To facilitate working in extreme environments, a human worker could benefit greatly from the assistance of a robotic arm controlled through teleoperation. However, it is currently unclear how the robot should be programmed to effectively support the worker's movements. To address this issue, a haptic teleoperation system that enables complex manipulation and docking tasks will be presented. This system allows for human demonstrations of motor skills, which can then be developed into autonomous operation capabilities. The haptic teleoperation system includes various control modes for object capture and assembly tasks, such as manual, semi-autonomous, and fully autonomous modes. Additionally, the system utilises bio-monitoring to estimate the operator's mental load, holographic user interfaces to enhance usability, and haptic feedback to improve system transparency for the operator. Successful interaction tasks, including collecting rock samples on the moon and peg transfer based on the Da Vinci Surgical Robot System, have validated that the developed techniques can be transferable to other types of human-machine interfaces, including command through the feet.