This paper reviews the notion of virtual fixtures and describes a study which demonstrates that such fixtures can reduce performance degradation due to time delays in telemanipulation tasks. Just as fixtures in the real world can enhance manual performance, virtual fixtures are computer generated sensations that have been shown to provide similar benefits in telemanipulation. This study investigates the use of virtual fixtures by overlaying simple haptic surfaces during a peg-insertion telemanipulation task with time delay. Six subjects were tested wearing an exoskeleton to control a remote robot arm with no time delay, 250ms delay, and 450ms delay, between master and slave. A Fitt's law paradigm was used to quantify operator performance. It was found that without the use of virtual fixtures, task completion times were reduced by 36% for the 250ms delay and 45% for the 450ms delay. With overlaid virtual fixtures, no performance degradation was recorded for time delayed teleoperation.