Abstract: The synchronization performance will directly affect the transparency and tracking of the teleoperation control system. A wave variable four-channel bilateral control method based on the master side force buffer was proposed in this paper. Firstly, a quantitative measure function for the synchronization performance with constant time delay was presented. Secondly, in the wave variables four channel bilateral control structure, a master and slave controller with heterogeneous form was designed, which was added with a force buffer unit and a compensation unit to realize the master slave synchronization control, and the effect made by the wave transformation method's leading action on the master controller was eliminated. On this basis, the stability of the proposed method was analyzed by the multi-loop feedback structure stability analysis method, and the constraint condition of the system stability was obtained. Finally, Numerical simulations and experiments were performed to study the efficiency of the proposed method.