Table 1 Results (F and p-values) from the two-way ANOVAs (or Kruskal-Wallis tests if distributions were non-normal) from evaluating the effects of haptic rendering (HR) and arm weight support (WS) on the outcome metrics during training (T-CT), short-term learning (STR-BL), and long-term learning (LTR-BL)

Score

(3.36)

0.075

(1.39)

0.245

(0.38)

0.539

(6.13)

0.018

(2.71)

0.108

(0.24)

0.628

(8.47)

0.006

(6.05)

0.019

(1.21)

0.280

Movement phase difference

(18.32)

<0.001

(4.74)

0.036

(1.03)

0.316

(9.76)

0.004

(4.62)

0.038

(0.01)

0.939

(8.36)

0.006

(5.43)

0.026

(1.09)

0.303

Horizontal movement variability

(12.35)

0.001

(0.35)

0.556

(6.90)

0.013

(0.71)

0.403

(0.20)

0.654

(0.82)

0.372

(0.16)

0.688

(1.81)

0.187

(0.76)

0.389

Vertical movement variability

(74.90)

<0.001

(10.52)

0.003

(1.36)

0.251

(1.29)

0.263

(0.02)

0.897

(0.15)

0.704

(0.19)

0.666

(0.31)

0.583

0.22

0.641

Joint torques

(44.74)

<0.001

(71.28)

<0.001

(0.07)

0.789

(0.59)

0.449

(0.42)

0.523

(<0.01)

0.955

(H(1)=0.70)

0.402

(H(1)=0.39)

0.534

–

Transfer task score

–

–

–

(8.72)

0.006

(1.60)

0.214

(2.51)

0.121

(4.64)

0.038

(2.11)

0.155

(0.85)

0.362

Sense of agency

(0.11)

0.741

(1.56)

0.220

(0.56)

0.459

–

–

–

(0.86)

0.360

(0.69)

0.412

(0.19)

0.663

Interest/enjoyment

(0.19)

0.662

(1.38)

0.247

(0.54)

0.467

–

–

–

(0.03)

0.857

(1.06)

0.310

(1.62)

0.212

Effort/importance

(0)

1.000

(2.14)

0.153

(1.37)

0.218

–

–

–

(0.75)

0.392

(1.08)

0.305

(0.03)

0.863

Pressure/tension

(0.54)

0.468

(0.02)

0.884

(3.10)

0.087

–

–

–

(0.54)

0.468

(0.54)

0.468

(0.08)

0.779

Perceived competence

(1.41)

0.243

(2.37)

0.133

(0.33)

0.571

–

–

–

(1.35)

0.254

(3.96)

0.054

(0.44)

0.511