  This study tries to explain the connection between communication modalities
and levels of supervision in teleoperation during a dexterous task, like
surgery. This concept is applied to two surgical related tasks: incision and
peg transfer. It was found that as the complexity of the task escalates, the
combination linking human supervision with a more expressive modality shows
better performance than other combinations of modalities and control. More
specifically, in the peg transfer task, the combination of speech modality and
action level supervision achieves shorter task completion time (77.1 +- 3.4 s)
with fewer mistakes (0.20 +- 0.17 pegs dropped).
