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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 IV.

Rotary FFA Design Parameter Values

Parameter Value, mm (in) Parameter Value
2ho 1.59 (0.0625) Ae,θ 1099 mm2
2hi 1.97(0.0775) ro 11.53 mm
t 0.76 (0.0300) αo 49.6 degrees
So 33.36 (1.313) αi 61.6 degrees
Si 28.89(1.137) kθ 150 kPa/degree
ri 7.33 (0.2888) n 5
bc,o 1.39 (0.0548) bc,i 1.57 mm