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Main actuator parameters.
| Parameter | Nomenclature | Nominal value |
|---|---|---|
| Strap length change | A(α) | – |
| Effective length of lever arm | B | 46.7 mm |
| Effective length of fixed link | D | 56.0mm |
| Spring stiffness | k | 68.7 N/mm |
| Spring deformation | p(t) | – |
| Force in the spring | FS(t) | – |
| Spring pre-compression | P | – |
| Deviation angle | α(t) | – |
| Lever arm angle | φ(t) | – |
| Output link angle | θ(t) | – |
