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|      \\  |  ___||  |  _ \\   /_   _// |  __ \\  
|  --  //  | ||__    | |_| ||   -| ||-  | |  \ || 
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|______//  |_____||  |_|\_\\   /_____// |_____//  
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Text this: Design of a 1 DOF exoskeleton robotic system