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

Table 5

Repeatability error for the traditional method based on conductance measurements.

Load	Sensor	Data sets					ER1	ER2
200 g	1	0.277	0.248	0.225	0.225	0.233	22%	9%
	2	0.176	0.179	0.166	0.186	0.184	11%	4%
	3	0.245	0.252	0.246	0.258	0.25	5%	2%
	4	0.27	0.258	0.28	0.283	0.274	9%	4%
Average errors							12%	5%
400 g	1	0.418	0.437	0.365	0.335	0.38	26%	11%
	2	0.3	0.28	0.241	0.242	0.278	22%	10%
	3	0.382	0.385	0.372	0.376	0.362	6%	2%
	4	0.4	0.422	0.4	0.404	0.386	9%	3%
Average errors							16%	6%