Application and Analysis of an Ionic Liquid Gel in a Soft Robot

Table 1

Comparison of the tensile stress calculation data with experimental data obtained in the uniaxial tensile test.

Measurement data		Experimental results		Arruda–Boyce model
Force (mN)	Deformation (mm)	Strain (%)	Stress (kPa)	Calculated stress (σE) (kPa)	Error (%)
4.97	2.0	5.7	0.50	0.54	7.42
8.21	3.5	10	0.86	0.92	6.64
14.88	7.0	20	1.70	1.78	4.70
20.52	10.5	30	2.54	2.64	4.08
25.35	14.0	40	3.38	3.53	4.38
29.47	17.5	50	4.21	4.43	5.21
33.06	21.0	60	5.04	5.34	6.02
36.22	24.5	70	5.86	6.26	6.69
38.94	28.0	80	6.68	7.16	7.31
41.48	31.5	90	7.50	8.06	7.40
43.58	35.0	100	8.30	8.94	7.70
45.50	38.5	110	9.10	9.80	7.65
47.13	42.0	120	9.88	10.63	7.64
48.67	45.5	130	10.65	11.44	7.26
49.98	49.0	140	11.41	12.21	6.93
51.03	52.5	150	12.15	12.96	6.71
51.95	56.0	160	12.86	13.69	6.39
52.75	59.5	170	13.56	14.38	6.02
53.40	63.0	180	14.24	15.05	5.66
53.90	66.5	190	14.89	15.69	5.36
54.32	70.0	200	15.52	16.30	5.01
54.65	73.5	210	16.12	16.88	4.65
54.78	77.0	220	16.70	17.44	4.50
54.86	80.5	230	17.25	17.98	4.31
54.94	84.0	240	17.78	18.50	3.97
54.84	87.5	250	18.28	18.99	3.88
54.72	91.0	260	18.74	19.46	3.72
54.47	94.5	270	19.18	19.91	3.73
54.01	98.0	280	19.57	20.34	4.06
53.61	101.5	290	19.93	20.75	4.22
53.23	105.0	300	20.24	21.15	4.29
52.48	108.5	310	20.50	21.53	5.05
51.83	112.0	320	20.73	21.89	5.59
51.02	115.5	330	20.91	22.23	6.42
50.29	119.0	340	21.04	22.57	7.09
49.21	122.5	350	21.12	22.88	8.51