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The automaker said the sensors -- which are designed to detect vehicle roll angle -- can malfunction and inadvertently cause the side curtain airbag and seatbelt to be activated.
The sensor malfunction does not prevent the airbag from deploying during a collision, Toyota said in a statement.
A Toyota spokesman said the Japanese automaker has received defect-related reports of "minor injuries, including a report of a person's hand being cut by a seatbelt in March."
The recall affects 214,000 RAV4 vehicles and 94,000 Highlander and Highlander HV vehicles from the 2007 and 2008 model years.
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