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. Author manuscript; available in PMC: 2019 May 15.
Published in final edited form as: IEEE ASME Trans Mechatron. 2017 Nov 1;22(6):2780–2789. doi: 10.1109/TMECH.2017.2767906

Fig. 1.

Fig. 1.

Assembly of the proposed pneumatic motor coupled with a gearbox. The modular gear stages shown at the bottom are available in 4:1 and 5:1 gear ratios.