A gamepad and images from a camera mounted on the robot are generally used in the teleoperation interface for a mobile robot . However, the teleoperation is difficult for inexperienced users. To solve this problem, we propose an interface that mixes and presents both visual and haptic sense. This interface consists of a force feedback device and a camera installed on behind of a display (see-through display). The CG models that simulate a real environment and a real robot, and hands of the operator are shown on the see-through display. The position of the top end of force feedback device at behind of the see-through display is controlled to be the position corresponding to the drawing position of the CG of the robot. The operator feels as if he/she directly grasps the real robot by using proposed interface. In this study, proposed interface is applied to a remote control task of a mobile robot and the evaluation experiment is carried out which task is step-climbing by a teleoperated robot.