In recent years, the demand for technique to transmit the touching sensation is increasing in a medical field. This paper shows that Voice Coil Motor (VCM)-based haptic system enables operators to grasp and manipulate a small and fragile environment with tactile sensation. Author proposed that bilateral control between different degree-of-freedom without position controller system attain the grasping task and the manipulation task simultaneously. However, the system without the position controller cannot position accurately because of the friction. Thus, bilateral control between different degree-of-freedom with position controller system accomplishing the grasping task and the manipulation task simultaneously by updating command is proposed. In addition, the proposed method based on both oblique coordinate control and decoupling method using MDOB are verified.