## 3 Results and Discussion  
The Shapiro-Wilk test was used to check the normality of the distribution. The distributions of the following parameters were analyzed:  
- The maximum accelerations in PA--a\({}_{\text{max}}\) i PD--a\({}_{\text{dmax}}\);  
- The power indicator in PA--N\({}_{\text{max}}\) i PD--N\({}_{\text{dmax}}\);  
- The energy indicator in PA--E\({}_{\text{a}}\) i PD--E\({}_{\text{d}}\). They were checked for fast and normal movements, for all size ratios K = 2.5, K = 5, and K = 10 and all tested ranges of C\({}_{1}\) movement; C\({}_{2}\) and C\({}_{3}\). The significance level \(\alpha\) = 0.05 was adopted. For the 30 people tested, according to the data in the tables of coefficients for the Shapiro-Wilk test [42; 43], the critical value is \(W_{(0.05,\ 30)}=0.927\). The results are presented in Table 2, where W is the Shapiro-Wilka test indicator, and p is the probability of occurrence of the assumed type I error [44]. \begin{table}
\begin{tabular}{c c c c c c c c c c c c c c c c c c c c c c c c} \hline \hline  & \multirow{2}{*}{**Model**} & \multicolumn{10}{c}{**Fast Movement**} & \multicolumn{10}{c}{**Normal Movement**} \\ \cline{3-14}  &  
Based on the conducted ANOVA analysis, it was found that the number of trials is sufficient to demonstrate the following, with a test power of over 80%:  
1. The power indicator depends on the size ratio: - For the C\({}_{1}\) normal movements range (\(\alpha\) = 0.05 and \(RMSSE\) (Root Mean Square Standardized Effect) = 0.5864 and fast movements range (\(\alpha\) = 0.05 and \(RMSSE\) = 1.0315); - For the C\({}_{2}\) normal movements range (\(\alpha\) = 0.05 and \(RMSSE\) = 0.7375) and fast movements range (\(\alpha\) = 0.05 and \(RMSSE\) = 1.0937); - For the C\({}_{3}\) normal movements range (\(\alpha\) = 0.05 and \(RMSSE\) = 1.0167) and fast movements range (\(\alpha\) = 0.05 fast \(RMSSE\) = 1.0289). 2. The energy indicator depends on the movement range: - For the size ratio K = 10 of normal movements (\(\alpha\) = 0.05 and \(RMSSE\) = 0.6970) and fast movements (\(\alpha\) = 0.05 and \(RMSSE\) = 0.4420); - For the size ratio K = 5 of normal movements (\(\alpha\) = 0.05 and \(RMSSE\) = 0.6235) and fast movements (\(\alpha\) = 0.05 and \(RMSSE\) = 0.5725); - For the size ratio K = 2.5 of normal movements (\(\alpha\) = 0.05 and \(RMSSE\) = 0.5938) and fast movements (\(\alpha\) = 0.05 and \(RMSSE\) = 0.5858). Examples of waveform values of the effector's velocity and acceleration changes for one of the operators for normal movements with three ranges of movements (C\({}_{1}\), C\({}_{2}\), C\({}_{3}\)) and two size ratios (K = 10 and K = 2.5) are shown in Figures 3-6. Analyzing the examples of waveforms (Figures 3-5), it can be seen that as the range of movement decreases, the duration of the steady phase decreases, the maximum movement velocities decrease, and accelerations decrease, both in the acceleration and deceleration phases. Reducing the size ratio has a similar effect on movement parameters (Figure 6). For the movement with the smallest range (C\({}_{3}\)), the share of the steady phase (PS) is even five times smaller than for the movements with the largest range tested (C\({}_{1}\)). For movements with small ranges and low size ratios, the steady phase (PS) may be difficult to observe or may not occur. A significant share of acceleration phases (PAs) in the entire effector movement, especially for short ranges of movement (C\({}_{3}\)), may indicate a high energy demand. However, the significant share of the deceleration phase (PD) in the movement proves the validity of its regeneration and, thus, the possibility of reducing the energy consumption of the manipulator work. Summaries of the average velocities of the effector obtained during the tests in the steady phase of V movement, for the tested size ratios (K = 10, K = 5, K = 2.5) and ranges of movement (C\({}_{1}\), C\({}_{2}\), C\({}_{3}\)), are presented in Figures 7-9.