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

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Text this: A Passive Decoupling Mechanism for Misalignment Compensation in Master-Slave Teleoperation