This paper presents a brief description of a novel underwater robot prototype, based on a parallel-serial structure. The underwater robot is composed of two subsystems: navigation and manipulation systems. This paper is focused on the first system: manipulation, aiming to introduce some advances related to it. Several systems characteristics rely on the capability of reflecting the environment interaction forces to the human operator and addressing virtual constraints that allow the haptic device to emulate the real robot. Finally, the results obtained show the capabilities and the reliability of the tele-operation system, which will allow the robot to perform complex underwater tasks missions.