Abstract
This paper addresses the lack of research on the dynamical differences between male and female hand/arm models during interaction with haptic systems. A linear one-degree-of-freedom experiment is designed using the Novint Falcon robot for this aim. To compare the differences, the study analyzes the pole, stiffness, and damping of a first-order two-parameter spring–damper model. The Mann–Whitney U and Fligner-Killeen tests were used to explore the homogeneity in medians and variances of the groups. The results indicate that there is no significant difference in the median values of poles and stiffnesses between male and female models. However, there is a statistically significant difference in the damping coefficient with a 0.05 significance level and a p-value of 0.0361. Regarding variances, the statistical measures do not indicate any significant differences between each sex. However, the p-value of 0.0669 for the stiffness parameter suggests that the stiffness parameters of the aforementioned groups may come from different distributions.
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