9233
The sphere-like balloons exhibited diametric expansion between 152 and 207 % with burst stress between 1.46 and 2.55 MPa ( which is comparable to the base material properties ) while the pneumatic finger actuators were able to fully articulate over 30,000 cycles before failure .
 stress, MPa, material properties, actuators, failure
Please list all entity words in the text that fit the category. Output format is "word1, word2". 
Option: manufacturing standard, machanical property, manufacturing process, material, engineering feature, process parameter, machine or equipment, application, process characterization, enabling technology, biomedical, concept or principle 
Text: {0} 
Answer:
 stress, MPa, material properties, actuators, failure