Haptic information has been attracting the attention in many fields such as multimedia, industry, medicine. This information is effective for not only communication and surgery but also training of some techniques. Recently, a decrease of craftsmen is becoming great issue in some countries. Thus, importing advanced techniques to next generation is very important. Conventional haptic training system is based on position control. It is not enough because trainer touch trainee directory in real training. Because the stiffness of position control is very large, it is difficult to import advanced technique. Thus, in this research, haptic training system based on force control is proposed. This method is based on bilateral control similar to conventional method. However, assist force is generated by force control. By applying assist force according to force control, training system can touch human compliantly. It is effective for importing of skill. The viability of proposed method is confirmed by motion search experiment.