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. Author manuscript; available in PMC: 2012 Feb 1.
Published in final edited form as: IEEE Trans Robot. 2011 Feb 1;27(1):65–74. doi: 10.1109/TRO.2010.2090061

Fig. 14.

Fig. 14

This figure shows the sensor output vs. input load along the three principal axes. The dotted lines indicate the range of friction, which is approximately 0.7 N. The sensor performance is linear along the principal directions as expected from analysis.