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James Karpicky, 35, was charged with first-degree robbery and sixth-degree larceny in the incident, police said. He was held on $75,000 bond.
A female employee at the restaurant told officers that a man wearing a ski mask entered the store and stuck something to her back and said he had a handgun, police said.
He demanded that she empty the cash register, which she did, police said. The man then fled the scene in a Mini Cooper, police said.
A joint investigation with Shelton, Milford and Trumbull police departments turned up Karpicky as a suspect in this and several other Fairfield County robberies, police said.
More arrests are expected.
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