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 | % | |