Problem also occurs with 12.04. I agree that its quite annoying if you want to 
use sudo from within a (remote) SSH session.
The only workaround I'm aware of is  to wait for the fprint timeout and then 
enter your password.

user@host:~$ sudo ls
Scan ... finger on UPEK Eikon 2
Fingerprint verification error -22
[sudo] password for user: 

Unfortunately, the timeout is quite long (approx. 1 minute) and I
couldn't find a way to configure it.

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https://bugs.launchpad.net/bugs/776779

Title:
  no way to require fprint OR password, which means no sudo over SSH/NX

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