Table 2 Perceived realism of haptic rendering methods in the original study for each task.

From: Perceived realism of haptic rendering methods for bimanual high force tasks: original and replication study

Task

Rendering

M

SD

1 (contact)

Penalty

48.28

23.78

Constraint

50.43

20.64

Impulse

62.09

23.88

Rigid body

49.68

21.99

2 (rotation)

Penalty

62.97

19.46

Constraint

73.12

17.76

Impulse

60.43

22.44

Rigid body

73.28

15.17

3 (push)

Penalty

56.25

19.05

Constraint

65.86

18.37

Impulse

63.53

20.43

Rigid body

65.91

19.96

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