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In order to augment reality and realize the purpose of local force-aware signal reproduction to improve precise operation, the force feedback equipment for human-computer interaction function is designed. The equipment is a single degree of freedom structure, based on stepper motor drive. Using the STM32 microcontroller to collect haptic force signal and joint displacement signal, the output force signal is matched with the standard force signal by designing the control law adjustment position variable based on force error. The teleoperation system is built with the use of the force feedback equipment and the single degree of freedom slave manipulator. The force and position bilateral tracking experiment is achieved to realize the goal of the master and slave manipulator force and position coordination.