Telemanipulators have been widely used in space exploration,deep-sea exploration,nuclear facility maintenance and medical surgery due to its unique advantages.However,with the increase of task complexity and safety requirements,telemanipulators are required to have better obstacle avoidance capabilities.Aiming at this problem,a new haptic feedback method was proposed based on variable damping,which could provide the operator with damping force to perceive obstacles in the remote environment to complete the obstacle avoidance task.On this basis,a damping model for obstacle avoidance was proposed to solve the inaccurate problem of traditional haptic methods due to incomplete consideration of factors.In the model,not only the conventional factor of distance was considered,but also the collision of the telemanipulator was predicted according to the new factor of the velocity direction to adjust the damping value online.The experiment results show that the proposed method is effective in improving the safety of teleoperation and the productivity of human operators compared to the teleoperation without haptic feedback.