To control current and future space telerobotics systems, the human operator can encounter challenging human-machine interface problems. These include operating the arm with limited positioning cues, avoiding joint limits or singularities, and operating the arm a single joint at a time rather than with the hand controllers which can be required due to system failures. We are developing a multi-mode manipulator display system (MMDS) that addresses these problems. The first mode, manipulator position display (MPD) mode provides the operator with positioning cues that are particularly helpful during operations with constrained viewing conditions. The second mode, joint angle display (JAD) mode assists the operator with avoiding joint limits and singularities, and can provide cues to alleviate these conditions once they occur. Single joint operations display (SJOD) mode is the third mode and provides cues to assist the operator when operating the manipulator a single joint at a time. The fourth mode of the MMDS is sensory substitution (SS) mode which can provide force feedback information through vibrotactile or auditory displays. The MMDS has been designed for space-based applications, but can be extended to a variety of human-machine telerobotic applications including toxic waste cleanup, undersea robotic operations, manufacturing systems, and control of prosthetic devices.