The invention relates to a method for guiding teleoperated robotic devices in order to alter position control mode and speed control mode, in which: the master device (1) is adapted, dividing the working zone (6) thereof into an internal region (7) for implementation of the position control mode of the slave robot (3) and an external region (8) for implementation of the speed control mode; a communication network (4) is used to transmit orders relating to movements and forces exerted by both devices; and the master device (1) is adapted so as to produce vibration effects in the transitions between the internal region (7) and the external region (8), indicating the change from one control mode to another. The change from one control mode to another is produced in such a way as to guarantee the stable operation of the devices and the maximum teleproprioception for the operator.