This chapter begins by addressing the question “What is Robot Teleoperation”. It introduces various application scenarios of robot teleoperation, such as remote homecare and remote medical assistance, citing relevant research findings. The chapter then discusses key technical points for teleoperation in healthcare, highlighting the limitations of traditional single-arm industrial robots, which are unsuitable for complex remote nursing tasks. In contrast, dual-arm collaborative robots offer greater flexibility and coordination, making them more suitable for nursing assistance that requires two-handed operations. The chapter also emphasizes the role of human motion capture technology in enhancing remote control intuitiveness and reducing training costs. Despite significant advancements, many technical challenges remain, particularly in terms of interaction intuitiveness and network performance. The chapter further reviews the evolution and categorization of teleoperation systems, covering the key concepts of human-motion-based teleoperation, human–robot motion mapping, and communication technologies. It discusses open challenges in teleoperation systems, such as accurately transferring human poses to robots, achieving smooth movement paths, and ensuring dual-arm and whole-body coordination. Finally, the chapter explores the prospects for next-generation teleoperated assistive robots, highlighting the need for improved strategies in limb pose mapping, dual-arm operation, and control-network co-design, particularly for unstructured caregiving tasks. The chapter concludes with an overview of the book’s structure.