Teleoperation and haptic telemanipulation is a common solution to perform tasks from a remote distance. It is very suitable and can be used in dangerous or unreachable environments, such as nuclear power plants, space missions, or under water. In recent years, especially due to the COVID-19 pandemic, telemanipulation is increasingly used to perform tasks involving other human participants. This paper gives an overview of the state of the art regarding control concepts to improve human–robot interactions on the follower side of a telemanipulation system. In this context, system architectures and shared control approaches are considered. We also present the work done in the Collaborative Research Center 1410 regarding telemanipulation including a safety mechanism as well as two shared control concepts to improve human-likeness, safety, and mobility of the follower motion.