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Table 3 RMSEs of the position tracking (\(\mu \pm SD\)) and p values between the cases applying power assist only and power assist with skill assist

From: Motion-tracking skill assist and power assist for sinusoidal motions with a semi-active assist mechanism using energy control

 

Subject A

B

C

D

E

Average of the normalized error

RMSE of position tracking (mm)

 No assist without weight

30.9 ± 3.09

28.5 ± 2.21

47.0 ± 5.11

20.3 ± 7.13

24.5 ± 3.43

1.00 ± 0.186

 No assist with weight

30.2 ± 1.43

28.1 ± 2.79

40.8 ± 10.0

32.4 ± 8.24

33.5 ± 4.73

1.16 ± 0.356

 Only power assist

30.2 ± 2.49

28.4 ± 2.25

49.3 ± 6.08

35.9 ± 8.59

34.6 ± 7.20

1.24 ± 0.391

 Power assist with skill assist

25.9 ± 1.57

26.8 ± 1.13

47.7 ± 5.72

25.3 ± 4.72

25.3 ± 4.72

1.01 ± 0.199

p value of t test

0.012

0.121

0.353

0.035

0.034

0.008

Statistical power (\(\alpha = 0.05\))

0.86

0.20

0.08

0.74

0.76

0.83