{"ID":2851106,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.20407","arxiv_id":"2510.20407","title":"MR-UBi: Mixed Reality-Based Underwater Robot Arm Teleoperation System with Reaction Torque Indicator via Bilateral Control","abstract":"We present a mixed reality-based underwater robot arm teleoperation system with a reaction torque indicator via bilateral control (MR-UBi). The reaction torque indicator (RTI) overlays a color and length-coded torque bar in the MR-HMD, enabling seamless integration of visual and haptic feedback during underwater robot arm teleoperation. User studies with sixteen participants compared MR-UBi against a bilateral-control baseline. MR-UBi significantly improved grasping-torque control accuracy, increasing the time within the optimal torque range and reducing both low and high grasping torque range during lift and pick-and-place tasks with objects of different stiffness. Subjective evaluations further showed higher usability (SUS) and lower workload (NASA--TLX). Overall, the results confirm that \\textit{MR-UBi} enables more stable, accurate, and user-friendly underwater robot-arm teleoperation through the integration of visual and haptic feedback. For additional material, please check: https://mertcookimg.github.io/mr-ubi","short_abstract":"We present a mixed reality-based underwater robot arm teleoperation system with a reaction torque indicator via bilateral control (MR-UBi). The reaction torque indicator (RTI) overlays a color and length-coded torque bar in the MR-HMD, enabling seamless integration of visual and haptic feedback during underwater robot...","url_abs":"https://arxiv.org/abs/2510.20407","url_pdf":"https://arxiv.org/pdf/2510.20407v1","authors":"[\"Kohei Nishi\",\"Masato Kobayashi\",\"Yuki Uranishi\"]","published":"2025-10-23T10:21:53Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}