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. Author manuscript; available in PMC: 2019 Oct 1.
Published in final edited form as: IEEE Robot Autom Lett. 2018 Jul 31;3(4):4038–4045. doi: 10.1109/LRA.2018.2861011

TABLE I.

Properties of the SMA wire and Nichrome wire

variable value unit variable value unit
dr 0.03 mm As 31.5 °C
ds 0.19 mm Af 64.5 °C
pr 0.8 mm CA 30 MPa/°C
ha 5 W/(m2·K) hc 0.34 W/(m2·K)