. Author manuscript; available in PMC: 2014 Dec 24.

Published in final edited form as: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2014 Aug;2014:244–251. doi: 10.1109/BIOROB.2014.6913784

TABLE I.

Evaluation Of Cases Based On Average Of All Trials

	Experiments	Number of Trials	Peeling Force [mN]		Peeling Speed [mm/s]

			Mean	Std. Dev.	Mean	Std. Dev.
Bandages	Freehand	15	6.8584	0.3676	0.1392	0.0216
	Tremor Cancellation	15	6.7762	0.2894	0.1459	0.0229
	Tremor Cancellation + 10Hz Vibrations	15	7.0480	0.3469	0.1789	0.0237
	Tremor Cancellation + 30Hz Vibrations	15	6.9440	0.3221	0.2232	0.0472
	Tremor Cancellation + 50Hz Vibrations	15	6.9217	0.4403	0.2809	0.0580

Eggs	Freehand	5	7.7113	0.6999	0.0868	0.0190
	Tremor Cancellation	5	7.3107	1.2647	0.1005	0.0288
	Tremor Cancellation + 10Hz Vibrations	5	7.2937	0.9752	0.1416	0.0649
	Tremor Cancellation + 30Hz Vibrations	5	6.9590	1.5154	0.1850	0.0315
	Tremor Cancellation + 50Hz Vibrations	5	6.3405	1.3542	0.2948	0.0609