In micro-manipulations such as cell manipulation, it is desirable for the operator to feel the haptic sensation of the object. Bilateral control can remotely transmit position and force information between leader and follower systems. In this control, the use of a linear motor as a leader and a stacked piezoelectric actuator as a follower has been proposed to achieve micro-scale operation. There is a lot that needs to be clarified about bilateral control when the structure differs between leader and follower systems. In conventional scaled 4channel (4ch) bilateral control, a theory of oblique coordinate control has been proposed that considers differences in the inertia of leader and follower systems. However, when a piezoelectric actuator is used, the control scheme differs from using two linear motors with different inertias because the structures of the leader and follower systems are entirely different. Another method is scaled admittance bilateral control. However, the control design when structures and inertias of the two systems are different has not yet been clarified. In this paper, a scaled admittance bilateral control using a piezoelectric actuator and a linear motor is constructed. Experiments confirm that the realized scaled admittance bilateral control has the equivalent position and force tracking performances as the conventional scaled 4ch bilateral control using a piezoelectric actuator. Furthermore, the designed scaled admittance bilateral control is more robust to fluctuations in the nominal inertia of the piezoelectric actuator than the conventional scaled 4 ch bilateral control.