Assuming you have set your signature fields to "Prompt to draw or type signature", you can use use Javascript like this: 

$(document).ready(function () {
  
  $('.drawOnlySignature input').click(function() {
    $("#sigNav a:eq(0)").hide();
    $("#sigNav a:eq(1)").show();
  	$("#form-signature-dlg").on("shown.bs.modal", function()
	{
	  $("#sigNav a:eq(1)").click();
  	}); 	
  });
  
  $('.typedOnlySignature input').click(function() {
    $("#sigNav a:eq(0)").show();
    $("#sigNav a:eq(1)").hide();
  	$("#form-signature-dlg").on("shown.bs.modal", function()
	{
	  $("#sigNav a:eq(0)").click();
  	}); 	
  });
  
  $('.typeOrDrawSignature input').click(function() {
    $("#sigNav a:eq(0)").show();
    $("#sigNav a:eq(1)").show();	
  });
  
});

If you want a particular signature to allow typed or drawn signatures, give it the Class Name of typeOrDrawSignature.

If you want a particular signature to allow only typed signatures, give it the Class Name of typedOnlySignature.

If you want a particular signature to allow only drawn signatures, give it the Class Name of drawOnlySignature.

You can use multiple different signatures in the same document with the different classes, since the code is written to to show the previously hidden fields when the next one is clicked.  However, if you add a signature field that doesn't have one of those class names, it will retain the hidden tabs from the last signature that was completed.