The　time-delay　in　the　teleoperation　system　is　an　important　parameter　affecting　the　stability　and　performance.　A　time　delay　prediction　method　based　on　EMD(Empirical　Mode　Decomposition)　and　Elman　neural　network　is　proposed　in　this　paper.　Firstly,　time　delay　sequence　is　separated　into　IMFs　by　EMD,　then　the　first　several　IMFs　are　subtracted　from　time　delay　signals　as　noise.　The　sum　of　rest　IMFs　are　taken　as　the　input　of　Elman　neural　network　to　predict.　Finally,　computer　simulation　of　teleoperation　is　built.　The　results　of　experiments　indicate　that　the　proposed　method　based　on　EMD　and　Elman　neural　network　is　more　accurate　and　has　better　prediction　ability　than　which　is　predicted　by　Elman　neural　network　directly.　©　2014　IEEE.