IEEE Robotics & Automation Magazine - March 2022 - 83

MARCH 2022 * IEEE ROBOTICS & AUTOMATION MAGAZINE *
83
Table 2. The settings and results of all variables and their influence on MT across all experiments.
Pointing
Manipulation
Variables
F
Variations Investigated
Variations
Object size
W Target width
(3, 4, 5)
(5, 7.5, 10, 12.5)
A Target separation (12, 24, 36, 48)
W Target width
(5, 10)
A Target separation (12, 24)
z Direction angle
i
F
Inclination angle
Object size
W Target width
a Angular distance
|2
Sphericity Test
p
|2() .22468=
|2() .56992=
|2() .5836=
N/A
N/A
(0, 90, 180, 270) ()|2 51 .2 609=
(15, 30, 45)
(4, 5)
(5, 10)
(15, 30, 45)
~ Angular tolerance (2.5, 5, 7.5, 10)
W Target width
(4, 8)
A Target separation (12, 24)
z Direction angle
Inclination angle
i
a Angular distance
~ Angular tolerance (7.5,15)
(0, 90)
(15, 30)
(30, 45)
|2() .24346=
N/A
N/A
|2() .20781
|2 51 .1 386=
=
()
N/A
N/A
N/A
N/A
N/A
N/A
RM-ANOVA Test
e
N.S. N/A
N.S. N/A
N.S. N/A
N/A N/A
N/A N/A
*
N.S. N/A
N/A N/A
N/A N/A
N.S. N/A
*
F Test
F(2,30) = 9.441
2
hp
Experiment 1
0.386 ** 0.5%
F(3,33) = 102.522 0.903 *** 10.2%
F(3,33) = 602.976 0.982 *** 80.4%
Experiment 2
|2 () .23314=
|2 () .55409
|2 () .55968
=
=
F(1,23) = 287.752 0.925 *** 40.0% n/a
F(1,23) = 190.993 0.893 *** 43.7% n/a
0.675 F(2.025,22.270)
= 6.918
F(2,30) = 7.16
F(1,23) = 1.551
F(1,23) = 0.299
0.639 F(1.918,21.093)
= 184.323
N/A N/A
N/A N/A
N/A N/A
N/A N/A
N/A N/A
N/A N/A
F(1,31) < 0.001
0.386 *
0.323 *
Experiment 3
0.063 n.s 0.0% n/a
0.013 n.s 0.0% n/a
F(2,30) = 23.639 0.612 *** 1.8%
0.944 *** 81.8%
Experiment 4
0.0
|2 () .23589=
|2 () .54454=
n.s 0.0% n/a
F(1,31) = 51.296 0.623 *** 8.5% n/a
F(1,31) = 2.278
F(1,31) = 1.718
0.680 n.s 0.7% n/a
0.053 n.s 0.2% n/a
F(1,31) = 10.548 0.254 ** 1.2% n/a
F(1,31) = 394.944 0.927 *** 77.3% n/a
N.S.: not significant.
Percentages from r2 indicate the weight or contribution of each variable toward MT and were obtained via stepwise linear regression.
n/a n/a F(1,23) = 1.195
0.049 n.s 0.5%
n/a n/a F(1,23) = 40.805 0.640 *** 6.4%
n.s n/a F(2,30) = 12.915 0.463 *** 2.9%
n.s n/a F(3,33) = 89.481 0.891 *** 73.3%
n/a n/a F(1,31) = 58.815 0.655 *** 13.1%
n/a n/a F(1,31) = 48.664 0.611 *** 19.2%
n/a n/a F(1,31) = 0.205
0.007 n.s 0.1%
n/a n/a F(1,31) = 2.990 0.088 n.s 0.7%
n/a n/a F(1,31) = 10.193 0.247 ** 4.0%
n/a n/a F(1,31) = 122.753 0.798 *** 44.3%
3.0%
1.3%
|2 () .53722=
|2 () .22210=
n.s n/a F(2,30) = 14.468 0.491 *** 3.1%
n.s n/a F(3,33) = 19.162 0.635 *** 5.3%
n.s n/a F(3,33) = 197.465 0.947 *** 84.7%
n/a n/a F(1,23) = 51.431 0.691 *** 35.6%
n/a n/a F(1,23) = 33.986 0.596 *** 23.0%
n.s n/a F(3,33) = 0.851 0.072 n.s 1.0%
n.s n/a F(2,30) = 5.535
0.270 *
5.4%
p
r2 (%)
|2
Sphericity Test
p
RM-ANOVA Test
e
F Test
2
hp
p
r2 (%)

IEEE Robotics & Automation Magazine - March 2022

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