A Computing Method to Determine the Performance of an Ionic Liquid Gel Soft Actuator

Table 1

Comparison of the calculated tensile stress with the experimental data from the uniaxial tensile test.

Measurement data		Experimental results		Five-parameter Mooney-Rivlin model		Nine-parameter Mooney-Rivlin model
Force; (mN)	Deformation (mm)	Strain (%)	Stress (kPa)	Calculated stress () (kPa)	Error (%)	Calculated stress () (kPa)	Error (%)
4.97	2.0	5.7	0.50	0.50	0.46	0.50	0.00
8.21	3.5	10	0.86	0.86	0.51	0.86	0.07
14.88	7.0	20	1.70	1.70	0.26	1.70	0.03
20.52	10.5	30	2.54	2.54	0.06	2.55	0.26
25.35	14.0	40	3.38	3.37	0.24	3.39	0.29
29.47	17.5	50	4.21	4.21	0.13	4.23	0.44
33.06	21.0	60	5.04	5.04	0.09	5.07	0.49
36.22	24.5	70	5.86	5.86	0.05	5.90	0.68
38.94	28.0	80	6.68	6.69	0.07	6.73	0.8
41.48	31.5	90	7.50	7.50	0.01	7.57	0.87
43.58	35.0	100	8.30	8.30	0.05	8.39	1.10
45.50	38.5	110	9.10	9.10	0.01	9.21	1.21
47.13	42.0	120	9.88	9.88	0.02	10.02	1.41
48.67	45.5	130	10.65	10.65	0.01	10.82	1.57
49.98	49.0	140	11.41	11.41	0.04	11.60	1.67
51.03	52.5	150	12.15	12.14	0.06	12.37	1.80
51.95	56.0	160	12.86	12.86	0.01	13.12	2.03
52.75	59.5	170	13.56	13.56	0.01	13.86	2.19
53.40	63.0	180	14.24	14.24	0.0	14.58	2.35
53.90	66.5	190	14.89	14.90	0.05	15.27	2.58
54.32	70.0	200	15.52	15.53	0.06	15.95	2.79
54.65	73.5	210	16.12	16.14	0.11	16.61	3.05
54.78	77.0	220	16.70	16.72	0.10	17.25	3.29
54.86	80.5	230	17.25	17.27	0.11	17.86	3.55
54.94	84.0	240	17.78	17.79	0.07	18.45	3.78
54.84	87.5	250	18.28	18.28	0.01	19.02	4.02
54.72	91.0	260	18.74	18.74	0.00	19.55	4.32
54.47	94.5	270	19.18	19.16	0.08	20.05	4.56
54.01	98.0	280	19.57	19.55	0.09	20.53	4.89
53.61	101.5	290	19.93	19.90	0.14	20.97	5.19
53.23	105.0	300	20.24	20.21	0.13	21.37	5.57
52.48	108.5	310	20.50	20.49	0.07	21.73	6.00
51.83	112.0	320	20.73	20.71	0.08	22.05	6.38
51.02	115.5	330	20.91	20.90	0.05	22.34	6.81
50.29	119.0	340	21.04	21.04	0.01	22.57	7.29
49.21	122.5	350	21.12	21.13	0.06	22.77	7.80
48.25	126.0	360	21.16	21.18	0.08	22.92	8.31
47.17	129.5	370	21.15	21.17	0.10	23.03	8.87