Abstract: For the high risks and hazardous operating environment associated with manual operation of buttons on high-voltage electrical cabinets, based on the existing visual remote operation method, a teleoperation control system for humanoid robots was developed for high-voltage electrical cabinet button operation. To achieve real-time coordinated control from the operator's hand motions to the dual arms and dexterous hands of the humanoid robot, a non-contact hand-arm integrated teleoperation method based on a head-mounted vision device was proposed. In this method, the wrist pose and finger motion information of the operator were acquired by the vision device. The control transformation from the operator's upper-limb motions to the robot dual-arm end-effectors and dexterous hand joints was realized through dual-arm inverse kinematics, dexterous hand motion remapping, and a gesture-triggered multi-state switching mechanism. The experimental results showed that the main control loop frequency reached 90 Hz, and the control latency was less than 30 ms. The robot was able to complete the button-pressing task in a high-voltage electrical cabinet. Compared with the current system, the proposed system has certain advantages in non-contact motion acquisition, hand-arm coordinated mapping, and high-frequency real-time control. It can improve the teleoperation adaptability and safe operation capability of humanoid robots in hazardous electrical operation scenarios.