Table 3.
Found friction force compared to commercially available actuators at 
.
| Model | Stroke | Friction force | velocity |
|---|---|---|---|
| 3D-printed actuator | Extending |  |
 |
| Retracting |  |
 |
|
| Entire |  |
||
| Standard actuator [18] | Extending |  |
 |
| Retracting |  |
 |
|
| Entire |  |
||
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