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Because of the development limitation of control, sensor and intelligence in robotics, it is hard to fulfill the fully autonomous of robot in the changeable environment immediately. Hence, the master-slave teleoperation is becoming increasingly important in the extreme working environment. The haptic device could work as an interface and fulfill the interactional control between operator and slave working environment. In order to improve the efficiency of the master-slave teleoperation and system security, a haptic device was designed to achieve master-slave displacement control. The kinematics and dynamics property of the designed structure was analyzed, the parameters of the device were instantiated, and the rationality of the design was estimated. Active control mode was established based on virtual wall guide, through the fusion of operator’s manipulation and robotic visual guidance, information sharing and mutual guidance were realized in the teleoperation. Experiments were conducted by using a haptic device—robot system experimental platform. Compared with the trajectory of manual mode, the trajectory of active mode was smoother and more stable. Through the evaluation of haptic device’s real performance, the active control mode could ensure the stability of robot under the master-slave control. The effectiveness of the control method was verified by the experiments. Finally, the efficiency improvement of master-slave teleoperation, impact reduction of robot on environment and security improvement of the system were achieved.