Operator of man-in-loop type remote operated slave robotic systems, need to perceive remote work environment through innovative sensing, particularly when slave is in close vicinity of objects. Real-time rendering of multiple types of perceivable effects in such state has been devised by employing innovative sensory techniques. A phantom that maintains selfstate synchronized with the tele-operated robot’s dynamic state has been devised to host the sensors in modeled workspace. The hosted sensor is presented same spatial state as faced by the slave robot in real time and senses vicinity using innovative activation of phantom’s work environment. Work details sensor forming methods, sensor function, and the process of phantomenvironment formation. The sensor responds to vicinity in several ways. Modalities of rendering the sensed effects too have been delved in.