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![PDF] Improvements of Performance of Multi-DOF Spherical Motor by Double Air-gap Feature | Semantic Scholar](https://d3i71xaburhd42.cloudfront.net/760f7e91f300f3300a065dd042a0290e55e5cddc/1-Figure1-1.png "PDF] Improvements of Performance of Multi-DOF Spherical Motor by Double Air-gap Feature | Semantic Scholar")