ELYRIA — An Amherst man pleaded guilty Friday to charges of kidnapping, aggravated robbery and rape and was sentenced to nine years in prison.

Allen Miller, 25, was one of two men who abducted a 41-year-old Huron woman at knifepoint last January in Lorain. The woman said Miller raped her and left her stranded in Vermilion wearing only a bra and socks.

Miller’s accomplice, 23-year-old George Klingman Jr. of Lorain, pleaded guilty to the same charges last month but has not yet been sentenced.

Police have said Klingman was the driver of the minivan used in the abduction and he was also armed with a knife. Miller was the one who forced himself on the Huron woman, police said.

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