The aim of this paper is to show the interests of using dynamic oscillators in a control loop of a teleoperated collaborative robot to achieve rhythmic tasks like cleaning, brushing, strumming, etc. Indeed, dynamic oscillators have the interesting property to synchronize to an external rhythmic signal applied to its input. Experiments consist of teleoperation of compliant robot with a haptic device interfaced with a dynamic oscillator aiming to execute rhythmic movements like brushing a surface. The dynamic oscillator, which is inserted in the close-loop at the robot working space level, is able to synchronize both with the movements the human applies on the haptic device and to the external forces measured on the robot effector. Preliminary results of experiments show that the oscillator helps the operator to produce a robot movement close to a human one, while reducing by around 40% the robot power consumption compared to a control without an oscillator.