Table 4
Improvement rate given as the percentage of the occurrences where case B shows a smaller error than case A in the recorded data (if improvement rate > 50%). Errors in the parameter σcontact, the running RMS-envelope (as in Fig. 7) and the harmonic-amplitude errors Ea,i comparing the human and robot performances (robot case A and robot case B). First without string-classification (global) and then classified at each string.
| Improvement rate |
|||||
|---|---|---|---|---|---|
| E σ | E RMS | E a,1 | E a,2 | E a,3 | |
| Global | 73.6% | 67.3% | 64.8% | 75.2% | 64.8% |
| A3 | 87.3% | 74.4% | 48.8% | 71.6% | 36.4% |
| D3 | 73.5% | 66.1% | 72.6% | 78.4% | 79.4% |
| G2 | 55.6% | 55.0% | 62.5% | 65.6% | 56.2% |
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