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In a close fought match where it was difficult to see who was the better player at times, Kanepi pulled through in straight sets for a 7-6 6-5 victory over the Brit.
In the first set tie-break Robson was a head 5-2 but squandered several points allowing Kanepi to take the opportunity and to take the first set.
Robson was the first British woman to reach the second round of Wimbledon since Sam Smith in 1998.
The Court One crowd were feeling more optimistic when Robson settled in well in the second set.
But Kanepi throughout the game had found form with her serve and baseline play to level the second set at 3-3.
But Kanepi carved out three break points at 5-5 and only needed one of them, Robson netting with a return.
Robson played well to save several match points against the Estonian and on the fourth it was too much for the Briton and Kanepi booked her place in the last eight.
The Estonian will now play Sabine Lisicki in the quarter finals.
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