The introduction of less invasive interfaces in control usually carry with them new drawbacks such as less perception, less dexterity, etc. This work tackles the experimentation of new means of perceptual feedback in teleoperation, when the operator guides the task by means of a virtual exoskeleton, and consequently without any mechanical device that can be provided with haptic devices. The work describes the evaluation of augmented images and sound feedback as alternative means for the bilateral control.