The present disclosure provides a remote operation apparatus and a control method capable of reliably informing an operator of a situation where a work portion can be brought into contact with a work object. A cleaning robot (101), remotely operated by a remote controller (201), for cleaning the cleaning object at the far end includes a mobile control part (14) for controlling the movement of the cleaning robot (101); a cleaning tool (11) for cleaning the cleaning object; a pressure sensor (12) for detecting the contact between the cleaning tool (11) and the cleaning object, and a communicating part (13) for transmitting signals for vibrating the remote controller (201) to the remote controller (201) under the condition that the contact between the cleaning tool (11) and the cleaing object is detected by the pressure sensor (12).