Representative data for the maximum absolute values of the controller output (i.e., robot commanded) moments for both sets of experiments along with their expected values and standard deviations have been provided in Table 2 for further analysis. It is apparent from Fig. 5 that the adaptive impedance controller has decreased robot applied moments as soon as the subject's role changed from in inactive to active. Similarly, it is evident from Fig. 6 that when subject turned inactive from active, the robot-applied moments also increased. Although, the estimated changes in the robot-applied moments (Table 2) are quite considerable, statistical tests were required to be conducted in order to establish the significance of the controller. Owing to the small data sample size, a nonparametric approach, namely, Wilcoxon signed rank test, was considered to perform the statistical test. Experimental data between two modes (i.e., active and inactive modes) were tested with the null hypothesis that there is no statistically significant difference between the data across the two modes. Significance threshold of 0.001, which is a commonly accepted value, was considered, while evaluating the statistical significance. A *p*-value which is less than 0.001 should indicate the rejection of the null hypothesis and vice versa. Results from the Wilcoxon signed-rank test are displayed in Table 2. Based on the small *p*-values obtained after the signed-rank test, it can be concluded that the null hypothesis can be rejected for all the observations. In other words, the change observed in the robot-applied moments is statistically significant and do not come from the chance causes. This further strengthens the presumption that the adaptive impedance controller is able to increase or decrease the robot-applied moments when the subjects' role is changed from active to inactive and vice versa.