Table 5.

End-effector angle tracking errors under different control methods (with five subjects).

	Participants	Methods	Maximum Error (°)		Average Error (°)
			θ	φ	θ	φ
Angle tracking results	Subject 1	ABS-SMC	0.90	0.99	0.20	0.39
		BS-SMC	2.04	2.50	0.54	0.75
	Subject 2	ABS-SMC	1.12	0.99	0.29	0.28
		BS-SMC	2.25	2.18	0.50	0.78
	Subject 3	ABS-SMC	1.21	1.18	0.29	0.34
		BS-SMC	2.91	2.36	0.67	0.78
	Subject 4	ABS-SMC	1.41	1.13	0.43	0.34
		BS-SMC	3.32	2.75	0.63	0.66
	Subject 5	ABS-SMC	1.14	0.89	0.27	0.28
		BS-SMC	2.97	2.17	0.92	0.94