Table 3 Output values from tests on joint angle variability

Virtual arm actual behavior

C+ vs C−

C+ vs N

C− vs N

ShFlex

F = 0.4457

N/A

N/A

N/A

p = 0.6450

ShAbd

F = 5.136

T

− 2.376

4.962

4.328

p = 0.01287

p

0.04153

7.789e−4

0.001912

HumMed

H = 9.185

W

0

8

0

p = 0.01013

p

0.005062

0.04685

0.005062

ElFlex

F = 23.26

T

7.442

3.390

− 5.236

p = 1.342e−6

p

3.924e−5

0.007999

5.375e−4

ForSup

H = 16.47

W

6

0

1

p = 2.656e−4

p

0.02842

0.005062

0.00691

UlnDev

F = 5.867

T

6.212

− 1.331

− 8.753

p = 0.007657

p

1.567e−4

0.2158

1.071e−5

WrExt

F = 4.772

T

2.446

− 4.166

− 6.056

p = 0.007657

p

0.03697

0.002428

1.890e−4

Mimicked real arm motion

MC+ vs C−

MC+ vs N

MC− vs N

ElFlex

H = 16.97

W

20

0

0

p = 2.062e−4

p

0.4446

0.005062

0.005062

ForSup

H = 6.227

W

9

17

17

p = 0.04444

p

0.05934

0.2845

0.2845

UlnDev

F = 5.593

T

− 2.525

− 4.980

− 1.492

p = 0.009284

p

0.03252

7.595e-4

0.1699

WrExt

F = 3.516

T

− 4.276

− 2.911

1.383

p = 0.04394

p

0.002063

0.01727

0.2001