临场感技术是虚拟现实中的一项重要内容．本文针对力觉临场感遥控作业系统中几种典型控制结构的透明性，进行了理论分析和实验研究，结果表明力反馈－位置型控制结构具有最佳的透明性． Telepresence technology is an important part of the virtual reality. In this paper, aiming at the transparency of several typical control structures in teleoperation teleoperation system, the theoretical analysis and experimental research are carried out. The results show that the force feedback-position control system has the best transparency.