The ability of a teleoperated manipulator to behave in a compliant manner when performing tasks which require contact with the environment is essential. One method of providing compliance is through the use of impedance control. Impedance control, as opposed to passively compliant devices, allows the apparent dynamic characteristics of the manipulator to be altered in real time to suit the demands of the task. The most common technique of implementing impedance control is to compute the control torques which transform the existing manipulator dynamics into the desired compliant system. This technique assumes a dynamic model of the manipulator is available and that the actuators are torque controlled. In this paper we present a new model reference impedance controller which requires neither a dynamic model of the robot or torque controlled actuators.