. Author manuscript; available in PMC: 2022 Oct 1.

Published in final edited form as: IEEE Robot Autom Lett. 2021 Jul 29;6(4):7773–7780. doi: 10.1109/lra.2021.3100608

TABLE II.

Comparison of the experimental results to the model

Material	k_d	D_m	k_m	Error
FR	5 N/m	0.74 mm	5.52 N/m	10.40%
FR	25 N/m	1.11 mm	22.6 N/m	9.6%
FR	125 N/m	1.66 mm	109.66 N/mm	12.27%

FR: Flexible Resin; k_d:Desired Stiffness from Model; D_m: Coil Diameter; k_m:Obtained Experimental Stiffness; $Error = (100) \frac{| k_{d} - k_{m} |}{k_{d}}$