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T. Hirata, T. Akashi, A. Bertholds, H. P. Gruber, A. Schmid, M. -A. GrCtillat, O. T. Guenat and N. F. de RooiJ, “A Novel Pneumatic Actuator System Realized by MicroElectro-Discharge Machining,” Technical Digest of the 11th IEEE International Conference on Micro Electro Mechanical Systems, 1998, pp. 160-165.

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