Stability and transparency are the primary aims in the control nonlinear master and slave systems. Ignoring input saturation and disturbances like dynamic uncertainties may result in performance depression and instability of the system. This paper proposes a nonlinear controller to guarantee the stability and to ameliorate the adverse effects of disturbances, time delays and input saturation on a master and slave system. First, a disturbance observer is developed without requiring acceleration measurements. Then, a disturbance observer-based control law is proposed for the case of input saturation to suppress the problems caused by saturation. The proposed controller can prevent the actuators to work beyond their capabilities and also, effectively handles abnormal situations. The Lyapunov-based analysis shows the ultimately boundedness of the closed-loop signals. Finally, simulations are given to validate the results.