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Eyewitness accounts from ships raided by Israeli commandos have cast doubt on Israel's version of events that led to the deaths of at least nine people.

German pro-Palestinian activist Norman Paech said he had only seen wooden sticks being brandished as troops abseiled on to the deck of the ship.

Israel says its soldiers were attacked with "knives, clubs and other weapons" and opened fire in self-defence.

The raid led to widespread condemnation and the UN has called for an inquiry.

US Secretary of State Hillary Clinton said on Tuesday that Washington would support an Israeli investigation of the raid, but said it must be "prompt, impartial, credible and transparent", as called for by the UN.