Table 1.

Solid material properties [34].

Material	Properties
Silicon-rubber	Density = 1120 (kg/m3) Mooney-Rivlin 2 parameters C10 = 2.59 × 105 (Pa) C01 = 65 × 103 (Pa)	Incompressibility parameter D1 = 1.1 × 10−9 (Pa−1) Tensile yield strength = 8.97 × 106 (Pa) Tensile ultimate strength = 8.97 × 106 (Pa)
PVC plastic	Density = 1330 (kg/m3) Young's modulus = 32.4 MPa Poisson's ratio = 0.475	Shear modulus = 10.983 MPa Tensile yield strength =1.95 MPa Tensile ultimate strength = 1.95 MPa
Aluminum	Density = 2770 (kg/m3) Young's modulus = 71 GPa Poisson's ratio = 0.33
Steel	Density = 7850 (kg/m3) Young's modulus = 200 GPa Poisson's ratio = 0.3
ABS plastic	Density = 1040 (kg/m3) Young's modulus = 2.39 GPa Poisson's ratio = 0.399	Shear modulus = 854 MPa Tensile yield strength = 41.4 MPa Tensile ultimate strength = 41.4 MPa