Table 2 Sample mean (standard deviation) under different experimental conditions

F

Torque

20

3.9 (3.4)

5.6 (5)

11.5 (9.6)

12.2 (8.7)

1.2 [− 2.3, 4.7]

0.4897

1

7.1 [3.5, 10.6]

0.0004

0.0172

0.769

F

Torque

50

11.9 (12.2)

11.2 (10.9)

15.8 (10.3)

21 (15.2)

2.2 [− 5.7, 10.1]

0.5622

1

6.8 [− 1.1, 14.7]

0.0885

1

0.4487

F

Torque

80

33.9 (28.9)

20.4 (24.6)

41 (26.7)

39.7 (27.2)

− 7.4 [− 23. 7,8.9]

0.3545

1

13.2 [− 3.1, 29.5]

0.1063

1

0.4455

F

Force

20

0.5 (0.3)

1 (0.9)

1.7 (0.9)

2.2 (1.9)

0.5 [− 0.3, 1.2]

0.1968

1

1.2 [0.5, 1.9]

0.0025

0.0733

0.9217

F

Force

50

1.5 (1.4)

1.5 (1.3)

4.4 (2.3)

3 (2)

− 0.7 [− 1.9, 0.5]

0.2383

1

2.2 [0.9, 3.4]

0.0013

0.046

0.2338

F

Force

80

5.3 (3.6)

2.5 (2.2)

8.1 (2.8)

4.4 (3.2)

− 3.3 [− 5.5, − 1.1]

0.005

0,1354

2.4 [0.2, 4.5]

0.0364

0.8744

0.6817

E

Torque

20

5.2 (3.6)

3.6 (2.4)

12.3 (7.2)

14.4 (12.2)

0.3 [− 4.4, 5]

0.8936

1

9 [4.3, 13.6]

0.0007

0.0249

0.424

E

Torque

50

6.1 (5.4)

10.5 (7.9)

22.1 (17.7)

35.7 (27.5)

9 [− 2.4, 20.4]

0.1152

1

20.6 [9.2, 32]

0.0012

0.0421

0.4081

E

Torque

80

22 (18.9)

15.8 (11)

49.6 (25.1)

40.4 (40.7)

− 7.7 [− 23.4, 8]

0.3187

1

26.1 [10.4, 41.8]

0.0024

0.0733

0.8482

E

Force

20

0.4 (0.2)

0.7 (0.5)

1.8 (1.4)

2.3 (1.4)

0.4 [− 0.3, 1.1]

0.2589

1

1.5 [0.8, 2.1]

0.0002

0.008

0.7418

E

Force

50

0.7 (0.4)

1.1 (0.8)

2.4 (1.5)

3.5 (2.3)

0.7 [− 0.2, 1.7]

0.1224

1

2.1 [1.1, 3]

0.0002

0.0075

0.4606

E

Force

80

1.9 (1)

1.9 (1)

3.5 (0.9)

5.1 (3.8)

0.8 [− 0.7, 2.2]

0.2846

1

2.4 [1, 3.8]

0.0024

0.0733

0.2684

R

Torque

20

2.2 (0.8)

5 (4.1)

12.8 (3.1)

9.4 (7.5)

− 0.3 [− 3.6, 2.9]

0.8268

1

7.5 [4.3, 10.7]

0.0001

0.0037

0.06

R

Torque

50

17.6 (16.8)

10.6 (7.4)

26.9 (22.1)

17.3 (9.2)

− 8.3 [− 16.7, 0.1]

0.0525

1

8 [− 0.4, 16.4]

0.0612

1

0.7464

R

Torque

80

52.2 (36.3)

22 (17.5)

52.4 (45.5)

26.1 (20.1)

− 28.2 [− 44.2, − 12.2]

0.0014

0,0485

2.2 [− 13.8, 18.1]

0.7813

1

0.8025

R

Force

20

0.3 (0.2)

0.8 (0.5)

1.2 (0.8)

1.8 (1)

0.6 [0.1, 1.1]

0.0287

0,7309

0.9 [0.4, 1.4]

0.0009

0.0328

0.8028

R

Force

50

1 (0.5)

1.8 (1.2)

3.3 (1.5)

4.8 (3)

1.2 [− 0.1, 2.4]

0.0605

1

2.7 [1.4, 3.9]

0.0002

0.0094

0.5397

R

Force

80

2.9 (1.7)

3 (1.8)

5.6 (2)

7.3 (4.1)

0.9 [− 0.8, 2.6]

0.2778

1

3.5 [1.8, 5.2]

0.0003

0.0115

0.3612

U

Torque

20

2.3 (1.3)

4.5 (3.4)

11.1 (6.9)

8.6 (7.3)

− 0.2 [− 4.1, 3.8]

0.9263

1

6.4 [2.5, 10.4]

0.0026

0.0738

0.2287

U

Torque

50

2.2 (0.6)

5.2 (2.8)

15.3 (11.5)

25.4 (14.1)

6.6 [0.8, 12.4]

0.0281

0,7309

16.6 [10.8, 22.4]

0

0.0003

0.2177

U

Torque

80

4.7 (6.1)

8.8 (3.1)

23.6 (16)

33.5 (21)

7.1 [− 2.1, 16.2]

0.1246

1

21.8 [12.6, 31]

0.0001

0.0031

0.5212

U

Force

20

0.3 (0.2)

0.7 (0.6)

1.5 (0.6)

2.5 (0.7)

0.7 [0.3, 1.1]

0.0018

0,0569

1.4 [1, 1.8]

0

0

0.139

U

Force

50

0.5 (0.3)

1.2 (1.2)

3 (1.9)

4.3 (1.8)

1 [− 0.1, 2]

0.0783

1

2.8 [1.7, 3.9]

0

0.001

0.5976

U

Force

80

0.6 (0.6)

2.9 (2.7)

4.7 (2.2)

4.9 (3)

1.2 [− 0.5, 2.9]

0.165

1

3 [1.3, 4.7]

0.0015

0.0495

0.2301