Negotiated control between the manual and visual systems for visually guided hand reaching movements

Table 2 RMSE in joint angle estimations

	MS			VS			NS			NS error reduction from MS
	Mean	SE	95% CI	Mean	SE	95% CI	Mean	SE	95% CI	NS error reduction from MS
θ ₁	2.43	0.08	[2.27, 2.58]	1.88	0.08	[1.72, 2.03]	1.44	0.06	[1.33, 1.55]	*41%
θ ₂	5.49	0.15	[5.19, 5.79]	6.30	0.18	[5.94, 6.66]	4.13	0.11	[3.93, 4.34]	*25%
θ ₃	3.14	0.11	[2.92, 3.35]	3.43	0.13	[3.17, 3.70]	2.39	0.10	[2.20, 2.58]	*24%
θ _m4	10.98	0.33	[10.33, 11.63]				10.39	0.32	[9.75, 11.02]	5%
θ _m5	13.45	0.34	[12.77, 14.12]				13.12	0.35	[12.43, 13.80]	2%
θ _m6	10.99	0.30	[10.40, 11.58]				10.92	0.31	[10.32, 11.52]	1%
θ _m7	7.88	0.20	[7.50, 8.27]				7.04	0.17	[6.71, 7.37]	*11%
θ _v4				1.43	0.06	[1.32, 1.54]	1.27	0.06	[1.16, 1.38]
θ _v5				6.25	0.22	[5.83, 6.68]	3.23	0.09	[3.06, 3.40]
θ _v6				6.21	0.16	[5.88, 6.53]	3.96	0.11	[3.74, 4.18]

MS: Manual system. VS: Visual system. NS: Negotiation system. SE: Standard error. 95% CI: 95 percentile confidence interval. *indicates a statistical significance at p < 0.05.

ISSN: 1743-0003