In this paper, we propose a novel dual-handed master single slave teleoperation framework based on the four-channel structure and wave variable theory. Through the coordination of dual-handed masters, the teleoperation system may exert more accurate and flexible operations, such as grasping soft objects. In practice, it is inevitable to generate partial active power by human operators, which may decrease the stability of the system. Considering the partial active power in dual-handed masters, we discuss and give the definite maximum proportion to stabilize the system. With the proposed framework and the partial active power of dual-handed masters, we design an energy flow-based teleoperation control that combines the adaptive fuzzy sliding mode controller with a disturbance observer to maintain stability, increase the tracking accuracy and enhance the transparency of the system. The stability of the system is analyzed, and numerical simulations are performed to verify the performance of the proposed control. For real robot experiments, we designed a platform including two Omni robots and an industrial manipulator, which acted as dual-handed masters and a single slave manipulator. A computer is used to connect the communication between the masters and the slave side. Real soft object grasping teleoperations are presented; the results show the high efficiency of the proposed method.