Table 2.
Summary of characteristics of developed sensing unit.
| Items | Parameters | Test Conditions |
|---|---|---|
| Detection range | 0–25 N | Loading speed of 1 mm/min |
| Nonlinear errors | 10.4% | Loading range of 0–5 N at a speed of 1 mm/min |
| 1.0% | Loading range of 5–15 N at a speed of 1 mm/min | |
| 2.8% | Loading range of 15–25 N at a speed of 1 mm/min | |
| Sensitivity | 0.29 N−1 (3.63 MPa−1) | Loading range of 0–5 N at a speed of 1 mm/min |
| 0.12 N−1 (1.5 MPa−1) | Loading range of 5–15 N at a speed of 1 mm/min | |
| 0.04 N−1 (0.5 MPa−1) | Loading range of 15–25 N at a speed of 1 mm/min | |
| Repeatability | 5.9% | Loading range of 0–25 N at a speed of 5 mm/min |
| 7.9% | Unloading range of 0–25 N at a speed of 5 mm/min | |
| Hysteresis | 8.9% | Cyclic force range of 0–25 N at a speed of 1 mm/min |
| Frequency response | 0.012–1.25 Hz | Loading range of 0–20 N |
| Durability | 5000 cycles | Loading range of 0–25 N at a speed of 50 mm/min |
| Response time | 30 ms | Transient test (from 0 N to 2 N) |
| Recovery time | 90 ms | Transient test (from 2 N to 0 N) |