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In teleoperation, it is very important to ensure that task objects are not severely grasped in grasping and conveying processes. A master-slave system for a teleoperation construction robot employed an excavator with four degrees of freedom (swing, boom, arm and fork glove) as slave and two joysticks with force feedback as master was established. Since the fork glove was regarded as the hand of the robot, the control for the fork glove was the focus. A position velocity control system was previously proposed, and it was found that soft objects were severely crushed in grasping and conveying processes at slow speed. To solve this problem, a position reaction force control method, in which reaction force to the joystick was used as feedback instead of piston velocity, was proposed to improve the controllability. The position velocity control was adopted when the construction robot moving in free space and the position reaction force was introduced when reaction force generated in the grasping process. Grasping experiments were conducted using a tin and urethane foam blocks as task objects by human and control PC at slow velocity, and the experimental results confirmed the validity of the position reaction force control method during slowly grasping of a fragile or soft object. In addition, conveying experiments, which simulated transformation task in practical use by using a tire, a piece of urethane foam and a piece of sponge foam as task objects, were conducted by the position velocity and position reaction force control methods. Experimental and statistical analysis results proof that position reaction force control method is valid to safely transfer soft objects in teleoperation work and it can improve the controllability of the construction robot.