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Table 3 FS error of forces and torque estimation in the 20 mm square sensor

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

Direction FS error (Unit:%)
  Maximum value Average value
X 4.1 1.1
Y 6.3 1.8
Z 14.1 1.8
Θ Z 16.4 3.9