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"We have received a report from biomechanic expert Bruce Elliott in which Ajmal's action while bowling a contentious delivery has been cleared," Pakistan Cricket Board (PCB) director operations Zakir Khan told AFP.
The 33-year-old spinner's action while bowling doosra -- an Urdu and Hindi term, meaning "other", for the off-spinner's version of a googly -- was reported by the umpires during the second one-day international against Australia in Dubai last month.
He was, however, allowed to continue bowling until an assessment of his action, carried out by Elliott, the International Cricket Council's appointed biomechanist, is completed.
"Elliott has sent his report to the PCB as well as to the ICC," said Khan.
Ajmal was named in Pakistan's 15-man squad for the World Twenty20 starting in England from June 5.
Pakistan coach Intikhab Alam had backed Ajmal's bowling action and had criticised what he called inconsistency in ICC's process of dealing bowlers with illegal action.
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