Table 1 Time of each task cost in functional testing ARAT

Block 2.5 cm ×2.5 cm ×2.5 cm

1

18.7

11.3

-

13.9

24.6

35.6

11.7

2

- ^a

- -

-

21.0

10.6

26.5

15.9

3

- - ^b

14.0

53.6

32.0

15.3

13.0

14.8

Completion rate (%)

33

67

33

100

100

100

100

Block 5.0 cm ×5.0 cm ×5.0 cm

1

18.4

8.5

14.4

26.3

11.1

11.2

22.5

2

- -

16.5

11.4

28.5

10.7

10.5

40.2

3

17.4

11.6

19.9

- -

20.9

10.2

21.4

Completion rate (%)

67

100

100

67

100

100

100

Block 7.5 cm ×7.5 cm ×7.5 cm

1

-

- -

-

9.7

23.4

35.8

38.7

2

-

-

-

8.3

11.0

19.8

15.2

3

-

-

-

7.5

11.4

35.6

23.1

Completion rate (%)

0

0

0

100

100

100

100

Ball diameter 7.5 cm

1

- -

-

11.9

8.4

12.0

11.6

11.2

2

-

10.0

- -

8.8

10.8

11.3

12.0

3

- -

41.7

18.8

8.5

7.2

14.1

9.7

Completion rate (%)

0

67

67

100

100

100

100

Stone 10.0 cm ×2.5 cm ×1.0 cm

1

-

19.1

15.5

15.4

11.6

11.7

11.6

2

11.7

15.6

15.0

12.2

6.3

12.3

9.9

3

44.1

-

-

10.9

10.0

13.6

9.2

Completion rate (%)

67

67

67

100

100

100

100

Pouring water

1

- -

- -

21.7

- -

22.2

27.5

- -

2

- -

- -

- -

- -

17.8

18.4

- -

3

- -

- -

- -

- -

- -

15.7

19.9

Completion rate (%)

0

0

33

0

67

100

33

Tube 2.5 cm ×16.0 cm

1

57.6

- -

- -

- -

16.6

12.6

10.8

2

-

- -

11.4

- -

19.9

19.2

12.0

3

- -

- -

- -

11.6

-

14.1

10.8

Completion rate (%)

33

0

33

33

67

100

100

Tube 1.0 cm ×16.0 cm

1

- -

- -

- -

- -

- -

44.7

- -

2

- -

- -

- -

- -

- -

17.2

- -

3

- -

- -

- -

- -

26.1

15.6

21.9

Completion rate (%)

0

0

0

0

33

100

33