## 3 Results
For normal movements, for \(K\) = 10, the average duration of the steady motion phase--t\({}_{\text{s}}\) was 0.7 s, while for fast movements with \(K\) = 2.5, this time was only 0.1 s. Therefore, it is likely that for a small size ratio, the steady motion phase may not be present, which is consistent with [31]. The list of recorded values of maximum movement velocities and effective RMS velocities in the steady motion phase obtained during the research for all size ratios in relation to the movement of the operator's hand (H) and the movement of the effector (E) is shown in Figure 9. They used a box plot to show the distribution of a set of data. In a box plot, numerical data is divided into quartiles, and a box is drawn between the first  
Figure 8: Summary of durations t\({}_{\text{a}}\), t\({}_{\text{s}}\), and t\({}_{\text{d}}\) in whole movement; N—normal movement, F—fast movement. and third quartiles, with an additional line drawn along the second quartile to mark the median. The minimums and maximums outside the first and third quartiles are depicted with lines, which are often called whiskers. The mean value is marked by \"x\" symbol. Analyzing the graphs (Figure 9), it can be seen that there are clear differences in the obtained velocities for normal and fast movements. The RMS velocity in normal movements is 43 to 53% lower when comparing the values from the appropriate size ratio with fast movements. The ANOVA F analysis indicated that the value of the size ratio affects the value of the RMS velocity--F(2, 357) = 43.58 \(p\approx 0\) and the maximum velocity--F(2, 357) = 27.22; \(p\approx 0\) in normal movement. In the case of fast movements, the relation of RMS velocity--F(2, 357) = 8.16; \(p=0.0006\) and maximum velocity--F(2, 357) = 6.00; \(p=0.004\) from size ratio is also significant. The averaged RMS velocity values for normal and fast hand movements (H) were smaller with the increase in size ratio. For size ratio \(K\) = 10, the RMS velocity of normal movements was close to 0.25 m/s, while for size ratio \(K\) = 5, this velocity was 21% higher, and for size ratio \(K\) = 2.5 it was 41% higher. In the case of fast movements, the RMS velocity for size ratio \(K\) = 10 was 0.53 m/s and was over 50% higher than for normal movements. The RMS velocity of fast movements obtained for the size ratio \(K\) = 5 was 0.55 m/s, while for the size ratio \(K\) = 2.5, it was 0.62 m/s. The maximum velocity in normal movements was 0.56 m/s and was reached for \(K\) = 2.5. The maximum velocity in fast movements was almost two times higher than in normal movements and amounted to 1.1 m/s. In the case of the velocity of movement of the effector (E), it can be seen that the velocity of movement increases significantly with the increase in size ratio, contrary to the case in the movement of the operator's hand (H). Comparing the value of the maximum velocities of the effector for the size ratio of \(K\) = 10 to the maximum velocities for \(K\) = 2.5, a three-fold increase can be observed. The maximum effector movement velocities obtained from the tests reach nearly 10 m/s and were recorded during the implementation of fast movements for \(K\) = 10. In the case of normal movements, the maximum obtained velocities reached 4.0 m/s and they were also obtained for the highest value of the size ratio. The movement velocity of the effector, with different size ratio, refer to the real possibilities of conscious control of the manipulators with different ranges by operators. Based on the research results of normal and fast movements of the effector (E) and the operator's hand (H), the average values of the maximum velocities and the average RMS velocities for the entire movement and the RMS velocities for the steady motion phase--Ps. The determined parameters are shown in Table 1.  
Figure 9: Summary of RMS velocity values in the steady motion phase: (**a**) normal and fast operator hand movements for the tested size ratios and (**b**) normal and fast effector movements for the tested size ratios.