Science Robotics

Supplementary Materials

Supplementary Material for:

Motor learning affects car-to-driver handover in automated vehicles

Holly E. B. Russell, Lene K. Harbott,* Ilana Nisky, Selina Pan, Allison M. Okamura, J. Christian Gerdes

*Corresponding author. Email: lharbott{at}

Published 6 December 2016, Sci. Robot. 1, eaah5682 (2016)
DOI: 10.1126/scirobotics.aah5682

This PDF file includes:

  • Fig. S1. Steering wheel torque.
  • Fig. S2. Full steering torque emulator.
  • Fig. S3. Cruise control performance.
  • Fig. S4. Course.
  • Fig. S5. Autosteering controller path.
  • Table S1. ANOVA tables for steering ratio modification.
  • Table S2. ANOVA tables for steering torque modification.
  • Table S3. Bonferroni-corrected post hoc comparisons (Pb) for steering ratio modification.

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Correction (16 December 2016): Data file S2 was added to the Supplementary Materials.

The original version is accessible here.

Other Supplementary Material for this manuscript includes the following:

  • Data file S1. Data analysis (.zip format)
  • Data file S2. Measured data (.zip format)
  • Movie S1 (.mp4 format). Automated vehicle returns to the start of the course, with the car controlling the steering and the driver controlling the speed.
  • Movie S2 (.mp4 format). Participant reacts to changes in steering ratio: last baseline trial (15:1), first perturbation trial (2:1), last perturbation trial (2:1), and first washout trial (15:1).

Files in this Data Supplement: