Abstract: n this paper, a hybrid control based on adaptive inverse dynamics and position-error-based (PEB)architecture is proposed to overcome the dynamic parametric uncertainties and guarantee the transparency in teleoperation systems. First, the models of the human operator and the environment are incorporated into the dynamics of the master and the slave, respectively. Then, adaptive controllers based on inverse dynamics are designed and incorporated into PEB architecture. The performance of the system is studied by Lyapunov function.Simulation studies show that the proposed hybrid control method has good performances of position and force tracking.