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https://medium.com/toyotaresearch/meet-punyo-tris-soft-robot-for-whole-body-manipulation-research-949c934ac3d8
Warning: this link might be unsafe, please double check the link before you proceed.
https://medium.com/toyotaresearch/meet-punyo-tris-soft-robot-for-whole-body-manipulation-research-949c934ac3d8