Table 1.

Statistical results of the involved four subjects in different phases A–D.

Human ability robot output		Active effort (Nm)	Movement error (rad)	Game score	Deviation RMS	Nominal pressure	Admittance level	Robot force (N)
S1	Phase A	0.65 ± 0.29	0.064 ± 0.013	4	0.0399	3.74 ± 0.08	0.012 ± 0.004	48.96 ± 10.06
	Phase B	1.27 ± 0.56	0.041 ± 0.020	20	0.0374	3.50 ± 0.15	0.013 ± 0.005	34.30 ± 6.76
	Phase C	2.01 ± 1.14	0.021 ± 0.007	31	0.0273	3.20 ± 0.22	0.019 ± 0.002	28.93 ± 4.92
	Phase D	2.83 ± 1.28	0.012 ± 0.004	31	0.0161	2.97 ± 0.13	0.021 ± 0.001	20.73 ± 5.09
S2	Phase A	1.26 ± 0.50	0.071 ± 0.027	5	0.0453	3.55 ± 0.15	0.008 ± 0.005	72.63 ± 25.45
	Phase B	2.04 ± 1.12	0.059 ± 0.027	14	0.0429	3.28 ± 0.31	0.011 ± 0.006	37.01 ± 11.44
	Phase C	3.17 ± 1.56	0.030 ± 0.016	26	0.0309	2.88 ± 0.24	0.017 ± 0.004	31.56 ± 7.22
	Phase D	4.62 ± 2.13	0.026 ± 0.011	25	0.0228	2.38 ± 0.30	0.019 ± 0.003	22.43 ± 10.71
S3	Phase A	0.94 ± 0.24	0.040 ± 0.023	5	0.0400	3.42 ± 0.08	0.018 ± 0.007	41.86 ± 19.91
	Phase B	1.36 ± 0.32	0.028 ± 0.017	12	0.0321	3.25 ± 0.09	0.022 ± 0.005	32.54 ± 15.49
	Phase C	2.02 ± 0.82	0.022 ± 0.008	24	0.0283	2.98 ± 0.17	0.024 ± 0.002	26.30 ± 7.10
	Phase D	2.66 ± 1.06	0.018 ± 0.007	25	0.0211	2.74 ± 0.19	0.025 ± 0.002	19.03 ± 5.91
S4	Phase A	1.29 ± 0.44	0.058 ± 0.005	6	0.0334	3.73 ± 0.14	0.004 ± 0.002	62.82 ± 3.91
	Phase B	1.83 ± 0.67	0.059 ± 0.004	10	0.0290	3.49 ± 0.18	0.004 ± 0.001	64.08 ± 3.76
	Phase C	2.07 ± 0.76	0.053 ± 0.008	11	0.0276	3.37 ± 0.21	0.006 ± 0.002	50.97 ± 6.70
	Phase D	2.52 ± 0.80	0.054 ± 0.005	13	0.0289	3.19 ± 0.20	0.006 ± 0.001	48.10 ± 3.62

Active effort and movement error (mean value and SD), game score and movement deviation indicate partial human ability during each phase, while the nominal pressure, admittance level, and averaged muscle pulling force (mean value and SD) show the robot output in each phase.