. Author manuscript; available in PMC: 2025 Jan 1.

Published in final edited form as: IEEE Trans Robot. 2023 Oct 26;40:554–572. doi: 10.1109/tro.2023.3327811

TABLE II.

Nitinol Tube Dimensions and Calibrated Mechanical Properties

	$r_{o}$ (mm)	$r_{i}$ (mm)	$E_{i}$ (GPa)	$ν$	$G_{i}$ (GPa)
Tube 1	1.25	1.18	56.27	0.33	21.15
Tube 2	1.095	1.016	73.43	0.33	27.61
Tube 3	0.900	0.811	68.48	0.33	25.74