This paper proposes the time delay compensation for DOB-based contact force control under time delay. The proposed method is based on the concept of Network Disturbance. Firstly, this paper introduces the contact force control, and shows the simulation results. Then, the contact force control under time delay is introduced. The stability is discussed by the transfer function. Furthermore, the simulation and experimental results indicate the instability of the system. Finally, the time delay compensation method is proposed. To confirm the stability, the transfer function is derived for the proposed system. Furthermore, the simulation and experiment are conducted to show the validity of the proposed method. From the results, the performance of the time delay compensation is confirmed.