To provide a bilateral position and force transmitting device having excellent complementary property between the action of a master side actuator and the action of a slave side actuator and capable of being miniaturized and lightweight.

The force is applied to a master side actuator 1M and a slave side actuator 1S so as to operate them each other. A pressure difference between the inner pressure of the master side actuator 1M and the pressure of the slave side actuator 1S is detected by pressure sensors 9a, 9b, 9c so as to obtain the pressure difference signals, and these pressure difference signals are compared with each other for computing so as to obtain the pressure difference deviation signal, and the movement of a piston 2 is controlled on the basis of this pressure difference deviation signal. The movement of the master side actuator 1M and the movement of the slave side actuator 1S are detected by displacement sensors 11a, 11b, 11c, and in the case where a difference is detected between the movement of the master side actuator and the slave side actuator, feedback of this difference is performed to the master side actuator and the slave side actuator.