# Design and Calibration of a Sensory System of an Adaptive Gripper
## 3 Results
### Calibrating the Force Sensor
If the character is \"t\" or \"T\", a new \"tare\" of the scale is performed. This functionality allows the sensor to be recalibrated without stopping the system. Step 4. The scaling mode and the weight display mode were declared:  
\"(scaledWeight) > 0.01)--Check if the scaled weight is greater than a small threshold  
\"Serial.print(\"Weight: \");  
\"Serial.print(scaledWeight, 2)--Display the scaled weight with two decimal places;\"  
\"Serial.println(\" units\");\"--The display mode will be displayed as units representing weight. These lines check if the scaled weight (scaledWeight) is greater than a threshold (0.01), and display the weight on the serial interface with two decimal places. Step 5. Collecting the displayed data, as shown in Table 1.  
All selected data were filtered and separated into distinct columns. Data were collected for each module separately, taking into account the three phases specified previously. According to the software above, a static calibration is performed (scale.tare(); scale.set_scale(\(-\)7050.f);). This compensates for the sensor offset at the calibration temperature. To ensure accuracy at different temperatures, which is intended for future activities, the following are required: thermal compensation according to a mathematical model that corrects the readings according to the temperature (measured with a temperature sensor); sensors with integrated compensation, such as force sensors that include thermal compensation and thermal control by maintaining a constant sensor temperature. Table 1 shows the raw data collected from the Module 1 force sensor during calibration, in Phase 1 (sensor at rest). Each row in the table represents a measurement taken at a specific time. Let us look at the columns:  
No. : This is a sequential number that identifies each individual measurement. Measurement details: This column contains two pieces of information:  
Timestamp: This indicates the exact time the measurement was taken (with millisecond accuracy). The timestamp shows that the measurements were taken at relatively regular intervals, probably every few hundred milliseconds. Weight: This is the value read by the sensor, expressed in units defined as g (grams but are passed as \"unity\"). The values are negative, which suggests either tension in the opposite direction to the sensor orientation (normally, the value should be 0 in the absence of a force). Fluctuations in the values (between \(-18\) and \(-28\)) illustrate the background noise of the sensor, or a mechanical tension, as expected in Phase 1. The graph in Figure 8 shows the force variations measured by the force sensor of Module no. 1 over a period of one minute, in Phase 1 of the calibration (sensor at rest). The vertical axis represents the force in milliNewtons (mN), and the horizontal axis represents time in seconds. We observe a series of periodic force fluctuations, with an amplitude approximately between \(-20\) mN and \(-30\) mN. The force fluctuations are relatively small (\(-20\) mN to \(-30\) mN), indicating an acceptable but significant noise level for a force sensor. This variation must be taken into account in the calibration process to ensure accurate measurements in the subsequent phases (contact and clamping). This background noise measurement is crucial for the calibration process. It is necessary to compensate for these fluctuations to ensure the accuracy of the force measurements in the contact and clamping phases. The graph in Figure 9 shows the force variations (in milliNewtons, mN) recorded by the Module 1 force sensor during Phase 2 of the calibration. The force values are negative (\(-40\) mN to \(-55\) mN), with a significant negative mean value. This suggests an inverted reading. There are force fluctuations around the negative mean value.