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

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Text this: Design of an adaptive finger with encompassing grasp capability for parallel grippers