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: https://mertcookimg.github.io/mr-gli/
Keywords
Subject
Publication details
- Journal
- Not available
- Open access
- Green open access
Cite this article
APA 7
Sasago, M., Kobayashi, M., & Uranishi, Y. (2026). MR-GLi: Mixed Reality-Based Gripper-Linked Overlays for Underwater Robot Arm Teleoperation via Bilateral Control. https://omanscience.com/en/articles/mr-gli-mixed-reality-based-gripper-linked-overlays-for-underwater-robot-arm-teleoperation-via-bilateral-control
MLA 9
Sasago, Masashi, et al. "MR-GLi: Mixed Reality-Based Gripper-Linked Overlays for Underwater Robot Arm Teleoperation via Bilateral Control." https://omanscience.com/en/articles/mr-gli-mixed-reality-based-gripper-linked-overlays-for-underwater-robot-arm-teleoperation-via-bilateral-control.
Chicago (author–date)
Sasago, Masashi, Masato Kobayashi, and Yuki Uranishi. 2026. "MR-GLi: Mixed Reality-Based Gripper-Linked Overlays for Underwater Robot Arm Teleoperation via Bilateral Control." https://omanscience.com/en/articles/mr-gli-mixed-reality-based-gripper-linked-overlays-for-underwater-robot-arm-teleoperation-via-bilateral-control.
Harvard
Sasago, M., Kobayashi, M. and Uranishi, Y. (2026) 'MR-GLi: Mixed Reality-Based Gripper-Linked Overlays for Underwater Robot Arm Teleoperation via Bilateral Control', Available at: https://omanscience.com/en/articles/mr-gli-mixed-reality-based-gripper-linked-overlays-for-underwater-robot-arm-teleoperation-via-bilateral-control.
Vancouver
Sasago M, Kobayashi M, Uranishi Y. MR-GLi: Mixed Reality-Based Gripper-Linked Overlays for Underwater Robot Arm Teleoperation via Bilateral Control. https://omanscience.com/en/articles/mr-gli-mixed-reality-based-gripper-linked-overlays-for-underwater-robot-arm-teleoperation-via-bilateral-control
IEEE
M. Sasago, M. Kobayashi, and Y. Uranishi, "MR-GLi: Mixed Reality-Based Gripper-Linked Overlays for Underwater Robot Arm Teleoperation via Bilateral Control," https://omanscience.com/en/articles/mr-gli-mixed-reality-based-gripper-linked-overlays-for-underwater-robot-arm-teleoperation-via-bilateral-control.