Abstract: Remote control system comprising two circuits each containing an actuator acting on a mass and controlled by an actuator signal, a manual control means coupled to said actuator, a force transducer measuring the force applied to said manual control means, a velocity transducer measuring the velocity of the manual control means, a control circuit representing a model of the dynamics of a moving mass the input signal of which is divided by a simulated mass to obtain a commanded acceleration signal, which is time integrated to obtain a commanded velocity signal, an actuator controller the input signal of which is the balance between the commanded velocity signal and the velocity of the manual control means. The balance of the two measured forces is applied as input signal to both circuits.