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

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Text this: Design of cable-driven modules for hyper-redundant manipulators