Table I.
Estimated and Measured Zero Grip Force Error Comparison.
| Averaged (Unit:N) |
SD (Unit:N) |
99%Value (Unit:N) |
Max (Unit:N) |
||
|---|---|---|---|---|---|
| Sensor | Left | 0.02 | 0.05 | 0.15 | 0.51 |
| Measured | Right | 0.02 | 0.05 | 0.16 | 0.60 |
|
| |||||
| Dynamic | Left | 0.05 | 0.03 | 0.12 | 0.15 |
| Model | Right | 0.04 | 0.03 | 0.09 | 0.16 |
|
| |||||
| GP2 | Left | 0.02 | 0.02 | 0.04 | 0.05 |
| Right | 0.02 | 0.02 | 0.04 | 0.05 | |
|
| |||||
| GP3 | Left | 0.02 | 0.02 | 0.04 | 0.05 |
| Right | 0.02 | 0.02 | 0.04 | 0.05 | |
|
| |||||
| GP2UKF | Left | 0.02 | 0.02 | 0.04 | 0.05 |
| Right | 0.02 | 0.02 | 0.04 | 0.05 | |
|
| |||||
| GP3UKF | Left | 0.02 | 0.02 | 0.04 | 0.05 |
| Right | 0.02 | 0.02 | 0.04 | 0.05 | |
Note: SD: Standard Deviation; 99%value: the threshold of 99% of data