Aiming at the problem of low stiffness and indistinctive force perception existing in current electronic manipulator, an electrohydraulic force feedback manipulator was set up. The manipulator had two rotational degree of freedom along X and Y direction in horizontal space, and each was driven by a single hydraulic servoing motor. Therefore, the motion of the manipulator along its different rotational axes would not interfere each other. Synthesizing the advantages of traditional bilateral control algorithm of force reflection servo type and parallel type, a combination of force/position deviation bilateral control strategy was put forward. Taking the hydraulic manipulator as the master and a 4DOF construction robot as the salve, a telerobot operation experiment was tested to study the bilateral servoing algorithm. Experiment showed that the combination of force/position deviation bilateral control strategy could effectively improve the dynamic response and stableness of the system. 