Force feedback and tactile feedback are very important forms of perception in interaction between human and environment,which can give real feedback information.Operators are able to adjust the direction or force in time.In medical,industrial,micro-operation and other fields,force and tactile feedback have a wide range of application prospects.A tactile feedback device based on magnetorheological fluid (MRF)was proposed for the teleoperation robot.It gave the operator real tactile feedback,then the sense of on-site operation was realized,and the safety of operation was improved.In addition,by the device,the leakage problem of the magnetorheological fluid damper could be solved and the influence of friction generated was reduced.Aiming at the Bingham model of the damper,the Simulink mechanics simulation model was built.The perception power provided by the tactile feedback device of the robot was simulated and analyzed.The experimental results show that the designed tactile feedback device of the robot can provide an easy-to-perceive tactile force for the operator,which verifies the feasibility of the design scheme of the tactile feedback device for the teleoperation robot.