OceanOneK has a humanoid top half and a slimmer back half with eight multi-directional thrusters that allow careful maneuvering underwater. The robot's haptic—or touch-based—feedback system and stereoscopic vision produced incredibly realistic sensations that equaled what he would have experienced were he down below, rather than above onboard the control ship. Peering through OceanOneK robot's eyes and feeling through its hands, Khatib perceived a kaleidoscope of life—pink and green and rusty-orange—layered on and around the ship. He felt the resistance of the water and could discern the shapes and proximity of the historic relic around him.