Table 2.
Performance form the six subjects of mHMI obtained with real-time control the soft robot.
| Subject | second per action (s) | Speed (actions/min) | Error times | ACC (%) | ITR (bits/min) |
|---|---|---|---|---|---|
| S1 | 3.24 | 18.52 | 4 | 96.12% | 54.82 |
| S2 | 3.54 | 16.95 | 6 | 93.23% | 46.50 |
| S3 | 3.60 | 16.67 | 7 | 93.45% | 45.99 |
| S4 | 3.96 | 15.08 | 5 | 95.29% | 43.66 |
| S5 | 3.48 | 17.24 | 7 | 93.06% | 47.11 |
| S6 | 3.42 | 17.54 | 8 | 91.83% | 46.39 |
| AVG | 3.54 | 17 | 6.17 | 93.83% | 47.41 |
| SD | 0.24 | 1.14 | 1.47 | 0.02 | 3.82 |
Subject 1, subject 2, … subject 6 are short for S1, S2, … S6, respectively. AVG means the corresponding average values, SD presents standard deviation. The result in bold number is the highest results among six subjects.