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Boxplots showing the effects of the four control methods in the two subject pools on mean force (a), completion time (b) and tumor contact time (c). * indicates p<0.05; ** indicated p<0.01 and *** indicates p<0.001 from post-hoc tests following Kruskal-Wallis tests. BHF: bio-inspired haptic feedback; LHF: linear haptic feedback; PDHF: piecewise discrete haptic feedback; NHF: no feedback.
