Table 4.

MSEs for three types of tactile sensors after eight denoising methods.

	Butterworth [19]	Wavelet [20]	EMD [22]	VMD [24]	MA [26]	RPCA [27]	WRPCA [28]	cc-DWRPCA [13]	ANOVAa
3 × 4	0.006 ± 0.005	0.014 ± 0.010	0.011 ± 0.009	0.006 ± 0.005	0.010 ± 0.007	0.007 ± 0.004	0.005 ± 0.004	0.003 ± 0.003	p < 0.05
4 × 6	0.038 ± 0.073	0.049 ± 0.074	0.044 ± 0.072	0.039 ± 0.073	0.044 ± 0.073	0.019 ± 0.027	0.030 ± 0.053	0.020 ± 0.042	p < 0.05
5 × 5−1	0.003 ± 0.005	0.020 ± 0.016	0.037 ± 0.035	0.032 ± 0.096	0.011 ± 0.008	0.015 ± 0.010	0.004 ± 0.003	0.003 ± 0.002	p < 0.05

^aThe one-way ANOVA results indicate the significant difference among MSEs of the eight algorithms.