The act-and-wait control concept is applied to a force control problem with feedback delay. The point of the concept is that the feedback loop is switched off and on periodically during the control process so that the duration of the switch off period is larger than the feedback delay. The concept is compared to the traditional, continuous control concept, when the feedback loop is continuously active. Stability charts are constructed that plots the critical proportional gains, where the process looses stability, as function of the feedback delay. It is shown that the proportional gains can significantly be increased without loosing stability, if the act-and-wait concept is used. Consequently, the force error can significantly be decreased this way. The theoretical results are confirmed by experiments.