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Sipdroid - Free and open-source SIP/VoIP Client
Zoiper - Cross-platform VoIP softphone dialer for SIP and IAX systems
MicroSIP - MicroSIP is a free portable SIP softphone for Windows based on PJSIP stack.
Linphone - Linphone is an internet phone or Voice Over IP phone (VoIP).
Fongo - free VoIP app - free Canadian phone number
MizuDroid - MizuDroid is an app that allows you to make voice and video calls over VoIP protocol.