An apparatus comprises a fingerprint sensor having a set of capacitive elements configured for capacitively coupling to a user fingerprint. The method includes the step of cutting through the gum portion of the elastomeric composite material at a desired skive angle, and then opening up the skived cut. The device comprises two backdriveable robots, each having three pneumatic cylinders that connect to each other at their rod ends for attachment to the subject’s torso. For OFDM modulation schemes this undesirable property may be a relatively high peak-to-average power ratio. The transmission also contains a single speed all mechanical by-pass for use when cruising and an input reduction gear to increase the torque and power capacity of the transmission.