Table 1.

Description of the objective performance metrics of the ForceSense

Parameter	Description
Task time	Total time needed to complete the task presented in seconds (s)
Maximum absolute force (N)	The highest absolute force applied on the training task during tissue manipulation
Mean non zero force (N)	The average force exerted on the training task during tissue manipulation [6, 15]
Max impulse (Ns)	The highest absolute force-over-time integral applied on the training task [6, 15]
Force volume (N3)	When viewing the forces in a 3d plane an ellipsoid is imagined. The force volume consists of the multiplication of the forces (and standard deviation) in the height, length and width of the ellipsoid [6, 15]