but remains limited for hydraulic actuators due to their higher-order dynamics and strong nonlinearities. In addition, virtual force feedback improves the operator’s sense of control, but integrating force sensors at the end effector remains challenging in some applications due to installation constraints. In this paper, a teleoperation control is developed for EHA system that achieves precision trajectory tracking and enhanced perception. Specifically, the EHA controller incorporates an improved adaptive law to accurately estimate unknown load mass. This estimation not only enables forward model compensation to enhance control performance but also contributes to the construction of virtual force feedback. The virtual force feedback is generated based on the estimated load mass and tracking errors, thereby improving operator perception. Comparative experiments are implemented to verify the effectiveness of proposed teleoperation control for EHA system.</p>