Table 1.

Comparison chart between FSR and Flexiforce^® sensor.

	FSR (FSR402) [20]	Flexiforce® (FLX-A201-F) [21]
Minimum actuation force (Newtons)	0.1	N/A
Force sensitivity range (Newtons)	0.1–10	0 to 4.4, 0 to 111, 0 to 445
Single part force repeatability	±2%	±2.5%
Part to part force repeatability	+/−6%	±40%
Hysteresis	+10%	<4.5%
Drift	<5% per log10 (time)	<5% per log10 (time)
Response time (micro seconds)	<3	<5
Linearity error	N/A	<±3%