This study investigated the effects of different shared control modalities—Direct Control (DC), State-Fusion Shared Control (SFSC), State-Guidance Shared Control (SGSC), and Semi-Autonomous Control (SAC)—on robotic teleoperation performance and user experience. Through a path-tracking experiment, we evaluated these modalities across two task difficulty levels (low/high). Results showed that SFSC mostly outperformed other modalities, reducing motion jitter and workload while increasing user trust and satisfaction, especially in high-difficulty tasks. SAC also demonstrated superior motion stability in high-difficulty tasks and reduced physical demand and user effort compared to DC, though it resulted in higher workload and lower satisfaction than SFSC. Similarly, SGSC improved tracking accuracy compared to DC but led to higher workload and lower satisfaction than SFSC. Correlation analysis revealed significant relationships between workload reduction and enhanced trust and satisfaction. These findings provide valuable insights for designing and selecting the appropriate shared control modalities based on desired outcomes and task difficulty, which can help optimize task performance and user experience in different scenarios in robotic teleoperation systems for path-tracking tasks. Future research should explore these modalities with larger participant groups and diverse teleoperation tasks.