. 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]
l_s = 15 mm	l_p = 12 mm
m = 6.053× 10⁴	C = −0.1073