In recent years, natural orifice transluminal endoscopic surgery (NOTES) using a flexible endoscope is focused on to reduce burden of patients. Since NOTES is difficult for surgeons, flexible endoscopic robots also have been studied and developed. However, conventional robots for NOTES cannot transmit force sensation adequately. The lack of force sensation causes undesired injury. In this paper, a novel haptic forceps robot for NOTES is developed, and force sensation is transmitted by implementing four-channel bilateral control.