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Static calibration curve for soft actuators with Ea (100% tensile modulus reported in material data sheet) and Eaexpr (experimental modulus obtained from experimental data): (a) Ea = 0.614 MPa; Eaexpr = Ea·1.8 and B = 1.3 mm. (b) Ea = 0.614 MPa; Eaexpr = Ea·1.8 and B = 1.8 mm. (c) Ea = Eaexpr = 1.173 MPa and B = 1.3 mm. (d) Ea = Eaexpr = 1.173 MPa and B = 1.8 mm. Color images are available online.
