Daily household tasks involve manipulation in cluttered and unpredictable environments and service robots require complex skills and adaptability to perform such tasks. To this end, we developed a teleoperated online learning approach with a novel skill refinement method, where the operator can make refinements to the initially trained skill by a haptic device. After a refined trajectory is formed, it is used to update a probabilistic trajectory model conditioned to the environment state. Therefore, the initial model can be adapted when unknown variations occur and the method is able to deal with different object positions and initial robot poses. This enables human operators to remotely correct or teach complex robotic manipulation skills. Such an approach can help to alleviate shortages of caretakers in elderly care and reduce travel time between homes of different elderly to reprogram the service robots whenever they get stuck. We performed a human factors experiment on 18 participants teaching a service robot how to empty a dishwasher, which is a common daily household task performed by caregivers. We compared the developed method against three other methods. The results show that the proposed method performs better in terms of how much time it takes to successfully adapt a model and in terms of the perceived workload.