Table 4.

Statistical analysis of actuator position tracking errors under different control methods (with five subjects).

	Participants	Methods	Maximum Error (mm)			Average Error (mm)
			A1	A2	A3	A1	A2	A3
Position tracking results	Subject 1	ABS-SMC	1.10	1.13	1.33	0.43	0.47	0.49
		BS-SMC	2.71	3.60	3.24	1.30	1.48	1.56
	Subject 2	ABS-SMC	1.52	2.07	1.76	0.39	0.47	0.37
		BS-SMC	3.71	4.67	4.20	1.19	1.43	1.07
	Subject 3	ABS-SMC	1.53	2.02	1.81	0.40	0.47	0.37
		BS-SMC	3.90	5.01	4.19	1.17	1.46	1.10
	Subject 4	ABS-SMC	1.77	2.07	1.88	0.39	0.48	0.38
		BS-SMC	3.86	5.22	5.30	1.22	1.27	1.29
	Subject 5	ABS-SMC	1.39	1.97	1.66	0.39	0.47	0.37
		BS-SMC	3.74	4.96	4.63	1.14	1.34	1.09