Abstarct: Bilateral teleoperation systems are designed to increase human capabilities and to access to remote environments, which can be used for advanced operations such as space missions, submarine missions, medical applications, and power plants. Among the problems of such systems, we can mention the uncertainty in the master and slave systems and the task environment, as well as the delay appeared in the forward and backward paths in the communication channel. The Finite time control of such systems is also essential due to the practical applications of teleoperation systems. The finite time error convergence in practice makes a better system performance. In this thesis, the finite-time nonsingular fast terminal sliding mode controller (NFTSM) is designed due to outstanding properties, such as faster convergence rate and the guarantee of closed-loop stability along with the finite-time convergence of tracking errors. Simulation are provided to evaluate the capability of the proposed controller. For further evaluation results regarding the P+D controller are also reported. Results verify the better performance of the proposed controller.