Dual Arm Co-Manipulation Architecture with Enhanced Human-Robot Communication for Large Part Manipulation.

Further investigation was performed on the mean deviation from the optimal trajectory which showed a lower deviation in the avatar condition compared to the control condition at a trend significance level ( Z = 1.71 , p = 0.090 ) , but the differences between the no-avatar condition and the control condition or the avatar and the no-avatar condition were not significant ( Z = 1.36 , p = 0.185 ) and ( Z = 0.14 , p = 0.906 ) .

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The analysis showed a trend difference in the mean deviation ( X 2 ( 2 ) = 4.77 , p = 0.092 ) , but no significant difference in the completion time ( X 2 ( 2 ) = 0.15 , p = 0.926 ) , see Table 2 .

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