Table 3 Perceived realism of haptic rendering methods in the replication 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

54.54

24.62

Constraint

53.75

26.63

Impulse

66.43

19.95

Rigid body

51.82

22.89

2 (rotation)

Penalty

62.75

21.86

Constraint

74.82

16.60

Impulse

64.29

22.42

Rigid body

70.57

16.98

3 (push)

Penalty

53.32

23.77

Constraint

65.57

24.13

Impulse

65.00

23.18

Rigid body

58.25

23.87

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