TABLE III.

Summary of Experiment #2

Subjects	10 (9 males, 1 female)
Task	pick-and-place of a microbead
Conditions	Kinesthetic + Position-Error feedback (K + Pe)
	Vibrotactile + Position-Error feedback (Vb + Pe)
	No force feedback (N)
Video	available as supplemental material
Best conditions (average)
	Completion time		K + Pe (25.78 s)
	Gripper’s path length		K + Pe (22.97 mm)
	Distance between reference and gripper		Vb + Pe (1.11 mm)
	Drop-off error		Vb + Pe (0.76 mm)
	Perceived effectiveness		K + Pe (6.52)
Statistical analysis (one-way repeated measures ANOVA)
Completion time (no significant difference)
Gripper’s path length (p < 0.001, significant p values only)
		K+Pe vs. N	p = 0.002
		Vb+Pe vs. N	p < 0.001
Distance between reference and gripper (p < 0.001, sig. p values only)
		K+Pe vs. N	p < 0.001
		Vb+Pe vs. N	p < 0.001
Drop-off error (no significant difference)
Perceived effectiveness
		K+Pe vs. Vb+Pe	p = 0.011
		K+Pe vs. N	p = 0.001
		Vb+Pe vs. N	p = 0.022