The purpose of this research is to develop a control method that can provide an operator with a suitable force feeling for grasping fragile or soft objects so as not to totally crush them. This research examines a master-slave control system for a teleoperation construction robot in which a shovel with a fork glove, having four degree of freedom, is regarded as slave side and two joysticks are regarded as master side. In the previous study using a position-velocity control method, two joysticks manipulated the shovel according to the velocity of its piston. However, it was found that the reaction force to the joysticks in grasping fragile or soft objects was insufficient for operators and they were compelled to feel strange while moving the joysticks, because they had to remove the joystick to a middle position to avoid fully grasping the object. A position-force control method, in which the reaction force to the joystick is used as feedback instead of the velocity of a piston, is proposed to overcome the problems. Its effectiveness is verified by experiments of grasping a tin block and a urethane foam block. © (2012) Trans Tech Publications, Switzerland.