The paper proposes a new human-computer interface for telerobotic applications in remote unstructured environments. The interface is based upon Augmented Reality (AR) concepts and integrates three basic aspects: (1) interactive perception, allowing on-demand generation of virtual worksite views for improved examination by the operator; (2) enhanced task representation, involving the 3D embedding of a virtual replica of the equipment into worksite views in order to allow better task planning and rehearsal; (3) haptic feedback to provide the operator with a realistic sense of equipment-worksite mechanical interactions during the planning phase. Experiments with this AR interface in the context of a mining drilling task are also described.