## 1 Introduction  
Robotic teleoperation is a technological approach allowing a human operator to perform a task by controlling a device or machine at a remote location. The distance can vary from the micron level (micro-manipulation) to the kilometer level (space applications). Human operators manifestly have the ability to adapt to the irregular environment and employ a variety of strategies to place the telerobots in favorable conditions, despite the complexity involved in remote sites. Teleoperation provides an enormous advantage over other robotic controlling methods. A teleoperation system benefits from taking advantage of both human and robotic capabilities. A typical teleoperation system consists of a master device and a slave device. A human operator manipulates the master device and issues commands to the slave device, which is manipulated to achieve a certain goal. A robot manipulator that follows the motion of the master arm in real time rather than being pre-programmed is an example. The kinematics of the slave device can be identical to the kinematics of the master device, or they can be different. It can also be specifically scaled or even completely customized according to the task and requirements. Despite the emergence and growing application of artificial intelligence, autonomous robots cannot reach the same level of intuition and reasoning as humans. While practical control algorithms can be used to process complex interactions, and kinematic aspects are better suited to humans, who perform such tasks effortlessly in their daily lives [1]. One of the advantages of teleoperation is that it empowers the robot to fulfill tasks in unstructured or hostile environments where situational perceptions, cognitive abilities, and professional experience have a predominant impact on task execution [2]. Therefore, for tasks requiring a variety of human judgments and professional skills, it is practical and feasible to utilize teleoperation to accomplish the goals. In general, application scenarios of teleoperation could include deep-sea robotics applications [3], space exploration [4; 5], de-mining operations, search and rescue in disasters, inspection in restricted spaces [6], medical robot-assisted surgery [7], hazardous material treatment, and micro-manipulation or minimally invasive surgery, among many possibilities. These applications fall into areas of either high risk to humans or high need, where human capability is not available or cannot be present for other reasons. Space or underwater applications are examples of high-risk scenarios, while telerobotic surgery in remote locales is an example of a high-need application, where a skilled surgeon may not be locally available [8]. More specifically, teleoperation is suitable for tasks meeting the following set of criteria:  
* Tasks to be performed in unstructured and dynamic environments, such as deep-sea exploration and space applications. * Tasks involving operations in hazardous situations where human health is severely harmed. For example, in the Fukushima nuclear disaster, there was a high demand for emergency treatment and rescue. Mining scenarios are also increasingly typical. * Tasks requiring dexterity, especially the coordination between hands and eyes. Medical surgery performed with remote robots is a typical example. * Tasks requiring object recognition, obstacle detection, or situational awareness, for example, inspection in confined spaces. This literature review, unlike previous ones, specifically focuses on XR applications applied to human-in-the-loop telemanipulation and telemanufacturing scenarios. The objective of this review is to categorize the recent literature on XR-enhanced telerobotic frameworks for telemanipulation and telemanufacturing tasks, spanning the period from early 2016 to late 2023.