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. Author manuscript; available in PMC: 2019 May 15.
Published in final edited form as: IEEE Trans Robot. 2016 Jan 19;32(1):138–149. doi: 10.1109/TRO.2015.2504981

TABLE II.

Linear FFA Design Parameter Values

Parameter Value, mm (in) Parameter Value
ri 6.35 (0.250) n 2
ro 22.225 (0.875) Young’s modulus, E 1586 kPa (230 ksi)
r2 14.2875 (0.5625) Poisson’s ratio, v 0.408
ai 13.0175 (0.5125) kb 120 N/mm (685 lbf/in)
bo 15.5575 (0.6125) Ae 1310.965 mm2 (2.032 in2)
h 0.762 (0.030)