From my point of view, if we consider the coach, we should consider a robot coach (as it has recently been introduced in the SPL).
I rather see the current phrasing as a way of making clear that we do not forbid people from the team to shout "Shoot! Shoot!" when their robot is in position to score a goal.
I have not seen any team trying to use speech recognition during game (quite difficult due to the background noise on my opinion). Using gesture recognition would be much easier I think.
On the same page, I would not forbid people to jump out of excitement when their robot is about to score a goal, but I am not in favor of seeing people chaining complex gesture to reduce the need for autonomy of robots.
I would rather remove the 'excluding verbal communication' than add the 'gesture communication'