[Submitted on 11 Sep 2026]
Title:MR-GLi: Mixed Reality-Based Gripper-Linked Overlays for Underwater Robot Arm Teleoperation via Bilateral Control
View a PDF of the paper titled MR-GLi: Mixed Reality-Based Gripper-Linked Overlays for Underwater Robot Arm Teleoperation via Bilateral Control, by Masashi Sasago and 2 other authors
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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
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2609.16041 [cs.RO]
(or arXiv:2609.16041v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2609.16041
arXiv-issued DOI via DataCite
Submission history
From: Masato Kobayashi [view email] [v1] Fri, 11 Sep 2026 23:11:06 UTC (24,999 KB)
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