MARCH 2022 * IEEE ROBOTICS & AUTOMATION MAGAZINE * 85 Experiment 1 Experiment 1 Manipulation Pointing Layout Row 1 ---> Experiment 1/Experiment 2 Row 2 ---> Experiment 2/Experiment 3 Row 3 ---> Experiment 4 4 3 2 1 Object Size (F) (cm) 34 5 Experiment 2 4 3 2 1 090 180 270 Directional Angle (φ) (°) Experiment 4 5 4 3 2 1 48 Target Width (W) (cm) 5 4 3 2 1 12 Target Separation (A) (cm) 4 3 2 1 15 30 Inclination Angle (φ) (°) Experiment 4 5 4 3 2 1 Experiment 2 7 6 5 4 3 2 1 Object Size (F) (cm) Experiment 4 5 4 3 2 1 24 0901530 Directional Angle (φ) (°) Inclination Angle (θ) (°) 4 3 2 1 5 7.5 10 12.5 Target Width (W) (cm) Experiment 3 7 6 5 4 3 2 1 10 Target Width (W) (cm) Experiment 4 5 4 3 2 1 30 Angular Distance (α) (°) 45 4 3 2 1 24 36 48 Target Separation (A) (cm) Experiment 3 7 6 5 4 3 2 1 45 45 51530 Angular Distance (α) (°) Experiment 4 5 4 3 2 1 7.5 15 Angular Tolerance ( ω) (°) 45 Experiment 1 4 3 2 1 Target Width (W) (cm) 12 510 Experiment 3 7 6 5 4 3 2 1 2.5 5 7.5 10 Angular Tolerance ( ω) (°) Experiment 4 Experiment 2 4 3 2 1 12 Experiment 3 24 Target Separation (A) (cm) Experiment 2 Figure 5. Results of all tested variables in all experiments and the relationship with MT for pointing (red) and manipulation (blue). The figure sequence is from left to right and top to bottom. Bars represent the standard deviation. MT (s) MT (s) MT (s) MT (s) MT (s) MT (s) MT (s) MT (s) MT (s) MT (s) MT (s) MT (s) MT (s) MT (s) MT (s) MT (s) MT (s)