A Novel and Inexpensive Approach for Force Sensing Based on FSR Piezocapacitance Aimed at Hysteresis Error Reduction

Table 4

Repeatability error for the proposed method based on capacitance measurements.

Load	Sensor	Data sets					ER1	ER2
200 g	1	9	8.8	8.8	9	8.8	2%	1%
	2	7.4	7.4	7.5	7.4	7.3	3%	1%
	3	8.5	8.6	8.6	8.6	8.5	1%	1%
	4	6.2	6.3	6.2	6.2	6.3	2%	1%
Average errors							2%	1%
400 g	1	10.5	10.5	10.6	10.7	10.7	2%	1%
	2	10	9.9	9.8	10	10	2%	1%
	3	11.2	11.1	11.2	11.2	11.2	1%	0%
	4	9.6	9.9	9.7	9.7	9.6	3%	1%
Average errors							2%	1%