Table 5.

SNR% 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	15.33 ± 6.022	11.58 ± 3.638	13.47 ± 5.142	15.15 ± 6.050	12.80 ± 4.309	14.47 ± 3.063	16.91 ± 6.454	19.32 ± 4.531	p < 0.05
4 × 6	10.98 ± 10.57	8.271 ± 8.288	9.555 ± 9.351	10.87 ± 10.55	9.092 ± 8.951	12.69 ± 6.892	11.98 ± 11.16	16.30 ± 8.933	p < 0.05
5 × 5−1	25.08 ± 5.373	16.75 ± 2.656	16.40 ± 4.616	20.10 ± 7.605	19.05 ± 3.104	15.61 ± 4.593	25.82 ± 5.188	27.28 ± 3.493	p < 0.05

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