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. 2024 Oct 18;9(10):638. doi: 10.3390/biomimetics9100638

Table A1.

Parameters for the SCPBAs.

Values (mm) Parameters
a = 3.3 Wall thickness
r = 7.5 Internal circular radius
b = 7.5 Internal rectangular height
w = 15 Internal chamber width
t = 0.2 Thickness of bottom stiffness-compensating layer
L = 110, Lm = 60, Lp = 40 Length of internal chamber, MCP segment, PIP segment, respectively
θm, θp Bending angle of MCP segment and PIP segment, respectively