Robotic teleoperation is essential for executing tasks in remote, hazardous, or inaccessible environments such as disaster response, hazardous materials handling, and search and rescue missions. In these complex scenarios, limited robot autonomy often requires direct human control to ensure adaptability and situational responsiveness. Traditional teleoperation systems using virtual reality (VR) head-mounted displays aim to improve spatial awareness, but they suffer from limited depth perception and lack of proprioceptive feedback. Recent advances in augmented reality (AR), particularly optical see-through (OST) head mounted displays, offer a more intuitive solution by overlaying digital information directly onto the real world. This approach improves egocentric spatial cognition and motor coordination by aligning virtual cues with physical actions, which reduces cognitive load and increases precision. This study evaluates an AR-based teleoperation system that combines a HoloLens2 OST-based AR display, adaptive hand-motion controls, Unity-based visualization, and a Franka Emika 7-DOF robotic arm. In a user study with 30 participants, the AR-enhanced interface demonstrated significantly higher spatial awareness and task execution efficiency than conventional setups. These results provide empirical support for deploying AR in high-stakes teleoperation tasks where accuracy and situational awareness are critical.
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