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Table 4 Five conditions in FS error and forces and torque of Table 3

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

  Direction Condition Unit
   1 2 3 4 5  
Displacement X 2 1 0 −1 −2 mm
  Y −2 −1 0 1 2 mm
  Z 2 1.6 1.2 0.8 0.5 mm
  Θ Z −10 −5 0 5 10 degree
Calculated X 2.9 1.4 −0.1 −1.5 −3.0 N
force/torque Y −3.0 −1.3 0.0 1.2 2.8 N
  Z 8.9 7.1 5.0 3.6 2.2 N
  Θ Z −17.5 −7.3 0.7 7.8 16.2 N·m
Theoretical X 2.9 1.4 0.0 −1.4 −2.9 N
force/torque Y −2.9 −1.4 0.0 1.4 2.9 N
  Z 8.7 6.9 5.2 3.5 2.2 N
  Θ Z −16.8 −8.4 0.0 8.4 16.8 N·m
FS error X 0.6 0.6 2.1 0.7 1.5 %
  Y 1.5 1.7 0.0 3.6 1.0 %
  Z 3.0 2.5 2.1 1.7 0.2 %
  Θ Z 2.2 3.4 2.2 1.7 1.8 %