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Decoupled microgyros and the design principle DAVED:

Geiger, W. ; Butt, W.U. ; Gaißer, A....
Sensors and Actuators A: Physical.  95 (2002)  2-3 - p. 239-249 , 2002
Link: https://doi.org/10.1016/s0924-4247(01)00732-4