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. Author manuscript; available in PMC: 2020 Apr 1.
Published in final edited form as: IEEE Robot Autom Lett. 2019 Jan 30;4(2):1424–1430. doi: 10.1109/LRA.2019.2896451

tab. I.

Properties of the sensor module developed in this work

nitinol spring (D = 1 mm, turns = 60) E = 55 GPa, G = 21 GPa [19]
PDMS cylinder (D = 1 mm, with 0.2 mm channel for FBG) E=1.7 MPa, G=0.568 MPa [20]
ls = 15 mm lp = 12 mm
m = 6.053× 104 C = −0.1073