Table 4.

Experimental results of computed diameter of spherical objects computed while the glove touches them. Results are based on 10-bit reading of ADC module and computed by a spline curve.

Sensor Reading	Computed Diameter (mm)	Ground Truth (mm)	Error (%)
872	37.98	35	2.98
860	49.03	50	0.97
862	47.13	50	2.87
870	39.77	40	0.23
865	44.32	45	0.68
844	66.73	65	1.73
842	69.51	70	0.49
825	102.51	100	2.51
812	146.49	150	3.51