Statistical comparison of EMC vs traditional controllers. Comparison of the performance obtained by EMC, PIDAW and NEUROPID in terms of the median and the quartiles of the RMSE obtained on 6 different testing angular trajectories. Such comparison was divided in three periods (0–30 s, 30–60 s and 60–90 s). The Kruskal-Wallis test highlighted significant differences between the controllers. The asterisks indicate that the Dunn-Sidak post-hoc test showed a significant difference between the RMSE.