Research has indicated that situation awareness plays a crucial role in various areas of human-machine interaction, including for example space exploration, robotic surgery or power plant operation. For most of these areas, telerobotic systems, with which human operators manipulate remote environments by means of controls and displays in their direct vicinity, provide a plethora of advantages (e.g., increased accessibility and technological robustness) and, thus, are on the rise. Tasks completed with telemanipulation systems are often unstandardized, requiring robotic manipulators that can cope with a variety of different and oftentimes unforeseen task demands. Hence, telerobotic systems are equipped with flexible end-effectors that allow manipulation of different types of objects and/or tissues. This also challenges the situation awareness of human operators, who now need to cope with complex tasks, for which they additionally have to use a telerobotic system that operates in an environment very different from their own. To contribute to the agenda of understanding situation awareness during telemanipulation, the objective of this research was to study object-based compatibility effects as measure of situation awareness. A paradigm was developed, in which a bi-manual telerobot was grasping objects, controlled by the participants left/right key-presses. Object-based compatibility effects were found, that were sensitive to the reachability of an object, as well as to the alignment of the object’s handle and the responding robotic end-effector.