Table 1 Experimental actuator dimensions and properties.

Piston diameter (\(D_{p}\))

35 mm

Piston area \((A_{p})\)

\(\frac{\pi }{4}\left( D_{p}^{2}-D_{s}^{2}\right)\)

849 \(\mathrm {mm^{2}}\)

Housing inner diameter (\(D_{h}\))

36 mm

Channel width (w)

\(\frac{1}{2}\left( D_{h}-D_{p}\right)\)

0.5 mm

Shaft diameter (\(D_{s}\))

12 mm

Channel length (l)

\(\frac{\pi }{2}\left( D_{h}+D_{p}\right)\)

110 mm

Piston thickness (L)

6 mm

Ferrofluid low-field susceptibility \((\chi _{f})\)

7.18

Ferrofluid density (\(\rho\))

1430 \(\mathrm {kg/m^{3}}\)

Ferrofluid saturation magnetization \((M_{s})\)

52.5 \(\mathrm {kA/m}\)

Ferrofluid viscosity (\(\mu\))

0.008 Pa s

Coil turns (N)

155