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. 2022 Aug 21;22(16):6294. doi: 10.3390/s22166294

Table 1.

Four-finger bending actuator structure scheme.

Structure Parameter/mm Outer Diameter of the Air Chamber b1 Interval c1 Inner Diameter of the Air Chamber t1 Thickness of Restricted Layer h1 Length L1
Plan a 3 1 1 1 7
Plan b 3 1 2 1 7
Plan c 3 1 0.5 1 7
Plan d 3 2 1 1 8
Plan e 3 3 1 1 9
Plan f 3 1 1 0.5 7
Plan g 3 1 1 2 7