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. 2024 Feb 9;14:3309. doi: 10.1038/s41598-024-53914-3

Table 2.

Actuation Forces at 100° deflection of the bending section.

Construction Force at 100° Joint deflection
Nitinol monolithic experiment 0.80 N
Nitinol monolithic simulation 0.82 N
Reference design—riveted stainless steel construction with outer mesh 1.6 N