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

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