Table 1.

The success rate and duration for all four tasks and the duration, motion range and speed, and grasping force (in arbitrary units) for each phase of each task.

Task	Phase	Duration [s]	Range [cm]	Speed [cm/s]	Force [a.u.]
Task 1	1		28.82±7.05	31.56±5.50	0.02±0.02
Success: 16/20 (80%)	2	5.07±0.89	41.76±4.12	37.12±5.12	0.72 ± 0.08
Duration: 22.32 ± 319 s	3		41.64±6.12	48.57±7.47	0.03±0.02
	4	4.53±0.94	38.09±4.66	44.88±4.88	0.73 ± 0.08
	5		24.91±4.10	36.01±4.65	0.06±0.03
Task 2	1		29.99±6.00	26.97±5.46	0.01±0.00
Success: 15/20 (75%)	2	9.09±1.04	21.39±8.66	57.91±6.37	0.64 ± 0.04
Duration: 15.44 ± 354 s	3		29.73±4.70	33.20±5.21	−0.06±0.07
Task 3	1		22.73±17.63	27.52±14.69	0.04±0.04
Success: 18/20 (90%)	2	13.96±3.94	51.46±7.92	37.77±6.60	0.71 ± 0.07
Duration: 16.82 ± 501 s	3		19.30±11.05	29.01±9.55	0.08±0.04
Task 4	1		45.45±4.15	28.57±5.77	0.01±0.02
Success: 19/20 (95%)	2	5.05±1.27	30.38±5.51	27.13±4.34	0.64 ± 0.08
Duration: 11.70 ± 175 s	3		42.75±11.57	41.12±8.19	0.02±0.02

The mean value and standard deviation refers to the successful repetitions. Furthermore, boldface denotes the force values in phases that involved grasping.