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  _  __    ______    ______    _____     _  _   
 | |/ //  /_   _//  /_____//  |  ___||  | \| || 
 | ' //    -| ||-   `____ `   | ||__    |  ' || 
 | . \\    _| ||_   /___//    | ||__    | .  || 
 |_|\_\\  /_____//  `__ `     |_____||  |_|\_|| 
 `-` --`  `-----`   /_//      `-----`   `-` -`  
                    `-`

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Text this: SOFT-ROBOT-ASSISTED ANKLE MOBILIZATION: EXTENSIBLE ACTUATOR DESIGN, CHARACTERIZATION AND CLINICAL TESTING