IEEE Robotics & Automation Magazine - March 2022 - 87

MARCH 2022 * IEEE ROBOTICS & AUTOMATION MAGAZINE *
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Manipulation Pointing
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MT = 0.954 + 0.441 . ID
MT = 0.546 + 0.407 . ID
R2 = 0.778
R2 = 0.838
MT = 1.072 + 0.508 . ID
MT = 0.694+ 0.450 . ID
R2 = 0.869
R2 = 0.862
MT = 1.134 + 0.522 . ID
MT = 0.703 + 0.485 . ID
R2 = 0.776
R2 = 0.852
MT = 0.874 + 0.595 . ID
MT = 0.453 + 0.557 . ID
R2 = 0.773
R2 = 0.859
MT = 0.874 + 0.595 . ID
MT = 0.453 + 0.557 . ID
R2 = 0.773
R2 = 0.859
MT = 1.072 + 0.508 . ID
MT = 0.694 + 0.450 . ID
R2 = 0.869
R2 = 0.862
MT = 0.555 + 0.649 . [1.0 . IDT+ 0. IDR]
MT = 0.224 + 0.580 . [1.0 . IDT+ 0. IDR]
R2 = 0.877
R2 = 0.887
01 23 45
Index of Difficulty (bit/s)
(a) Experiment 1
MT = 1.541 + 0.315 . ID - 0.0003.sin(θ2)
+ 0.0048.θ1
MT = 1.007 + 0.362 . ID + 0.0003.sin(θ2)
- 0.0034.θ1
MT = 1.283 + 0.430 . [1.0 . IDT+ 0.IDR]
MT = 0.517 + 0.495 . [1.0 . IDT+ 0. IDR]
R2 = 0.509
R2 = 0.788
12 34
Index of Difficulty (bit/s)
(b) Experiment 2
R2 = 0.574
R2 = 0.833
MT = 1.882 + 0.544 . [0 . IDT+ 1.0 . IDR]
MT = 1.209 + 1.298 . [0 . IDT+ 1.0 . IDR]
R2 = 0.804
R2 = 0.901
(c) Experiment 3
Index of Difficulty (bit/s)
(d) Experiment 4
MT = 1.446 + 0.390 . ID
MT = 0.656 + 0.435 . ID
R2 = 0.585
R2 = 0.845
MT = 1.066 + 0.525 . ID
MT = -0.648 + 1.224 . ID
R2 = 0.600
R2 = 0.659
MT =1.412 + 0.390 . ID
MT = 0.694 + 0.434 . ID
R2 = 0.575
R2 = 0.831
MT = 1.114 + 0.641 . ID
MT = -0.556 + 1.503 . ID
R2 = 0.613
R2 = 0.680
MT = 1.594 + 0.334 . ID
MT = 0.897 + 0.372 . ID
R2 = 0.577
R2 = 0.832
MT = 1.114 + 0.641 . ID
MT = -0.556 + 1.503 . ID
R2 = 0.613
R2 = 0.680
MT = 0.188 + 0.693 . ID
MT = 0.312 + 0.570 . ID
R2 = 0.759
R2 = 0.476
MT = 0.280 + 0.587 . ID - 0.0003.sin(θ2) + 0.0062.θ1
MT = 0.210 + 0.530 . ID + 0.0011.sin(θ2) + 0.0034.θ1
R2 = 0.770
R2 = 0.578
MT = 0.846 + 1.0 . [0.691 .IDT+ 0.913 .IDR]
MT = 1.094 + 1.0 . [0.326 . IDT+ 1.179 .IDR]
R2 = 0.803
R2 = 0.805
12 34 56 24 68
Index of Difficulty (bit/s)
Figure 6. Regression results of all models from experiments 1-4, depicting line equations and r2. Green boxes indicate the best model. (a) Experiment 1: translation. (b) Experiment 2:
translation with directions and inclinations. (c) Experiment 3: rotation. (d) Experiment 4: combined with directions and inclinations.
MT = 1.652 + 0.315 . ID
MT = 0.944 + 0.362 . ID
R2 = 0.511
R2 = 0.789
MT = 1.347 + 0.585 . ID
MT = -0.003 + 1.368 . ID
R2 = 0.610
R2 = 0.673
MT = 0.176 + 0.693 . ID
MT = 0.362 + 0.570 . ID
R2 = 0.758
R2 = 0.469
MT = 1.066 + 0.525 . ID
MT = -0.648 + 1.224 . ID
R2 = 0.600
R2 = 0.659
MT = 0.765 + 0.608 . ID
MT = 0.849 + 0.500 . ID
R2 = 0.755
R2 = 0.465
MT = 1.494 + 0.274 . ID
MT = 0.786 + 0.305 . ID
R2 = 0.579
R2 = 0.832
R2 = 0.604
R2 = 0.663
MT = 0.408 + 0.587 . ID
MT = 0.336 + 0.530 . ID
R2 = 0.762
R2 = 0.569
R2 = 0.748
R2 = 0.459
MT = 1.062 + 0.523 . ID
MT = -0.656 + 1.221 . ID
MT = 0.298 + 0.520 . ID
MT = 0.472 + 0.426 . ID
Our Model
MT (s)
Cha and Myung Murata and Iwase
MT (s)
MT (s)
Shannon
MT (s)
Welford
MT (s)
Hoffmann
MT (s)
MT (s)
Fitts
IEEE Robotics & Automation Magazine - March 2022

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