A method for dynamic error compensation of a position sensor and a position sensor are disclosed. In the method, a calculated speed of a moving target for a current determined position is compared to a calculated running average of the speed of the moving target over a certain number of determined positions and if the calculated speed of the moving target for the current position is within a first window around the calculated running average of the speed of the moving target over the certain number of determined positions the dynamic angle error is not re-calculated for the current determined position, and/or if the calculated speed of the moving target for the current determined position exceeds a second window the previously calculated running average is deleted and the calculation of the running average of the speed of the moving target over a certain number of determined positions is restarted.

A detection device is for detecting a position of a piston in a cylinder barrel and/or for detecting a strain on the cylinder barrel. The cylinder barrel includes a strain gauge. The detection device includes a reading interface configured to read a strain gauge signal from the strain gauge and an evaluation unit configured to evaluate the position of the piston and/or the strain on the cylinder barrel using the strain gauge signal.

A wave reducer includes a cam, a flex gear, an internal gear, an angle sensor, a thrust sensor, and a circuit. The angle sensor is located in the flex gear and an output value thereof changes in accordance with a rotation angle of the cam. The thrust sensor is located in the flex gear and an output value thereof changes according to a thrust force applied to the cam. The circuit is electrically connected with the angle sensor and the thrust sensor. The circuit corrects an output value of the angle sensor based on an output value of the thrust sensor.

A method for dynamic error compensation of a position sensor and a position sensor are disclosed. In the method, a calculated speed of a moving target for a current determined position is compared to a calculated running average of the speed of the moving target over a certain number of determined positions and if the calculated speed of the moving target for the current position is within a first window around the calculated running average of the speed of the moving target over the certain number of determined positions the dynamic angle error is not re-calculated for the current determined position, and/or if the calculated speed of the moving target for the current determined position exceeds a second window the previously calculated running average is deleted and the calculation of the running average of the speed of the moving target over a certain number of determined positions is restarted.