MRI-Compatible Robots - High Performance Pneumatic Stepper Motors

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I am very interested in your designs, is there a workshop available for ideas and how to construct a Pneumatic Stepper? I have built a pneumatic bipedal robot using 3 inch bore, 4 inch throw aluminum pneumatic cylinders, construction size of robot 5 feet, aluminum body, and would like to scale this down. Was looking for away to 3D print pneumatic cylinders when I came across your video. any publications, videos, etc, you can point me to would be greatly appreciated.

chrisgrierson