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Table 2 Displacement and force/torque ranges of the 20 mm square sensor in each direction

From: Feasibility of novel four degrees of freedom capacitive force sensor for skin interface force

Direction Displacement range Force/torque detection range
  Min Max Unit Min Max Unit
X −2 2 mm −2.9 2.9 N
Y −2 2 mm −2.9 2.9 N
Z 0 2 mm 0 8.7 N
Θ Z −10 10 degree −16.8 16.8 N·mm