Fig 1.
A total of 4 sets were performed, with the last 2 sets performed on different days. * Each task was performed 9 times with different delay settings, as follows: Delay 0 ms → Delay 0 ms → Delay 0 ms → Delay 70 ms → Delay 100 ms → Delay 150 ms → Delay 200 ms → Delay 300 ms → Delay 0 ms.
Fig 2.
Details of the system used in this experiment.
The minimum communication delay was 20 ms, considering the typical performance of domestic communications. The minimum total communication delay was thus 70 ms, including the decoding and encoding times. TN = {0,20,50,100,150,250}ms, TE+TD≈50ms, Delay defined in this paper T is: T = TN+TE+TD = {0,70,100,150,200,300}ms, *Encoder/decoder unused when TN = 0.
Fig 3.
Boxplot of task completion time of each task by all participants.
Fig 4.
Task completion time for each Group under each delay.
* shows significant difference (P value<0.05). Values are median [minimum-maximum].
Fig 5.
Boxplot of movement distance of forceps of each task by all participants.
Fig 6.
Total movement distance of forceps for each group under each delay.
* shows significant difference (P value<0.05). Values are median [minimum-maximum].
Fig 7.
Boxplot of comparing task completion time between Group 3 with delay and Group 1 or Group2 without delay.
G1(0), Group 1 without delay; G2(0), Group 2 without delay; G3(0), Group 3 without delay; G3 70, Group 3 with delay of 70 ms; G3 100, Group 3 with delay of 100 ms; G3 150, Group 3 with delay of 150 ms; G3 200, Group 3 with delay of 200 ms; and G3 300, Group 3 with delay of 300 ms.