Table 2 Quality metrics for all the test cases (\(max\left( t_r\right) \ [s]\) - maximum value of the regulation times, \(\sigma ^*(Q)\ [\left( m\cdot kg\right) ^{-1}]\) - average deviation from the \(\overline{Q}\) in the acceptable range, not applicable placed if the Q parameter is out of the acceptable range for over 90% of the time)
Patients Torque | Sinus | Non-periodical randomised smooth | Non-periodical randomised square | |||
|---|---|---|---|---|---|---|
Test case | \(Max\,\left( t_r\right)\) | \(\sigma ^*(Q)\) | \(Max\,\left( t_r\right)\) | \(\sigma ^*(Q)\) | \(Max\,\left( t_r\right)\) | \(\sigma ^*(Q)\) |
1 | 0.24 | 3.215 | 0.45 | 3.357 | 0.30 | 2.320 |
2 | 0.06 | 0.190 | 0.10 | 0.295 | 0.29 | 0.248 |
3 | 0.53 | 8.210 | 0.87 | 25.254 | 0.31 | not applicable |
4 | 0.92 | 1.637 | 0.52 | 3.218 | 0.31 | 2.781 |
5 | 0.08 | 2.289 | 0.15 | 2.800 | 0.31 | 1.925 |
6 | 0.28 | 3.216 | 0.59 | 3.858 | 0.33 | 2.189 |
7 | 0.28 | 3.218 | 0.81 | 3.761 | 0.37 | 2.264 |