This paper presents a novel bilateral control scheme for pneumatic teleoperation systems that are actuated by low cost solenoid valves. A sliding mode control is incorporated into a two-channel, bilateral teleoperation architecture involving position-position, force-force, or force-position schemes. An analysis of stability and transparency of the closed-loop teleoperation system is carried out. The proposed control design is experimentally verified on a single-degree-of-freedom pneumatic teleoperation system actuated by on/off valves. Moreover, experiment results demonstrate high accuracies in terms of position and force tracking in the teleoperation system.