| 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 |