Table 2.

Identification accuracies of the proposed method using tri-modal sensing (pressure, acceleration, and rotation) for different k-values.

Validation	k	${\mathcal{M}}_{\mathit{cnn}}$	${\mathcal{M}}_{\mathit{rnn}}$	${\mathcal{M}}_{\mathit{ens}}$
MCCV (30%)	1	0.9896	0.9786	0.9922
	2	0.9918	0.9676	0.9940
	3	0.9928	0.9456	0.9942
	4	0.9947	0.9395	0.9950
Sub-MCCV (50%)	1	0.9888	0.9754	0.9914
	2	0.9912	0.9516	0.9921
	3	0.9915	0.9190	0.9930
	4	0.9935	0.9056	0.9946
MCCV (50%)	1	0.9892	0.9776	0.9926
	2	0.9929	0.9606	0.9937
	3	0.9934	0.9378	0.9940
	4	0.9949	0.9253	0.9958