## 6 Study B--With Tetralegia
### Study B--Performance Results  
The result of applying one-way ANOVA with repeated measures on the performance metrics collected for study B is shown in Table 3. Statistical significance was found for both the tested scenarios and for all the three collected performance metrics. A pairwise comparison between the three control schemes was carried out to identify any statistical significance between the control schemes. The results of this comparison are shown in Table 4, reporting the mean percentage-wise increase in performance, the associated \(p\)-values, and confidence intervals with Bonferroni correction. The same color scheme is used as previously described for the results in study A. For the comparison between the non-autonomous control and the adaptive semi-autonomous control, the adaptive semi-autonomous improves performance across all six of the tested cases. Statistical significance is found in three out of six of these cases. The results are somewhat similar for the comparison between the non-autonomous control and the fixed semi-autonomous control, where the latter improves performance across all six of the tested cases as well. Furthermore, four out of these six cases are statistically significant. The performance metrics from study B do hence indicate the plausibility of hypothesis **H1**: _The adaptive semi-autonomous control is better than the non-autonomous control_, and especially hypothesis **H2**: _The fixed semi-autonomous control is better than the non-autonomous control_, without ultimately being able to outright confirm them. Finally, for the comparison between the adaptive and the fixed semi-autonomous control, there is an equal split between which of the two control schemes performed the best. However, none of these cases were found to have any statistical significance. It is hence not possible to support hypothesis **H3**: _The \begin{table}
\begin{tabular}{c c c c} \hline \hline  & **Time (Seconds)** & **Commands (Integer)** & **Cartesian (Meters)** \\ \hline Bottle Single & F(2,12) = 15.58, \(\mathbf{p}\) **\textless{} 0.001** & F(2,12) = 5.54, \(\mathbf{p}\) **= 0.02** & F(2,12) = 6.77, \(\mathbf{p}\) **= 0.011** \\ \hline Strawberry Single & F(2,12) = 11.28, \(\mathbf{p}\) **= 0.002** & F(2,12) = 8.32, \(\mathbf{p}\) **= 0.005** & F(2,12) = 6.42, \(\mathbf{p}\) **= 0.013** \\ \hline \hline \end{tabular}
\end{table} 
Table 3: Study B—Result of the one-way ANOVA test with repeated measures for each of the four different scenarios and the three different performance metrics. adaptive semi-autonomous control is better than the fixed semi-autonomous control_ based on the results from study B. The measured performance metrics from the last day of study B are shown in Figure 10, along with the results from the last day of study A for comparison. Only the two scenarios with a single bottle and a single strawberry are shown, as the scenarios with multiple objects were skipped for study B. Pairwise significance between the three control schemes are indicated with asterisks in the box plots, as previously. Looking at the performance metrics for study B, the difference between the three control schemes appears similar to the pattern observed for study A. Using either of the two semi-autonomous control schemes improves all the performance metrics in comparison with the non-autonomous control. However, most of the metrics from study B also appear to be higher than for study A, suggesting a worse performance in general for participants in study B. \begin{table}
\begin{tabular}{c c c c} \hline \hline  & time (seconds) & commands (integer) & Cartesian (meters) \\ \hline Bottle Single & **41\% [12, 27], \(\mathbf{p=0.02}\)** & **43\%** [2, 4, 8, 3], \(p=0.072\) & **41\%** [8, 9, 35], \(p=0.22\) \\ \hline Strawberry Single & **54\% [23, 57], \(\mathbf{p=0.004}\)** & **56\%** [4, 7, 16], \(\mathbf{p=0.014}\) & **33\%** [0.17, 0.45], \(p=0.099\) \\ \hline \hline \end{tabular}
\end{table} 
Table 4: Study B—Pairwise comparison between the three tested control schemes.