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

Communication Modalities for Supervised Teleoperation in Highly Dexterous Tasks - Does one size fit all?