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MR-GLi: Mixed Reality-Based Gripper-Linked Overlays for Underwater Robot Arm Teleoperation via Bilateral Control

arXiv · AI, language, vision and robotics · article · Sep 11, 2026 · UTC

Visual torque feedback supports underwater bilateral teleoperation, but the benefit of mixed reality (MR) over conventional monitor presentation remains unclear. We present MR-GLi, an MR interface that spatially registers a reaction torque indicator and wrist-camera image to the robot gripper. Twenty participants performed lift and pick-and-place tasks with rigid and compliant objects in a counterbalanced within-subject comparison with a 2D monitor, using identical visual-feedback content and four-channel bilateral control. MR-GLi provided gripper-linked access to visual feedback while maintai

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