You can not use a VoIP "phone" on Uvoice since the RG outputs standard dial tone. If you wanted to use a VoIP phone you would have to get a seperate SIP VoIP phone and sign up with a carrier like Vonage, etc. That phone would connect to your RG or a data switch and access the services thru the internet connection.
This link might help: http://en.wikipedia.org/wiki/Voice_over_Internet_Protocol
and this one: http://en.wikipedia.org/wiki/Session_Initiation_Protocol
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