Development of Zr<sub><i>x</i></sub>Ti<sub>1−<i>x</i></sub>Mn<sub>0.8</sub>V<sub>0.2</sub>Ni<sub>0.9</sub>M<sub>0.1</sub> (M=Ni, Al, Fe, Cu) Alloys for a Soft Actuator Using Hydrogen Storage Alloys
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