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

Abstract: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 maintaining a similar level of torque-regulation performance to the 2D monitor. Subjective evaluation further indicated reduced perceived burden associated with shifting attention between the workspace and visual feedback. These results demonstrate the feasibility of gripper-linked MR overlays for underwater bilateral teleoperation and highlight the importance of considering information access in addition to task performance. Additional material: this https URL

Robotics (cs.RO)

arXiv:2609.16041 [cs.RO]

(or arXiv:2609.16041v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.16041 Focus to learn more arXiv-issued DOI via DataCite

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