In this paper, we focus on one of the central problem of observers design and control of general manipulation systems. The tasks performed by manipulators involve physical interaction with their environment. This naturally gives rise to interactive forces between each manipulator and the object. The mechanical compliance introduced by the cooperation between the manipulators and their interactions with load is complex. First, the control must be designed in this case in order to realize the object trajectory and/or external forces tracking. But, the controller action must respect and not violate at each moment the kinematic constraint of the manipulation system. Seconde and more importantly, the augmented manipulation system (the closed chain : manipulators-object) is nonlinear and complex system, then the observer design is very difficult, which motivate us to develop a new approach to design a multi models-based observer which we call hysteresis hybrid observer.