id	sid	tid	token	lemma	pos
ap-2128	1	1	acta	acta	PROPN
ap-2128	1	2	polytechnica	polytechnica	PROPN
ap-2128	1	3	doi:10.14311	doi:10.14311	PROPN
ap-2128	1	4	/	/	SYM
ap-2128	1	5	ap.2014.54.0197	ap.2014.54.0197	PROPN
ap-2128	1	6	acta	acta	PROPN
ap-2128	1	7	polytechnica	polytechnica	PROPN
ap-2128	1	8	54(3):197–204	54(3):197–204	PROPN
ap-2128	1	9	,	,	PUNCT
ap-2128	1	10	2014	2014	NUM
ap-2128	1	11	©	©	PROPN
ap-2128	1	12	czech	czech	PROPN
ap-2128	1	13	technical	technical	PROPN
ap-2128	1	14	university	university	PROPN
ap-2128	1	15	in	in	ADP
ap-2128	1	16	prague	prague	PROPN
ap-2128	1	17	,	,	PUNCT
ap-2128	1	18	2014	2014	NUM
ap-2128	1	19	available	available	ADJ
ap-2128	1	20	online	online	ADV
ap-2128	1	21	at	at	ADP
ap-2128	1	22	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-2128	1	23	a	a	DET
ap-2128	1	24	myoelectric	myoelectric	ADJ
ap-2128	1	25	prosthetic	prosthetic	ADJ
ap-2128	1	26	arm	arm	NOUN
ap-2128	1	27	controlled	control	VERB
ap-2128	1	28	by	by	ADP
ap-2128	1	29	a	a	DET
ap-2128	1	30	sensor	sensor	NOUN
ap-2128	1	31	-	-	PUNCT
ap-2128	1	32	actuator	actuator	NOUN
ap-2128	1	33	loop	loop	PROPN
ap-2128	1	34	patrik	patrik	PROPN
ap-2128	1	35	kutílek∗	kutílek∗	PROPN
ap-2128	1	36	,	,	PUNCT
ap-2128	1	37	jan	jan	PROPN
ap-2128	1	38	hýbl	hýbl	PROPN
ap-2128	1	39	,	,	PUNCT
ap-2128	1	40	jakub	jakub	PROPN
ap-2128	1	41	mareš	mareš	PROPN
ap-2128	1	42	,	,	PUNCT
ap-2128	1	43	vladimír	vladimír	PROPN
ap-2128	1	44	socha	socha	PROPN
ap-2128	1	45	,	,	PUNCT
ap-2128	1	46	pavel	pavel	PROPN
ap-2128	1	47	smrčka	smrčka	PROPN
ap-2128	1	48	czech	czech	PROPN
ap-2128	1	49	technical	technical	PROPN
ap-2128	1	50	university	university	PROPN
ap-2128	1	51	in	in	ADP
ap-2128	1	52	prague	prague	PROPN
ap-2128	1	53	,	,	PUNCT
ap-2128	1	54	faculty	faculty	NOUN
ap-2128	1	55	of	of	ADP
ap-2128	1	56	biomedical	biomedical	ADJ
ap-2128	1	57	engineering	engineering	NOUN
ap-2128	1	58	,	,	PUNCT
ap-2128	1	59	nam	nam	PROPN
ap-2128	1	60	.	.	PROPN
ap-2128	1	61	sitna	sitna	PROPN
ap-2128	1	62	3105	3105	NUM
ap-2128	1	63	,	,	PUNCT
ap-2128	1	64	272	272	NUM
ap-2128	1	65	01	01	NUM
ap-2128	1	66	kladno	kladno	PROPN
ap-2128	1	67	,	,	PUNCT
ap-2128	1	68	czech	czech	PROPN
ap-2128	1	69	republic	republic	NOUN
ap-2128	1	70	∗	∗	NOUN
ap-2128	1	71	corresponding	correspond	VERB
ap-2128	1	72	author	author	NOUN
ap-2128	1	73	:	:	PUNCT
ap-2128	1	74	kutilek@fbmi.cvut.cz	kutilek@fbmi.cvut.cz	PROPN
ap-2128	1	75	abstract	abstract	ADJ
ap-2128	1	76	.	.	PUNCT
ap-2128	2	1	this	this	DET
ap-2128	2	2	paper	paper	NOUN
ap-2128	2	3	describes	describe	VERB
ap-2128	2	4	new	new	ADJ
ap-2128	2	5	methods	method	NOUN
ap-2128	2	6	and	and	CCONJ
ap-2128	2	7	systems	system	NOUN
ap-2128	2	8	designed	design	VERB
ap-2128	2	9	for	for	ADP
ap-2128	2	10	application	application	NOUN
ap-2128	2	11	in	in	ADP
ap-2128	2	12	upper	upper	ADJ
ap-2128	2	13	extremity	extremity	NOUN
ap-2128	2	14	prostheses	prosthesis	NOUN
ap-2128	2	15	.	.	PUNCT
ap-2128	3	1	an	an	DET
ap-2128	3	2	artificial	artificial	ADJ
ap-2128	3	3	upper	upper	ADJ
ap-2128	3	4	limb	limb	NOUN
ap-2128	3	5	with	with	ADP
ap-2128	3	6	this	this	DET
ap-2128	3	7	system	system	NOUN
ap-2128	3	8	is	be	AUX
ap-2128	3	9	a	a	DET
ap-2128	3	10	robot	robot	NOUN
ap-2128	3	11	arm	arm	NOUN
ap-2128	3	12	controlled	control	VERB
ap-2128	3	13	by	by	ADP
ap-2128	3	14	emg	emg	NOUN
ap-2128	3	15	signals	signal	NOUN
ap-2128	3	16	and	and	CCONJ
ap-2128	3	17	a	a	DET
ap-2128	3	18	set	set	NOUN
ap-2128	3	19	of	of	ADP
ap-2128	3	20	sensors	sensor	NOUN
ap-2128	3	21	.	.	PUNCT
ap-2128	4	1	the	the	DET
ap-2128	4	2	new	new	ADJ
ap-2128	4	3	multi	multi	ADJ
ap-2128	4	4	-	-	ADJ
ap-2128	4	5	sensor	sensor	ADJ
ap-2128	4	6	system	system	NOUN
ap-2128	4	7	is	be	AUX
ap-2128	4	8	based	base	VERB
ap-2128	4	9	on	on	ADP
ap-2128	4	10	ultrasonic	ultrasonic	ADJ
ap-2128	4	11	sensors	sensor	NOUN
ap-2128	4	12	,	,	PUNCT
ap-2128	4	13	infrared	infrared	ADJ
ap-2128	4	14	sensors	sensor	NOUN
ap-2128	4	15	,	,	PUNCT
ap-2128	4	16	hall	hall	NOUN
ap-2128	4	17	-	-	PUNCT
ap-2128	4	18	effect	effect	NOUN
ap-2128	4	19	sensors	sensor	NOUN
ap-2128	4	20	,	,	PUNCT
ap-2128	4	21	a	a	DET
ap-2128	4	22	co2	co2	NOUN
ap-2128	4	23	sensor	sensor	NOUN
ap-2128	4	24	and	and	CCONJ
ap-2128	4	25	a	a	DET
ap-2128	4	26	relative	relative	ADJ
ap-2128	4	27	humidity	humidity	NOUN
ap-2128	4	28	sensor	sensor	NOUN
ap-2128	4	29	.	.	PUNCT
ap-2128	5	1	the	the	DET
ap-2128	5	2	multi	multi	ADJ
ap-2128	5	3	-	-	ADJ
ap-2128	5	4	sensor	sensor	ADJ
ap-2128	5	5	system	system	NOUN
ap-2128	5	6	is	be	AUX
ap-2128	5	7	used	use	VERB
ap-2128	5	8	to	to	PART
ap-2128	5	9	update	update	VERB
ap-2128	5	10	a	a	DET
ap-2128	5	11	3d	3d	NUM
ap-2128	5	12	map	map	NOUN
ap-2128	5	13	of	of	ADP
ap-2128	5	14	objects	object	NOUN
ap-2128	5	15	in	in	ADP
ap-2128	5	16	the	the	DET
ap-2128	5	17	robot	robot	NOUN
ap-2128	5	18	’s	’s	PART
ap-2128	5	19	environment	environment	NOUN
ap-2128	5	20	,	,	PUNCT
ap-2128	5	21	or	or	CCONJ
ap-2128	5	22	it	it	PRON
ap-2128	5	23	directly	directly	ADV
ap-2128	5	24	sends	send	VERB
ap-2128	5	25	information	information	NOUN
ap-2128	5	26	about	about	ADP
ap-2128	5	27	the	the	DET
ap-2128	5	28	environment	environment	NOUN
ap-2128	5	29	to	to	ADP
ap-2128	5	30	the	the	DET
ap-2128	5	31	control	control	NOUN
ap-2128	5	32	system	system	NOUN
ap-2128	5	33	of	of	ADP
ap-2128	5	34	the	the	DET
ap-2128	5	35	myoelectric	myoelectric	ADJ
ap-2128	5	36	arm	arm	NOUN
ap-2128	5	37	.	.	PUNCT
ap-2128	6	1	occupancy	occupancy	NOUN
ap-2128	6	2	grid	grid	NOUN
ap-2128	6	3	mapping	mapping	NOUN
ap-2128	6	4	is	be	AUX
ap-2128	6	5	used	use	VERB
ap-2128	6	6	to	to	PART
ap-2128	6	7	build	build	VERB
ap-2128	6	8	a	a	DET
ap-2128	6	9	3d	3d	NOUN
ap-2128	6	10	map	map	NOUN
ap-2128	6	11	of	of	ADP
ap-2128	6	12	the	the	DET
ap-2128	6	13	robot	robot	NOUN
ap-2128	6	14	’s	’s	PART
ap-2128	6	15	environment	environment	NOUN
ap-2128	6	16	.	.	PUNCT
ap-2128	7	1	the	the	DET
ap-2128	7	2	multi	multi	ADJ
ap-2128	7	3	-	-	ADJ
ap-2128	7	4	sensor	sensor	ADJ
ap-2128	7	5	system	system	NOUN
ap-2128	7	6	can	can	AUX
ap-2128	7	7	identify	identify	VERB
ap-2128	7	8	the	the	DET
ap-2128	7	9	distance	distance	NOUN
ap-2128	7	10	of	of	ADP
ap-2128	7	11	objects	object	NOUN
ap-2128	7	12	in	in	ADP
ap-2128	7	13	3d	3d	PROPN
ap-2128	7	14	space	space	NOUN
ap-2128	7	15	,	,	PUNCT
ap-2128	7	16	and	and	CCONJ
ap-2128	7	17	the	the	DET
ap-2128	7	18	information	information	NOUN
ap-2128	7	19	from	from	ADP
ap-2128	7	20	the	the	DET
ap-2128	7	21	system	system	NOUN
ap-2128	7	22	is	be	AUX
ap-2128	7	23	used	use	VERB
ap-2128	7	24	in	in	ADP
ap-2128	7	25	a	a	DET
ap-2128	7	26	3d	3d	NUM
ap-2128	7	27	map	map	NOUN
ap-2128	7	28	to	to	PART
ap-2128	7	29	identify	identify	VERB
ap-2128	7	30	potential	potential	ADJ
ap-2128	7	31	collisions	collision	NOUN
ap-2128	7	32	or	or	CCONJ
ap-2128	7	33	a	a	DET
ap-2128	7	34	potentially	potentially	ADV
ap-2128	7	35	dangerous	dangerous	ADJ
ap-2128	7	36	environment	environment	NOUN
ap-2128	7	37	,	,	PUNCT
ap-2128	7	38	which	which	PRON
ap-2128	7	39	could	could	AUX
ap-2128	7	40	damage	damage	VERB
ap-2128	7	41	the	the	DET
ap-2128	7	42	prosthesis	prosthesis	NOUN
ap-2128	7	43	or	or	CCONJ
ap-2128	7	44	the	the	DET
ap-2128	7	45	user	user	NOUN
ap-2128	7	46	.	.	PUNCT
ap-2128	8	1	information	information	NOUN
ap-2128	8	2	from	from	ADP
ap-2128	8	3	the	the	DET
ap-2128	8	4	sensors	sensor	NOUN
ap-2128	8	5	and	and	CCONJ
ap-2128	8	6	from	from	ADP
ap-2128	8	7	the	the	DET
ap-2128	8	8	3d	3d	NOUN
ap-2128	8	9	map	map	NOUN
ap-2128	8	10	is	be	AUX
ap-2128	8	11	evaluated	evaluate	VERB
ap-2128	8	12	using	use	VERB
ap-2128	8	13	a	a	DET
ap-2128	8	14	fuzzy	fuzzy	ADJ
ap-2128	8	15	expert	expert	NOUN
ap-2128	8	16	system	system	NOUN
ap-2128	8	17	.	.	PUNCT
ap-2128	9	1	the	the	DET
ap-2128	9	2	control	control	NOUN
ap-2128	9	3	system	system	NOUN
ap-2128	9	4	of	of	ADP
ap-2128	9	5	the	the	DET
ap-2128	9	6	myoelectric	myoelectric	ADJ
ap-2128	9	7	prosthetic	prosthetic	ADJ
ap-2128	9	8	arm	arm	NOUN
ap-2128	9	9	can	can	AUX
ap-2128	9	10	choose	choose	VERB
ap-2128	9	11	an	an	DET
ap-2128	9	12	adequate	adequate	ADJ
ap-2128	9	13	reaction	reaction	NOUN
ap-2128	9	14	on	on	ADP
ap-2128	9	15	the	the	DET
ap-2128	9	16	basis	basis	NOUN
ap-2128	9	17	of	of	ADP
ap-2128	9	18	information	information	NOUN
ap-2128	9	19	from	from	ADP
ap-2128	9	20	the	the	DET
ap-2128	9	21	fuzzy	fuzzy	ADJ
ap-2128	9	22	expert	expert	NOUN
ap-2128	9	23	system	system	NOUN
ap-2128	9	24	.	.	PUNCT
ap-2128	10	1	the	the	DET
ap-2128	10	2	systems	system	NOUN
ap-2128	10	3	and	and	CCONJ
ap-2128	10	4	methods	method	NOUN
ap-2128	10	5	were	be	AUX
ap-2128	10	6	designed	design	VERB
ap-2128	10	7	and	and	CCONJ
ap-2128	10	8	verified	verify	VERB
ap-2128	10	9	using	use	VERB
ap-2128	10	10	matlab	matlab	PROPN
ap-2128	10	11	/	/	SYM
ap-2128	10	12	simulink	simulink	PROPN
ap-2128	10	13	.	.	PUNCT
ap-2128	11	1	they	they	PRON
ap-2128	11	2	are	be	AUX
ap-2128	11	3	aimed	aim	VERB
ap-2128	11	4	for	for	ADP
ap-2128	11	5	use	use	NOUN
ap-2128	11	6	as	as	ADP
ap-2128	11	7	assistive	assistive	ADJ
ap-2128	11	8	technology	technology	NOUN
ap-2128	11	9	for	for	ADP
ap-2128	11	10	disabled	disabled	ADJ
ap-2128	11	11	people	people	NOUN
ap-2128	11	12	.	.	PUNCT
ap-2128	12	1	keywords	keyword	NOUN
ap-2128	12	2	:	:	PUNCT
ap-2128	12	3	prosthetic	prosthetic	ADJ
ap-2128	12	4	arm	arm	NOUN
ap-2128	12	5	;	;	PUNCT
ap-2128	12	6	electromyography	electromyography	NOUN
ap-2128	12	7	;	;	PUNCT
ap-2128	12	8	sensor	sensor	NOUN
ap-2128	12	9	system	system	NOUN
ap-2128	12	10	;	;	PUNCT
ap-2128	12	11	occupancy	occupancy	NOUN
ap-2128	12	12	grid	grid	NOUN
ap-2128	12	13	mapping	mapping	NOUN
ap-2128	12	14	;	;	PUNCT
ap-2128	12	15	fuzzy	fuzzy	ADJ
ap-2128	12	16	logic	logic	NOUN
ap-2128	12	17	.	.	PUNCT
ap-2128	13	1	1	1	X
ap-2128	13	2	.	.	X
ap-2128	13	3	introduction	introduction	NOUN
ap-2128	13	4	present	present	ADJ
ap-2128	13	5	-	-	PUNCT
ap-2128	13	6	day	day	NOUN
ap-2128	13	7	control	control	NOUN
ap-2128	13	8	systems	system	NOUN
ap-2128	13	9	for	for	ADP
ap-2128	13	10	robotic	robotic	ADJ
ap-2128	13	11	arms	arm	NOUN
ap-2128	13	12	(	(	PUNCT
ap-2128	13	13	ra	ra	NOUN
ap-2128	13	14	)	)	PUNCT
ap-2128	13	15	are	be	AUX
ap-2128	13	16	based	base	VERB
ap-2128	13	17	primarily	primarily	ADV
ap-2128	13	18	on	on	ADP
ap-2128	13	19	a	a	DET
ap-2128	13	20	point	point	NOUN
ap-2128	13	21	-	-	PUNCT
ap-2128	13	22	to	to	ADP
ap-2128	13	23	-	-	PUNCT
ap-2128	13	24	point	point	NOUN
ap-2128	13	25	method	method	NOUN
ap-2128	13	26	[	[	X
ap-2128	13	27	1	1	NUM
ap-2128	13	28	]	]	PUNCT
ap-2128	13	29	,	,	PUNCT
ap-2128	13	30	[	[	X
ap-2128	13	31	2	2	NUM
ap-2128	13	32	]	]	PUNCT
ap-2128	13	33	.	.	PUNCT
ap-2128	14	1	sensor	sensor	NOUN
ap-2128	14	2	systems	system	NOUN
ap-2128	14	3	designed	design	VERB
ap-2128	14	4	for	for	ADP
ap-2128	14	5	industrial	industrial	ADJ
ap-2128	14	6	manipulators	manipulator	NOUN
ap-2128	14	7	use	use	VERB
ap-2128	14	8	cctv	cctv	NOUN
ap-2128	14	9	or	or	CCONJ
ap-2128	14	10	a	a	DET
ap-2128	14	11	set	set	NOUN
ap-2128	14	12	of	of	ADP
ap-2128	14	13	basic	basic	ADJ
ap-2128	14	14	sensors	sensor	NOUN
ap-2128	14	15	(	(	PUNCT
ap-2128	14	16	limit	limit	NOUN
ap-2128	14	17	switches	switch	NOUN
ap-2128	14	18	,	,	PUNCT
ap-2128	14	19	optical	optical	ADJ
ap-2128	14	20	sensors	sensor	NOUN
ap-2128	14	21	,	,	PUNCT
ap-2128	14	22	etc	etc	X
ap-2128	14	23	.	.	X
ap-2128	14	24	)	)	PUNCT
ap-2128	14	25	.	.	PUNCT
ap-2128	15	1	an	an	DET
ap-2128	15	2	emg	emg	NOUN
ap-2128	15	3	signal	signal	NOUN
ap-2128	15	4	is	be	AUX
ap-2128	15	5	used	use	VERB
ap-2128	15	6	for	for	ADP
ap-2128	15	7	controlling	control	VERB
ap-2128	15	8	an	an	DET
ap-2128	15	9	upper	upper	ADJ
ap-2128	15	10	limb	limb	NOUN
ap-2128	15	11	prosthesis	prosthesis	NOUN
ap-2128	15	12	.	.	PUNCT
ap-2128	16	1	this	this	DET
ap-2128	16	2	ra	ra	PROPN
ap-2128	16	3	is	be	AUX
ap-2128	16	4	referred	refer	VERB
ap-2128	16	5	to	to	ADP
ap-2128	16	6	as	as	ADP
ap-2128	16	7	a	a	DET
ap-2128	16	8	myoelectric	myoelectric	ADJ
ap-2128	16	9	prosthesis	prosthesis	NOUN
ap-2128	16	10	.	.	PUNCT
ap-2128	17	1	the	the	DET
ap-2128	17	2	sensors	sensor	NOUN
ap-2128	17	3	implemented	implement	VERB
ap-2128	17	4	in	in	ADP
ap-2128	17	5	the	the	DET
ap-2128	17	6	myoelectric	myoelectric	ADJ
ap-2128	17	7	prosthesis	prosthesis	NOUN
ap-2128	17	8	are	be	AUX
ap-2128	17	9	tactile	tactile	ADJ
ap-2128	17	10	sensors	sensor	NOUN
ap-2128	17	11	used	use	VERB
ap-2128	17	12	for	for	ADP
ap-2128	17	13	correcting	correct	VERB
ap-2128	17	14	the	the	DET
ap-2128	17	15	touch	touch	NOUN
ap-2128	17	16	and	and	CCONJ
ap-2128	17	17	the	the	DET
ap-2128	17	18	handgrip	handgrip	NOUN
ap-2128	17	19	,	,	PUNCT
ap-2128	17	20	an	an	DET
ap-2128	17	21	optical	optical	ADJ
ap-2128	17	22	sensor	sensor	NOUN
ap-2128	17	23	with	with	ADP
ap-2128	17	24	analog	analog	NOUN
ap-2128	17	25	memory	memory	NOUN
ap-2128	17	26	for	for	ADP
ap-2128	17	27	motion	motion	NOUN
ap-2128	17	28	detection	detection	NOUN
ap-2128	17	29	[	[	X
ap-2128	17	30	3	3	NUM
ap-2128	17	31	]	]	PUNCT
ap-2128	17	32	,	,	PUNCT
ap-2128	18	1	digital	digital	ADJ
ap-2128	18	2	incremental	incremental	ADJ
ap-2128	18	3	encoders	encoder	NOUN
ap-2128	18	4	used	use	VERB
ap-2128	18	5	in	in	ADP
ap-2128	18	6	feedback	feedback	NOUN
ap-2128	18	7	for	for	ADP
ap-2128	18	8	the	the	DET
ap-2128	18	9	pid	pid	NOUN
ap-2128	18	10	controller	controller	NOUN
ap-2128	18	11	,	,	PUNCT
ap-2128	18	12	etc	etc	X
ap-2128	18	13	.	.	X
ap-2128	18	14	,	,	PUNCT
ap-2128	18	15	or	or	CCONJ
ap-2128	18	16	complex	complex	ADJ
ap-2128	18	17	gyroscopic	gyroscopic	NOUN
ap-2128	18	18	systems	system	NOUN
ap-2128	18	19	and/or	and/or	CCONJ
ap-2128	18	20	inertia	inertia	NOUN
ap-2128	18	21	systems	system	NOUN
ap-2128	18	22	for	for	ADP
ap-2128	18	23	information	information	NOUN
ap-2128	18	24	about	about	ADP
ap-2128	18	25	movement	movement	NOUN
ap-2128	18	26	acceleration	acceleration	NOUN
ap-2128	18	27	,	,	PUNCT
ap-2128	18	28	movement	movement	NOUN
ap-2128	18	29	speed	speed	NOUN
ap-2128	18	30	and	and	CCONJ
ap-2128	18	31	movement	movement	NOUN
ap-2128	18	32	direction	direction	NOUN
ap-2128	18	33	[	[	X
ap-2128	18	34	4	4	NUM
ap-2128	18	35	]	]	PUNCT
ap-2128	18	36	,	,	PUNCT
ap-2128	18	37	[	[	X
ap-2128	18	38	5	5	NUM
ap-2128	18	39	]	]	PUNCT
ap-2128	18	40	.	.	PUNCT
ap-2128	19	1	the	the	DET
ap-2128	19	2	feedback	feedback	NOUN
ap-2128	19	3	information	information	NOUN
ap-2128	19	4	from	from	ADP
ap-2128	19	5	the	the	DET
ap-2128	19	6	sensors	sensor	NOUN
ap-2128	19	7	is	be	AUX
ap-2128	19	8	important	important	ADJ
ap-2128	19	9	for	for	ADP
ap-2128	19	10	correct	correct	ADJ
ap-2128	19	11	control	control	NOUN
ap-2128	19	12	using	use	VERB
ap-2128	19	13	a	a	DET
ap-2128	19	14	pid	pid	NOUN
ap-2128	19	15	controller	controller	NOUN
ap-2128	19	16	.	.	PUNCT
ap-2128	20	1	however	however	ADV
ap-2128	20	2	,	,	PUNCT
ap-2128	20	3	none	none	NOUN
ap-2128	20	4	of	of	ADP
ap-2128	20	5	these	these	DET
ap-2128	20	6	sensors	sensor	NOUN
ap-2128	20	7	have	have	AUX
ap-2128	20	8	been	be	AUX
ap-2128	20	9	used	use	VERB
ap-2128	20	10	in	in	ADP
ap-2128	20	11	a	a	DET
ap-2128	20	12	commercially	commercially	ADV
ap-2128	20	13	manufactured	manufacture	VERB
ap-2128	20	14	myoelectric	myoelectric	ADJ
ap-2128	20	15	prosthesis	prosthesis	NOUN
ap-2128	20	16	.	.	PUNCT
ap-2128	21	1	present	present	ADJ
ap-2128	21	2	-	-	PUNCT
ap-2128	21	3	day	day	NOUN
ap-2128	21	4	commercially	commercially	ADV
ap-2128	21	5	manufactured	manufacture	VERB
ap-2128	21	6	myoelectric	myoelectric	ADJ
ap-2128	21	7	prostheses	prosthesis	NOUN
ap-2128	21	8	use	use	VERB
ap-2128	21	9	only	only	ADV
ap-2128	21	10	direct	direct	ADJ
ap-2128	21	11	control	control	NOUN
ap-2128	21	12	(	(	PUNCT
ap-2128	21	13	i.e.	i.e.	X
ap-2128	21	14	,	,	PUNCT
ap-2128	21	15	forward	forward	ADJ
ap-2128	21	16	kinematics	kinematic	NOUN
ap-2128	21	17	)	)	PUNCT
ap-2128	21	18	by	by	ADP
ap-2128	21	19	the	the	DET
ap-2128	21	20	processed	process	VERB
ap-2128	21	21	emg	emg	NOUN
ap-2128	21	22	signal	signal	NOUN
ap-2128	21	23	,	,	PUNCT
ap-2128	21	24	without	without	ADP
ap-2128	21	25	additional	additional	ADJ
ap-2128	21	26	information	information	NOUN
ap-2128	21	27	about	about	ADP
ap-2128	21	28	the	the	DET
ap-2128	21	29	state	state	NOUN
ap-2128	21	30	of	of	ADP
ap-2128	21	31	the	the	DET
ap-2128	21	32	ra	ra	PROPN
ap-2128	21	33	and	and	CCONJ
ap-2128	21	34	its	its	PRON
ap-2128	21	35	environment	environment	NOUN
ap-2128	21	36	.	.	PUNCT
ap-2128	22	1	commercially	commercially	ADV
ap-2128	22	2	manufactured	manufacture	VERB
ap-2128	22	3	myoelectric	myoelectric	ADJ
ap-2128	22	4	prostheses	prosthesis	NOUN
ap-2128	22	5	do	do	AUX
ap-2128	22	6	not	not	PART
ap-2128	22	7	use	use	VERB
ap-2128	22	8	an	an	DET
ap-2128	22	9	additional	additional	ADJ
ap-2128	22	10	signal	signal	NOUN
ap-2128	22	11	that	that	PRON
ap-2128	22	12	would	would	AUX
ap-2128	22	13	provide	provide	VERB
ap-2128	22	14	feedback	feedback	NOUN
ap-2128	22	15	information	information	NOUN
ap-2128	22	16	about	about	ADP
ap-2128	22	17	the	the	DET
ap-2128	22	18	position	position	NOUN
ap-2128	22	19	of	of	ADP
ap-2128	22	20	the	the	DET
ap-2128	22	21	artificial	artificial	ADJ
ap-2128	22	22	ra	ra	PROPN
ap-2128	22	23	in	in	ADP
ap-2128	22	24	3d	3d	PROPN
ap-2128	22	25	space	space	NOUN
ap-2128	22	26	.	.	PUNCT
ap-2128	23	1	this	this	PRON
ap-2128	23	2	means	mean	VERB
ap-2128	23	3	that	that	SCONJ
ap-2128	23	4	an	an	DET
ap-2128	23	5	emg	emg	NOUN
ap-2128	23	6	signal	signal	NOUN
ap-2128	23	7	from	from	ADP
ap-2128	23	8	one	one	NUM
ap-2128	23	9	muscle	muscle	NOUN
ap-2128	23	10	is	be	AUX
ap-2128	23	11	used	use	VERB
ap-2128	23	12	to	to	PART
ap-2128	23	13	control	control	VERB
ap-2128	23	14	one	one	NUM
ap-2128	23	15	direction	direction	NOUN
ap-2128	23	16	of	of	ADP
ap-2128	23	17	rotation	rotation	NOUN
ap-2128	23	18	of	of	ADP
ap-2128	23	19	one	one	NUM
ap-2128	23	20	actuator	actuator	NOUN
ap-2128	24	1	[	[	X
ap-2128	24	2	6–9	6–9	NOUN
ap-2128	24	3	]	]	PUNCT
ap-2128	24	4	.	.	PUNCT
ap-2128	25	1	the	the	DET
ap-2128	25	2	emg	emg	NOUN
ap-2128	25	3	signals	signal	NOUN
ap-2128	25	4	are	be	AUX
ap-2128	25	5	scanned	scan	VERB
ap-2128	25	6	from	from	ADP
ap-2128	25	7	the	the	DET
ap-2128	25	8	remaining	remain	VERB
ap-2128	25	9	muscles	muscle	NOUN
ap-2128	25	10	.	.	PUNCT
ap-2128	26	1	however	however	ADV
ap-2128	26	2	,	,	PUNCT
ap-2128	26	3	it	it	PRON
ap-2128	26	4	is	be	AUX
ap-2128	26	5	difficult	difficult	ADJ
ap-2128	26	6	for	for	SCONJ
ap-2128	26	7	the	the	DET
ap-2128	26	8	wearer	wearer	NOUN
ap-2128	26	9	to	to	PART
ap-2128	26	10	learn	learn	VERB
ap-2128	26	11	unnatural	unnatural	ADJ
ap-2128	26	12	muscle	muscle	NOUN
ap-2128	26	13	contractions	contraction	NOUN
ap-2128	26	14	in	in	ADP
ap-2128	26	15	order	order	NOUN
ap-2128	26	16	to	to	PART
ap-2128	26	17	wield	wield	VERB
ap-2128	26	18	more	more	ADJ
ap-2128	26	19	than	than	ADP
ap-2128	26	20	three	three	NUM
ap-2128	26	21	dofs	dof	NOUN
ap-2128	26	22	of	of	ADP
ap-2128	26	23	the	the	DET
ap-2128	26	24	ra	ra	PROPN
ap-2128	26	25	.	.	PUNCT
ap-2128	27	1	for	for	ADP
ap-2128	27	2	this	this	DET
ap-2128	27	3	reason	reason	NOUN
ap-2128	27	4	,	,	PUNCT
ap-2128	27	5	commercially	commercially	ADV
ap-2128	27	6	manufactured	manufacture	VERB
ap-2128	27	7	prostheses	prosthesis	NOUN
ap-2128	27	8	are	be	AUX
ap-2128	27	9	equipped	equip	VERB
ap-2128	27	10	with	with	ADP
ap-2128	27	11	up	up	ADP
ap-2128	27	12	to	to	PART
ap-2128	27	13	three	three	NUM
ap-2128	27	14	actuators	actuator	NOUN
ap-2128	27	15	.	.	PUNCT
ap-2128	28	1	advanced	advanced	PROPN
ap-2128	28	2	ras	ras	PROPN
ap-2128	28	3	controlled	control	VERB
ap-2128	28	4	by	by	ADP
ap-2128	28	5	emg	emg	PROPN
ap-2128	28	6	are	be	AUX
ap-2128	28	7	equipped	equip	VERB
ap-2128	28	8	with	with	ADP
ap-2128	28	9	sensors	sensor	NOUN
ap-2128	28	10	that	that	PRON
ap-2128	28	11	identify	identify	VERB
ap-2128	28	12	the	the	DET
ap-2128	28	13	state	state	NOUN
ap-2128	28	14	of	of	ADP
ap-2128	28	15	each	each	DET
ap-2128	28	16	joint	joint	ADJ
ap-2128	28	17	actuator	actuator	NOUN
ap-2128	28	18	[	[	X
ap-2128	28	19	10	10	NUM
ap-2128	28	20	]	]	PUNCT
ap-2128	28	21	,	,	PUNCT
ap-2128	28	22	[	[	X
ap-2128	28	23	11	11	NUM
ap-2128	28	24	]	]	PUNCT
ap-2128	28	25	,	,	PUNCT
ap-2128	28	26	but	but	CCONJ
ap-2128	28	27	these	these	DET
ap-2128	28	28	sensors	sensor	NOUN
ap-2128	28	29	do	do	AUX
ap-2128	28	30	not	not	PART
ap-2128	28	31	provide	provide	VERB
ap-2128	28	32	information	information	NOUN
ap-2128	28	33	about	about	ADP
ap-2128	28	34	the	the	DET
ap-2128	28	35	robot	robot	NOUN
ap-2128	28	36	’s	’s	PART
ap-2128	28	37	environment	environment	NOUN
ap-2128	29	1	[	[	X
ap-2128	29	2	12	12	NUM
ap-2128	29	3	]	]	PUNCT
ap-2128	29	4	,	,	PUNCT
ap-2128	29	5	[	[	X
ap-2128	29	6	13	13	NUM
ap-2128	29	7	]	]	PUNCT
ap-2128	29	8	.	.	PUNCT
ap-2128	30	1	some	some	DET
ap-2128	30	2	authors	author	NOUN
ap-2128	30	3	believe	believe	VERB
ap-2128	30	4	that	that	SCONJ
ap-2128	30	5	a	a	DET
ap-2128	30	6	more	more	ADV
ap-2128	30	7	complex	complex	ADJ
ap-2128	30	8	sensory	sensory	ADJ
ap-2128	30	9	system	system	NOUN
ap-2128	30	10	may	may	AUX
ap-2128	30	11	reduce	reduce	VERB
ap-2128	30	12	the	the	DET
ap-2128	30	13	cognitive	cognitive	ADJ
ap-2128	30	14	load	load	NOUN
ap-2128	30	15	on	on	ADP
ap-2128	30	16	the	the	DET
ap-2128	30	17	wearer	wearer	NOUN
ap-2128	30	18	by	by	ADP
ap-2128	30	19	taking	take	VERB
ap-2128	30	20	away	away	ADV
ap-2128	30	21	low	low	ADJ
ap-2128	30	22	level	level	NOUN
ap-2128	30	23	control	control	NOUN
ap-2128	30	24	,	,	PUNCT
ap-2128	30	25	and	and	CCONJ
ap-2128	30	26	an	an	DET
ap-2128	30	27	intelligent	intelligent	ADJ
ap-2128	30	28	arm	arm	NOUN
ap-2128	30	29	control	control	NOUN
ap-2128	30	30	system	system	NOUN
ap-2128	30	31	would	would	AUX
ap-2128	30	32	remove	remove	VERB
ap-2128	30	33	the	the	DET
ap-2128	30	34	need	need	NOUN
ap-2128	30	35	to	to	PART
ap-2128	30	36	micromanage	micromanage	VERB
ap-2128	30	37	each	each	DET
ap-2128	30	38	action	action	NOUN
ap-2128	30	39	[	[	X
ap-2128	30	40	14	14	NUM
ap-2128	30	41	]	]	PUNCT
ap-2128	30	42	.	.	PUNCT
ap-2128	31	1	in	in	ADP
ap-2128	31	2	order	order	NOUN
ap-2128	31	3	to	to	PART
ap-2128	31	4	deal	deal	VERB
ap-2128	31	5	with	with	ADP
ap-2128	31	6	the	the	DET
ap-2128	31	7	lack	lack	NOUN
ap-2128	31	8	of	of	ADP
ap-2128	31	9	information	information	NOUN
ap-2128	31	10	for	for	ADP
ap-2128	31	11	a	a	DET
ap-2128	31	12	complex	complex	ADJ
ap-2128	31	13	control	control	NOUN
ap-2128	31	14	system	system	NOUN
ap-2128	31	15	,	,	PUNCT
ap-2128	31	16	we	we	PRON
ap-2128	31	17	have	have	VERB
ap-2128	31	18	to	to	PART
ap-2128	31	19	design	design	VERB
ap-2128	31	20	a	a	DET
ap-2128	31	21	new	new	ADJ
ap-2128	31	22	multi	multi	ADJ
ap-2128	31	23	-	-	ADJ
ap-2128	31	24	sensor	sensor	ADJ
ap-2128	31	25	system	system	NOUN
ap-2128	31	26	and	and	CCONJ
ap-2128	31	27	control	control	NOUN
ap-2128	31	28	method	method	NOUN
ap-2128	31	29	based	base	VERB
ap-2128	31	30	on	on	ADP
ap-2128	31	31	creating	create	VERB
ap-2128	31	32	environment	environment	NOUN
ap-2128	31	33	maps	map	NOUN
ap-2128	31	34	.	.	PUNCT
ap-2128	32	1	2	2	X
ap-2128	32	2	.	.	X
ap-2128	32	3	methods	method	NOUN
ap-2128	32	4	we	we	PRON
ap-2128	32	5	designed	design	VERB
ap-2128	32	6	systems	system	NOUN
ap-2128	32	7	and	and	CCONJ
ap-2128	32	8	methods	method	NOUN
ap-2128	32	9	for	for	ADP
ap-2128	32	10	controlling	control	VERB
ap-2128	32	11	the	the	DET
ap-2128	32	12	myoelectric	myoelectric	ADJ
ap-2128	32	13	ra	ra	NOUN
ap-2128	32	14	based	base	VERB
ap-2128	32	15	on	on	ADP
ap-2128	32	16	a	a	DET
ap-2128	32	17	sensor	sensor	NOUN
ap-2128	32	18	-	-	PUNCT
ap-2128	32	19	actuator	actuator	NOUN
ap-2128	32	20	loop	loop	NOUN
ap-2128	32	21	,	,	PUNCT
ap-2128	32	22	fig.1	fig.1	PROPN
ap-2128	32	23	.	.	PUNCT
ap-2128	33	1	the	the	DET
ap-2128	33	2	user	user	NOUN
ap-2128	33	3	block	block	NOUN
ap-2128	33	4	is	be	AUX
ap-2128	33	5	a	a	DET
ap-2128	33	6	proband	proband	NOUN
ap-2128	33	7	with	with	ADP
ap-2128	33	8	a	a	DET
ap-2128	33	9	myoelectric	myoelectric	ADJ
ap-2128	33	10	prosthetic	prosthetic	ADJ
ap-2128	33	11	arm	arm	NOUN
ap-2128	33	12	.	.	PUNCT
ap-2128	34	1	the	the	DET
ap-2128	34	2	emg	emg	NOUN
ap-2128	34	3	signal	signal	NOUN
ap-2128	34	4	preprocessing	preprocessing	NOUN
ap-2128	34	5	block	block	NOUN
ap-2128	34	6	creates	create	VERB
ap-2128	34	7	the	the	DET
ap-2128	34	8	machine	machine	NOUN
ap-2128	34	9	code	code	NOUN
ap-2128	34	10	for	for	ADP
ap-2128	34	11	the	the	DET
ap-2128	34	12	control	control	PROPN
ap-2128	34	13	signal	signal	PROPN
ap-2128	34	14	generator	generator	NOUN
ap-2128	34	15	block	block	NOUN
ap-2128	34	16	.	.	PUNCT
ap-2128	35	1	the	the	DET
ap-2128	35	2	control	control	PROPN
ap-2128	35	3	unit	unit	NOUN
ap-2128	35	4	block	block	NOUN
ap-2128	35	5	uses	use	VERB
ap-2128	35	6	the	the	DET
ap-2128	35	7	control	control	NOUN
ap-2128	35	8	signal	signal	NOUN
ap-2128	35	9	and	and	CCONJ
ap-2128	35	10	information	information	NOUN
ap-2128	35	11	from	from	ADP
ap-2128	35	12	the	the	DET
ap-2128	35	13	sensors	sensor	NOUN
ap-2128	35	14	and	and	CCONJ
ap-2128	35	15	the	the	DET
ap-2128	35	16	3d	3d	PROPN
ap-2128	35	17	map	map	NOUN
ap-2128	35	18	,	,	PUNCT
ap-2128	35	19	and	and	CCONJ
ap-2128	35	20	creates	create	VERB
ap-2128	35	21	sequences	sequence	NOUN
ap-2128	35	22	and	and	CCONJ
ap-2128	35	23	a	a	DET
ap-2128	35	24	power	power	NOUN
ap-2128	35	25	signal	signal	NOUN
ap-2128	35	26	for	for	ADP
ap-2128	35	27	the	the	DET
ap-2128	35	28	ra	ra	PROPN
ap-2128	35	29	actuators	actuator	NOUN
ap-2128	35	30	placed	place	VERB
ap-2128	35	31	in	in	ADP
ap-2128	35	32	the	the	DET
ap-2128	35	33	robotic	robotic	ADJ
ap-2128	35	34	arm	arm	NOUN
ap-2128	35	35	block	block	NOUN
ap-2128	35	36	.	.	PUNCT
ap-2128	36	1	the	the	DET
ap-2128	36	2	sensory	sensory	ADJ
ap-2128	36	3	subsystem	subsystem	NOUN
ap-2128	36	4	block	block	NOUN
ap-2128	36	5	(	(	PUNCT
ap-2128	36	6	ssb	ssb	PROPN
ap-2128	36	7	)	)	PUNCT
ap-2128	36	8	is	be	AUX
ap-2128	36	9	also	also	ADV
ap-2128	36	10	installed	instal	VERB
ap-2128	36	11	on	on	ADP
ap-2128	36	12	the	the	DET
ap-2128	36	13	ra	ra	PROPN
ap-2128	36	14	.	.	PUNCT
ap-2128	37	1	it	it	PRON
ap-2128	37	2	is	be	AUX
ap-2128	37	3	evident	evident	ADJ
ap-2128	37	4	that	that	SCONJ
ap-2128	37	5	the	the	DET
ap-2128	37	6	robotic	robotic	ADJ
ap-2128	37	7	arm	arm	NOUN
ap-2128	37	8	block	block	NOUN
ap-2128	37	9	and	and	CCONJ
ap-2128	37	10	the	the	DET
ap-2128	37	11	197	197	NUM
ap-2128	37	12	http://dx.doi.org/10.14311/ap.2014.54.0197	http://dx.doi.org/10.14311/ap.2014.54.0197	NOUN
ap-2128	37	13	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-2128	37	14	p.	p.	NOUN
ap-2128	37	15	kutílek	kutílek	PROPN
ap-2128	37	16	,	,	PUNCT
ap-2128	37	17	j.	j.	PROPN
ap-2128	37	18	hýbl	hýbl	PROPN
ap-2128	37	19	,	,	PUNCT
ap-2128	37	20	j.	j.	PROPN
ap-2128	37	21	mareš	mareš	PROPN
ap-2128	38	1	et	et	PROPN
ap-2128	38	2	al	al	PROPN
ap-2128	38	3	.	.	PROPN
ap-2128	38	4	acta	acta	PROPN
ap-2128	38	5	polytechnica	polytechnica	PROPN
ap-2128	38	6	figure	figure	NOUN
ap-2128	38	7	1	1	NUM
ap-2128	38	8	.	.	PUNCT
ap-2128	38	9	block	block	NOUN
ap-2128	38	10	diagram	diagram	NOUN
ap-2128	38	11	of	of	ADP
ap-2128	38	12	the	the	DET
ap-2128	38	13	standard	standard	ADJ
ap-2128	38	14	control	control	NOUN
ap-2128	38	15	method	method	NOUN
ap-2128	38	16	for	for	ADP
ap-2128	38	17	the	the	DET
ap-2128	38	18	myoelectric	myoelectric	ADJ
ap-2128	38	19	arm	arm	NOUN
ap-2128	38	20	(	(	PUNCT
ap-2128	38	21	i.	i.	PROPN
ap-2128	38	22	)	)	PUNCT
ap-2128	38	23	and	and	CCONJ
ap-2128	38	24	a	a	DET
ap-2128	38	25	diagram	diagram	NOUN
ap-2128	38	26	of	of	ADP
ap-2128	38	27	the	the	DET
ap-2128	38	28	new	new	ADJ
ap-2128	38	29	control	control	NOUN
ap-2128	38	30	method	method	NOUN
ap-2128	38	31	for	for	ADP
ap-2128	38	32	a	a	DET
ap-2128	38	33	semiautomatic	semiautomatic	ADJ
ap-2128	38	34	myoelectric	myoelectric	ADJ
ap-2128	38	35	arm	arm	NOUN
ap-2128	38	36	(	(	PUNCT
ap-2128	38	37	ii	ii	NOUN
ap-2128	38	38	.	.	PUNCT
ap-2128	38	39	)	)	PUNCT
ap-2128	39	1	ssb	ssb	PROPN
ap-2128	39	2	are	be	AUX
ap-2128	39	3	mechanically	mechanically	ADV
ap-2128	39	4	interconnected	interconnected	ADJ
ap-2128	39	5	.	.	PUNCT
ap-2128	40	1	the	the	DET
ap-2128	40	2	map	map	NOUN
ap-2128	40	3	constructor	constructor	NOUN
ap-2128	40	4	block	block	NOUN
ap-2128	40	5	(	(	PUNCT
ap-2128	40	6	mcb	mcb	PROPN
ap-2128	40	7	)	)	PUNCT
ap-2128	40	8	is	be	AUX
ap-2128	40	9	used	use	VERB
ap-2128	40	10	for	for	ADP
ap-2128	40	11	object	object	NOUN
ap-2128	40	12	identification	identification	NOUN
ap-2128	40	13	and	and	CCONJ
ap-2128	40	14	for	for	ADP
ap-2128	40	15	identifying	identify	VERB
ap-2128	40	16	the	the	DET
ap-2128	40	17	distances	distance	NOUN
ap-2128	40	18	of	of	ADP
ap-2128	40	19	objects	object	NOUN
ap-2128	40	20	from	from	ADP
ap-2128	40	21	the	the	DET
ap-2128	40	22	ra	ra	PROPN
ap-2128	40	23	.	.	PUNCT
ap-2128	41	1	the	the	DET
ap-2128	41	2	signal	signal	ADJ
ap-2128	41	3	comparator	comparator	NOUN
ap-2128	41	4	block	block	NOUN
ap-2128	41	5	compares	compare	VERB
ap-2128	41	6	the	the	DET
ap-2128	41	7	control	control	NOUN
ap-2128	41	8	signals	signal	NOUN
ap-2128	41	9	from	from	ADP
ap-2128	41	10	the	the	DET
ap-2128	41	11	control	control	NOUN
ap-2128	41	12	signal	signal	PROPN
ap-2128	41	13	generator	generator	NOUN
ap-2128	41	14	block	block	NOUN
ap-2128	41	15	with	with	ADP
ap-2128	41	16	a	a	DET
ap-2128	41	17	map	map	NOUN
ap-2128	41	18	of	of	ADP
ap-2128	41	19	the	the	DET
ap-2128	41	20	environment	environment	NOUN
ap-2128	41	21	from	from	ADP
ap-2128	41	22	the	the	DET
ap-2128	41	23	mcb	mcb	PROPN
ap-2128	41	24	.	.	PUNCT
ap-2128	42	1	the	the	DET
ap-2128	42	2	ssb	ssb	PROPN
ap-2128	42	3	consists	consist	VERB
ap-2128	42	4	of	of	ADP
ap-2128	42	5	the	the	DET
ap-2128	42	6	sensors	sensor	NOUN
ap-2128	42	7	for	for	ADP
ap-2128	42	8	monitoring	monitor	VERB
ap-2128	42	9	the	the	DET
ap-2128	42	10	ra	ra	PROPN
ap-2128	42	11	and	and	CCONJ
ap-2128	42	12	its	its	PRON
ap-2128	42	13	environment	environment	NOUN
ap-2128	42	14	.	.	PUNCT
ap-2128	43	1	signals	signal	NOUN
ap-2128	43	2	from	from	ADP
ap-2128	43	3	the	the	DET
ap-2128	43	4	ssb	ssb	PROPN
ap-2128	43	5	are	be	AUX
ap-2128	43	6	processed	process	VERB
ap-2128	43	7	into	into	ADP
ap-2128	43	8	maps	map	NOUN
ap-2128	43	9	of	of	ADP
ap-2128	43	10	objects	object	NOUN
ap-2128	43	11	in	in	ADP
ap-2128	43	12	the	the	DET
ap-2128	43	13	environment	environment	NOUN
ap-2128	43	14	.	.	PUNCT
ap-2128	44	1	the	the	DET
ap-2128	44	2	signal	signal	ADJ
ap-2128	44	3	comparator	comparator	NOUN
ap-2128	44	4	and	and	CCONJ
ap-2128	44	5	the	the	DET
ap-2128	44	6	control	control	NOUN
ap-2128	44	7	unit	unit	NOUN
ap-2128	44	8	can	can	AUX
ap-2128	44	9	differentiate	differentiate	VERB
ap-2128	44	10	between	between	ADP
ap-2128	44	11	safe	safe	ADJ
ap-2128	44	12	and	and	CCONJ
ap-2128	44	13	dangerous	dangerous	ADJ
ap-2128	44	14	objects	object	NOUN
ap-2128	44	15	and	and	CCONJ
ap-2128	44	16	environments	environment	NOUN
ap-2128	44	17	,	,	PUNCT
ap-2128	44	18	and	and	CCONJ
ap-2128	44	19	help	help	VERB
ap-2128	44	20	to	to	PART
ap-2128	44	21	choose	choose	VERB
ap-2128	44	22	an	an	DET
ap-2128	44	23	adequate	adequate	ADJ
ap-2128	44	24	reaction	reaction	NOUN
ap-2128	44	25	.	.	PUNCT
ap-2128	45	1	an	an	DET
ap-2128	45	2	artificial	artificial	ADJ
ap-2128	45	3	limb	limb	NOUN
ap-2128	45	4	with	with	ADP
ap-2128	45	5	the	the	DET
ap-2128	45	6	designed	design	VERB
ap-2128	45	7	control	control	NOUN
ap-2128	45	8	system	system	NOUN
ap-2128	45	9	could	could	AUX
ap-2128	45	10	be	be	AUX
ap-2128	45	11	a	a	DET
ap-2128	45	12	semiautomatic	semiautomatic	ADJ
ap-2128	45	13	robot	robot	NOUN
ap-2128	45	14	,	,	PUNCT
ap-2128	45	15	which	which	PRON
ap-2128	45	16	does	do	AUX
ap-2128	45	17	not	not	PART
ap-2128	45	18	need	need	VERB
ap-2128	45	19	direct	direct	ADJ
ap-2128	45	20	control	control	NOUN
ap-2128	45	21	by	by	ADP
ap-2128	45	22	the	the	DET
ap-2128	45	23	patient	patient	NOUN
ap-2128	45	24	.	.	PUNCT
ap-2128	46	1	the	the	DET
ap-2128	46	2	proposed	propose	VERB
ap-2128	46	3	systems	system	NOUN
ap-2128	46	4	and	and	CCONJ
ap-2128	46	5	methods	method	NOUN
ap-2128	46	6	are	be	AUX
ap-2128	46	7	tested	test	VERB
ap-2128	46	8	and	and	CCONJ
ap-2128	46	9	installed	instal	VERB
ap-2128	46	10	on	on	ADP
ap-2128	46	11	the	the	DET
ap-2128	46	12	myoelectric	myoelectric	PROPN
ap-2128	46	13	ra	ra	PROPN
ap-2128	46	14	,	,	PUNCT
ap-2128	46	15	which	which	PRON
ap-2128	46	16	is	be	AUX
ap-2128	46	17	controlled	control	VERB
ap-2128	46	18	by	by	ADP
ap-2128	46	19	matlab	matlab	PROPN
ap-2128	46	20	(	(	PUNCT
ap-2128	46	21	mathworks	mathworks	PROPN
ap-2128	46	22	,	,	PUNCT
ap-2128	46	23	inc	inc	PROPN
ap-2128	46	24	.	.	PROPN
ap-2128	46	25	)	)	PUNCT
ap-2128	46	26	software	software	NOUN
ap-2128	47	1	[	[	X
ap-2128	47	2	15	15	NUM
ap-2128	47	3	]	]	PUNCT
ap-2128	47	4	.	.	PUNCT
ap-2128	48	1	the	the	DET
ap-2128	48	2	mechanical	mechanical	ADJ
ap-2128	48	3	design	design	NOUN
ap-2128	48	4	of	of	ADP
ap-2128	48	5	the	the	DET
ap-2128	48	6	ra	ra	PROPN
ap-2128	48	7	is	be	AUX
ap-2128	48	8	based	base	VERB
ap-2128	48	9	on	on	ADP
ap-2128	48	10	the	the	DET
ap-2128	48	11	al5d	al5d	PROPN
ap-2128	48	12	robotic	robotic	ADJ
ap-2128	48	13	kit	kit	NOUN
ap-2128	48	14	(	(	PUNCT
ap-2128	48	15	lynxmotion	lynxmotion	PROPN
ap-2128	48	16	,	,	PUNCT
ap-2128	48	17	inc	inc	PROPN
ap-2128	48	18	.	.	PROPN
ap-2128	48	19	)	)	PUNCT
ap-2128	48	20	and	and	CCONJ
ap-2128	48	21	seven	seven	NUM
ap-2128	48	22	electric	electric	ADJ
ap-2128	48	23	rotary	rotary	NOUN
ap-2128	48	24	actuators	actuator	NOUN
ap-2128	48	25	(	(	PUNCT
ap-2128	48	26	servomotors	servomotor	NOUN
ap-2128	48	27	)	)	PUNCT
ap-2128	48	28	to	to	PART
ap-2128	48	29	allow	allow	VERB
ap-2128	48	30	one	one	NUM
ap-2128	48	31	translational	translational	ADJ
ap-2128	48	32	motion	motion	NOUN
ap-2128	48	33	(	(	PUNCT
ap-2128	48	34	hand	hand	NOUN
ap-2128	48	35	:	:	PUNCT
ap-2128	48	36	1dof	1dof	NUM
ap-2128	48	37	)	)	PUNCT
ap-2128	48	38	and	and	CCONJ
ap-2128	48	39	six	six	NUM
ap-2128	48	40	rotational	rotational	ADJ
ap-2128	48	41	motions	motion	NOUN
ap-2128	48	42	(	(	PUNCT
ap-2128	48	43	wrist	wrist	NOUN
ap-2128	48	44	:	:	PUNCT
ap-2128	48	45	2dof	2dof	NOUN
ap-2128	48	46	,	,	PUNCT
ap-2128	48	47	elbow	elbow	VERB
ap-2128	48	48	1dof	1dof	NUM
ap-2128	48	49	,	,	PUNCT
ap-2128	48	50	shoulder	shoulder	NOUN
ap-2128	48	51	:	:	PUNCT
ap-2128	48	52	3dof	3dof	NUM
ap-2128	48	53	)	)	PUNCT
ap-2128	48	54	.	.	PUNCT
ap-2128	49	1	2.1	2.1	NUM
ap-2128	49	2	.	.	PUNCT
ap-2128	49	3	preprocessing	preprocesse	VERB
ap-2128	49	4	the	the	DET
ap-2128	49	5	emg	emg	NOUN
ap-2128	49	6	signal	signal	PROPN
ap-2128	49	7	emg	emg	NOUN
ap-2128	49	8	sensors	sensor	NOUN
ap-2128	49	9	with	with	ADP
ap-2128	49	10	electrodes	electrode	NOUN
ap-2128	49	11	are	be	AUX
ap-2128	49	12	used	use	VERB
ap-2128	49	13	for	for	ADP
ap-2128	49	14	recording	recording	NOUN
ap-2128	49	15	and	and	CCONJ
ap-2128	49	16	data	datum	NOUN
ap-2128	49	17	preprocessing	preprocessing	NOUN
ap-2128	49	18	of	of	ADP
ap-2128	49	19	the	the	DET
ap-2128	49	20	emg	emg	NOUN
ap-2128	49	21	signal	signal	NOUN
ap-2128	49	22	.	.	PUNCT
ap-2128	50	1	the	the	DET
ap-2128	50	2	signal	signal	NOUN
ap-2128	50	3	is	be	AUX
ap-2128	50	4	filtered	filter	VERB
ap-2128	50	5	and	and	CCONJ
ap-2128	50	6	the	the	DET
ap-2128	50	7	emg	emg	NOUN
ap-2128	50	8	signal	signal	NOUN
ap-2128	50	9	envelopes	envelope	NOUN
ap-2128	50	10	are	be	AUX
ap-2128	50	11	calculated	calculate	VERB
ap-2128	50	12	[	[	X
ap-2128	50	13	16	16	NUM
ap-2128	50	14	,	,	PUNCT
ap-2128	50	15	17	17	NUM
ap-2128	50	16	]	]	PUNCT
ap-2128	50	17	.	.	PUNCT
ap-2128	51	1	the	the	DET
ap-2128	51	2	envelope	envelope	NOUN
ap-2128	51	3	is	be	AUX
ap-2128	51	4	processed	process	VERB
ap-2128	51	5	in	in	ADP
ap-2128	51	6	accordance	accordance	NOUN
ap-2128	51	7	with	with	ADP
ap-2128	51	8	the	the	DET
ap-2128	51	9	control	control	NOUN
ap-2128	51	10	method	method	NOUN
ap-2128	51	11	that	that	PRON
ap-2128	51	12	is	be	AUX
ap-2128	51	13	used	use	VERB
ap-2128	51	14	.	.	PUNCT
ap-2128	52	1	this	this	PRON
ap-2128	52	2	can	can	AUX
ap-2128	52	3	be	be	AUX
ap-2128	52	4	based	base	VERB
ap-2128	52	5	on	on	ADP
ap-2128	52	6	forward	forward	ADJ
ap-2128	52	7	kinematics	kinematic	NOUN
ap-2128	52	8	(	(	PUNCT
ap-2128	52	9	fk	fk	INTJ
ap-2128	52	10	)	)	PUNCT
ap-2128	52	11	or	or	CCONJ
ap-2128	52	12	on	on	ADP
ap-2128	52	13	inverse	inverse	NOUN
ap-2128	52	14	kinematics	kinematic	NOUN
ap-2128	52	15	(	(	PUNCT
ap-2128	52	16	ik	ik	PROPN
ap-2128	52	17	)	)	PUNCT
ap-2128	52	18	.	.	PUNCT
ap-2128	53	1	if	if	SCONJ
ap-2128	53	2	the	the	DET
ap-2128	53	3	ra	ra	PROPN
ap-2128	53	4	is	be	AUX
ap-2128	53	5	controlled	control	VERB
ap-2128	53	6	by	by	ADP
ap-2128	53	7	the	the	DET
ap-2128	53	8	fk	fk	PROPN
ap-2128	53	9	method	method	NOUN
ap-2128	53	10	,	,	PUNCT
ap-2128	53	11	the	the	DET
ap-2128	53	12	emg	emg	NOUN
ap-2128	53	13	signal	signal	NOUN
ap-2128	53	14	envelope	envelope	NOUN
ap-2128	53	15	is	be	AUX
ap-2128	53	16	adjusted	adjust	VERB
ap-2128	53	17	so	so	SCONJ
ap-2128	53	18	that	that	SCONJ
ap-2128	53	19	the	the	DET
ap-2128	53	20	angle	angle	NOUN
ap-2128	53	21	or	or	CCONJ
ap-2128	53	22	the	the	DET
ap-2128	53	23	angular	angular	ADJ
ap-2128	53	24	velocity	velocity	NOUN
ap-2128	53	25	of	of	ADP
ap-2128	53	26	the	the	DET
ap-2128	53	27	actuator	actuator	NOUN
ap-2128	53	28	is	be	AUX
ap-2128	53	29	proportional	proportional	ADJ
ap-2128	53	30	to	to	ADP
ap-2128	53	31	the	the	DET
ap-2128	53	32	magnitude	magnitude	NOUN
ap-2128	53	33	of	of	ADP
ap-2128	53	34	the	the	DET
ap-2128	53	35	envelope	envelope	NOUN
ap-2128	53	36	.	.	PUNCT
ap-2128	54	1	the	the	DET
ap-2128	54	2	position	position	NOUN
ap-2128	54	3	control	control	NOUN
ap-2128	54	4	of	of	ADP
ap-2128	54	5	the	the	DET
ap-2128	54	6	actuators	actuator	NOUN
ap-2128	54	7	using	use	VERB
ap-2128	54	8	the	the	DET
ap-2128	54	9	ik	ik	PROPN
ap-2128	54	10	method	method	NOUN
ap-2128	54	11	[	[	X
ap-2128	54	12	15	15	NUM
ap-2128	54	13	,	,	PUNCT
ap-2128	54	14	18	18	NUM
ap-2128	54	15	]	]	PUNCT
ap-2128	54	16	is	be	AUX
ap-2128	54	17	based	base	VERB
ap-2128	54	18	on	on	ADP
ap-2128	54	19	knowledge	knowledge	NOUN
ap-2128	54	20	of	of	ADP
ap-2128	54	21	the	the	DET
ap-2128	54	22	distance	distance	NOUN
ap-2128	54	23	of	of	ADP
ap-2128	54	24	the	the	DET
ap-2128	54	25	displacement	displacement	NOUN
ap-2128	54	26	or	or	CCONJ
ap-2128	54	27	the	the	DET
ap-2128	54	28	translational	translational	ADJ
ap-2128	54	29	velocity	velocity	NOUN
ap-2128	54	30	of	of	ADP
ap-2128	54	31	the	the	DET
ap-2128	54	32	arm	arm	NOUN
ap-2128	54	33	endpoint	endpoint	NOUN
ap-2128	54	34	(	(	PUNCT
ap-2128	54	35	in	in	ADP
ap-2128	54	36	the	the	DET
ap-2128	54	37	defined	define	VERB
ap-2128	54	38	3d	3d	NUM
ap-2128	54	39	coordinate	coordinate	NOUN
ap-2128	54	40	system	system	NOUN
ap-2128	54	41	)	)	PUNCT
ap-2128	54	42	.	.	PUNCT
ap-2128	55	1	the	the	DET
ap-2128	55	2	distance	distance	NOUN
ap-2128	55	3	of	of	ADP
ap-2128	55	4	the	the	DET
ap-2128	55	5	displacement	displacement	NOUN
ap-2128	55	6	is	be	AUX
ap-2128	55	7	proportional	proportional	ADJ
ap-2128	55	8	to	to	ADP
ap-2128	55	9	the	the	DET
ap-2128	55	10	magnitude	magnitude	NOUN
ap-2128	55	11	of	of	ADP
ap-2128	55	12	the	the	DET
ap-2128	55	13	envelope	envelope	NOUN
ap-2128	55	14	.	.	PUNCT
ap-2128	56	1	as	as	ADP
ap-2128	56	2	in	in	ADP
ap-2128	56	3	cases	case	NOUN
ap-2128	56	4	when	when	SCONJ
ap-2128	56	5	fk	fk	PRON
ap-2128	56	6	control	control	NOUN
ap-2128	56	7	is	be	AUX
ap-2128	56	8	applied	apply	VERB
ap-2128	56	9	,	,	PUNCT
ap-2128	56	10	the	the	DET
ap-2128	56	11	envelope	envelope	NOUN
ap-2128	56	12	carries	carry	VERB
ap-2128	56	13	information	information	NOUN
ap-2128	56	14	about	about	ADP
ap-2128	56	15	the	the	DET
ap-2128	56	16	angular	angular	ADJ
ap-2128	56	17	velocity	velocity	NOUN
ap-2128	56	18	of	of	ADP
ap-2128	56	19	the	the	DET
ap-2128	56	20	joint	joint	NOUN
ap-2128	56	21	and	and	CCONJ
ap-2128	56	22	the	the	DET
ap-2128	56	23	direction	direction	NOUN
ap-2128	56	24	of	of	ADP
ap-2128	56	25	rotation	rotation	NOUN
ap-2128	56	26	of	of	ADP
ap-2128	56	27	the	the	DET
ap-2128	56	28	actuators	actuator	NOUN
ap-2128	56	29	[	[	X
ap-2128	56	30	15	15	NUM
ap-2128	56	31	]	]	PUNCT
ap-2128	56	32	.	.	PUNCT
ap-2128	57	1	two	two	NUM
ap-2128	57	2	methods	method	NOUN
ap-2128	57	3	are	be	AUX
ap-2128	57	4	used	use	VERB
ap-2128	57	5	for	for	ADP
ap-2128	57	6	controlling	control	VERB
ap-2128	57	7	the	the	DET
ap-2128	57	8	actuators	actuator	NOUN
ap-2128	57	9	:	:	PUNCT
ap-2128	57	10	a	a	DET
ap-2128	57	11	method	method	NOUN
ap-2128	57	12	with	with	ADP
ap-2128	57	13	two	two	NUM
ap-2128	57	14	levels	level	NOUN
ap-2128	57	15	of	of	ADP
ap-2128	57	16	magnitude	magnitude	NOUN
ap-2128	57	17	of	of	ADP
ap-2128	57	18	the	the	DET
ap-2128	57	19	envelope	envelope	NOUN
ap-2128	57	20	,	,	PUNCT
ap-2128	57	21	and	and	CCONJ
ap-2128	57	22	a	a	DET
ap-2128	57	23	method	method	NOUN
ap-2128	57	24	with	with	ADP
ap-2128	57	25	two	two	NUM
ap-2128	57	26	levels	level	NOUN
ap-2128	57	27	of	of	ADP
ap-2128	57	28	the	the	DET
ap-2128	57	29	slope	slope	NOUN
ap-2128	57	30	of	of	ADP
ap-2128	57	31	the	the	DET
ap-2128	57	32	envelope	envelope	NOUN
ap-2128	57	33	,	,	PUNCT
ap-2128	57	34	fig	fig	NOUN
ap-2128	57	35	.	.	PUNCT
ap-2128	58	1	2	2	X
ap-2128	58	2	.	.	X
ap-2128	58	3	in	in	ADP
ap-2128	58	4	both	both	DET
ap-2128	58	5	cases	case	NOUN
ap-2128	58	6	,	,	PUNCT
ap-2128	58	7	the	the	DET
ap-2128	58	8	threshold	threshold	NOUN
ap-2128	58	9	value	value	NOUN
ap-2128	58	10	(	(	PUNCT
ap-2128	58	11	1st	1st	ADJ
ap-2128	58	12	level	level	NOUN
ap-2128	58	13	)	)	PUNCT
ap-2128	58	14	of	of	ADP
ap-2128	58	15	the	the	DET
ap-2128	58	16	minimum	minimum	ADJ
ap-2128	58	17	magnitude	magnitude	NOUN
ap-2128	58	18	of	of	ADP
ap-2128	58	19	the	the	DET
ap-2128	58	20	envelope	envelope	NOUN
ap-2128	58	21	is	be	AUX
ap-2128	58	22	used	use	VERB
ap-2128	58	23	to	to	PART
ap-2128	58	24	control	control	VERB
ap-2128	58	25	the	the	DET
ap-2128	58	26	start	start	NOUN
ap-2128	58	27	/	/	SYM
ap-2128	58	28	stop	stop	NOUN
ap-2128	58	29	of	of	ADP
ap-2128	58	30	the	the	DET
ap-2128	58	31	actuators	actuator	NOUN
ap-2128	58	32	,	,	PUNCT
ap-2128	58	33	fig	fig	NOUN
ap-2128	58	34	.	.	PUNCT
ap-2128	59	1	2	2	X
ap-2128	59	2	.	.	X
ap-2128	59	3	the	the	DET
ap-2128	59	4	application	application	NOUN
ap-2128	59	5	of	of	ADP
ap-2128	59	6	the	the	DET
ap-2128	59	7	two	two	NUM
ap-2128	59	8	methods	method	NOUN
ap-2128	59	9	will	will	AUX
ap-2128	59	10	be	be	AUX
ap-2128	59	11	described	describe	VERB
ap-2128	59	12	using	use	VERB
ap-2128	59	13	fk	fk	INTJ
ap-2128	59	14	.	.	PUNCT
ap-2128	60	1	the	the	DET
ap-2128	60	2	emg	emg	NOUN
ap-2128	60	3	signal	signal	PROPN
ap-2128	60	4	envelope	envelope	NOUN
ap-2128	60	5	has	have	VERB
ap-2128	60	6	various	various	ADJ
ap-2128	60	7	magnitudes	magnitude	NOUN
ap-2128	60	8	(	(	PUNCT
ap-2128	60	9	i.e.	i.e.	X
ap-2128	60	10	,	,	PUNCT
ap-2128	60	11	intensity	intensity	NOUN
ap-2128	60	12	)	)	PUNCT
ap-2128	60	13	,	,	PUNCT
ap-2128	60	14	fig	fig	NOUN
ap-2128	60	15	.	.	PUNCT
ap-2128	61	1	2	2	X
ap-2128	61	2	.	.	X
ap-2128	61	3	the	the	DET
ap-2128	61	4	control	control	PROPN
ap-2128	61	5	unit	unit	NOUN
ap-2128	61	6	uses	use	VERB
ap-2128	61	7	the	the	DET
ap-2128	61	8	variable	variable	ADJ
ap-2128	61	9	magnitude	magnitude	NOUN
ap-2128	61	10	of	of	ADP
ap-2128	61	11	the	the	DET
ap-2128	61	12	envelope	envelope	NOUN
ap-2128	61	13	.	.	PUNCT
ap-2128	62	1	the	the	DET
ap-2128	62	2	expected	expect	VERB
ap-2128	62	3	range	range	NOUN
ap-2128	62	4	of	of	ADP
ap-2128	62	5	magnitude	magnitude	NOUN
ap-2128	62	6	of	of	ADP
ap-2128	62	7	the	the	DET
ap-2128	62	8	emg	emg	NOUN
ap-2128	62	9	signal	signal	PROPN
ap-2128	62	10	envelope	envelope	NOUN
ap-2128	62	11	is	be	AUX
ap-2128	62	12	divided	divide	VERB
ap-2128	62	13	into	into	ADP
ap-2128	62	14	two	two	NUM
ap-2128	62	15	levels	level	NOUN
ap-2128	62	16	.	.	PUNCT
ap-2128	63	1	the	the	DET
ap-2128	63	2	proband	proband	NOUN
ap-2128	63	3	controls	control	VERB
ap-2128	63	4	the	the	DET
ap-2128	63	5	actuators	actuator	NOUN
ap-2128	63	6	by	by	ADP
ap-2128	63	7	varying	vary	VERB
ap-2128	63	8	the	the	DET
ap-2128	63	9	intensity	intensity	NOUN
ap-2128	63	10	of	of	ADP
ap-2128	63	11	muscle	muscle	NOUN
ap-2128	63	12	activation	activation	NOUN
ap-2128	63	13	.	.	PUNCT
ap-2128	64	1	low	low	ADJ
ap-2128	64	2	muscle	muscle	NOUN
ap-2128	64	3	contraction	contraction	NOUN
ap-2128	64	4	intensity	intensity	NOUN
ap-2128	64	5	creates	create	VERB
ap-2128	64	6	an	an	DET
ap-2128	64	7	envelope	envelope	NOUN
ap-2128	64	8	of	of	ADP
ap-2128	64	9	small	small	ADJ
ap-2128	64	10	magnitude	magnitude	NOUN
ap-2128	64	11	,	,	PUNCT
ap-2128	64	12	and	and	CCONJ
ap-2128	64	13	high	high	ADJ
ap-2128	64	14	muscle	muscle	NOUN
ap-2128	64	15	contraction	contraction	NOUN
ap-2128	64	16	intensity	intensity	NOUN
ap-2128	64	17	creates	create	VERB
ap-2128	64	18	an	an	DET
ap-2128	64	19	envelope	envelope	NOUN
ap-2128	64	20	of	of	ADP
ap-2128	64	21	high	high	ADJ
ap-2128	64	22	magnitude	magnitude	NOUN
ap-2128	65	1	[	[	X
ap-2128	65	2	6	6	NUM
ap-2128	65	3	]	]	PUNCT
ap-2128	65	4	.	.	PUNCT
ap-2128	66	1	the	the	DET
ap-2128	66	2	intensity	intensity	NOUN
ap-2128	66	3	of	of	ADP
ap-2128	66	4	the	the	DET
ap-2128	66	5	muscle	muscle	NOUN
ap-2128	66	6	contraction	contraction	NOUN
ap-2128	66	7	also	also	ADV
ap-2128	66	8	determines	determine	VERB
ap-2128	66	9	the	the	DET
ap-2128	66	10	direction	direction	NOUN
ap-2128	66	11	of	of	ADP
ap-2128	66	12	rotation	rotation	NOUN
ap-2128	66	13	of	of	ADP
ap-2128	66	14	the	the	DET
ap-2128	66	15	joint	joint	ADJ
ap-2128	66	16	actuator	actuator	NOUN
ap-2128	66	17	(	(	PUNCT
ap-2128	66	18	flexion	flexion	NOUN
ap-2128	66	19	,	,	PUNCT
ap-2128	66	20	extension	extension	NOUN
ap-2128	66	21	,	,	PUNCT
ap-2128	66	22	etc	etc	X
ap-2128	66	23	.	.	X
ap-2128	66	24	)	)	PUNCT
ap-2128	66	25	.	.	PUNCT
ap-2128	67	1	the	the	DET
ap-2128	67	2	joint	joint	ADJ
ap-2128	67	3	actuator	actuator	NOUN
ap-2128	67	4	performs	perform	VERB
ap-2128	67	5	the	the	DET
ap-2128	67	6	extension	extension	NOUN
ap-2128	67	7	in	in	ADP
ap-2128	67	8	a	a	DET
ap-2128	67	9	joint	joint	ADJ
ap-2128	67	10	(	(	PUNCT
ap-2128	67	11	i.e.	i.e.	X
ap-2128	67	12	,	,	PUNCT
ap-2128	67	13	the	the	DET
ap-2128	67	14	actuator	actuator	NOUN
ap-2128	67	15	at	at	ADP
ap-2128	67	16	the	the	DET
ap-2128	67	17	elbow	elbow	NOUN
ap-2128	67	18	)	)	PUNCT
ap-2128	67	19	after	after	SCONJ
ap-2128	67	20	a	a	DET
ap-2128	67	21	pre	pre	ADJ
ap-2128	67	22	-	-	ADJ
ap-2128	67	23	defined	define	VERB
ap-2128	67	24	threshold	threshold	NOUN
ap-2128	67	25	value	value	NOUN
ap-2128	67	26	is	be	AUX
ap-2128	67	27	exceeded	exceed	VERB
ap-2128	67	28	,	,	PUNCT
ap-2128	67	29	i.e.	i.e.	X
ap-2128	67	30	,	,	PUNCT
ap-2128	67	31	a	a	DET
ap-2128	67	32	defined	define	VERB
ap-2128	67	33	level	level	NOUN
ap-2128	67	34	of	of	ADP
ap-2128	67	35	magnitude	magnitude	NOUN
ap-2128	67	36	of	of	ADP
ap-2128	67	37	the	the	DET
ap-2128	67	38	envelope	envelope	NOUN
ap-2128	67	39	(	(	PUNCT
ap-2128	67	40	2nd	2nd	ADJ
ap-2128	67	41	level	level	NOUN
ap-2128	67	42	,	,	PUNCT
ap-2128	67	43	fig	fig	NOUN
ap-2128	67	44	.	.	PUNCT
ap-2128	68	1	2	2	NUM
ap-2128	68	2	)	)	PUNCT
ap-2128	68	3	.	.	PUNCT
ap-2128	69	1	the	the	DET
ap-2128	69	2	joint	joint	ADJ
ap-2128	69	3	actuator	actuator	NOUN
ap-2128	69	4	performs	perform	VERB
ap-2128	69	5	the	the	DET
ap-2128	69	6	flexion	flexion	NOUN
ap-2128	69	7	in	in	ADP
ap-2128	69	8	a	a	DET
ap-2128	69	9	joint	joint	NOUN
ap-2128	69	10	if	if	SCONJ
ap-2128	69	11	the	the	DET
ap-2128	69	12	magnitude	magnitude	NOUN
ap-2128	69	13	of	of	ADP
ap-2128	69	14	the	the	DET
ap-2128	69	15	envelope	envelope	NOUN
ap-2128	69	16	is	be	AUX
ap-2128	69	17	smaller	small	ADJ
ap-2128	69	18	than	than	ADP
ap-2128	69	19	a	a	DET
ap-2128	69	20	pre	pre	ADJ
ap-2128	69	21	-	-	ADJ
ap-2128	69	22	defined	define	VERB
ap-2128	69	23	threshold	threshold	NOUN
ap-2128	69	24	value	value	NOUN
ap-2128	69	25	(	(	PUNCT
ap-2128	69	26	2nd	2nd	ADJ
ap-2128	69	27	level	level	NOUN
ap-2128	69	28	,	,	PUNCT
ap-2128	69	29	fig	fig	NOUN
ap-2128	69	30	.	.	PUNCT
ap-2128	70	1	2	2	NUM
ap-2128	70	2	)	)	PUNCT
ap-2128	70	3	.	.	PUNCT
ap-2128	71	1	the	the	DET
ap-2128	71	2	instantaneous	instantaneous	ADJ
ap-2128	71	3	value	value	NOUN
ap-2128	71	4	for	for	ADP
ap-2128	71	5	the	the	DET
ap-2128	71	6	magnitude	magnitude	NOUN
ap-2128	71	7	of	of	ADP
ap-2128	71	8	the	the	DET
ap-2128	71	9	envelope	envelope	NOUN
ap-2128	71	10	within	within	ADP
ap-2128	71	11	the	the	DET
ap-2128	71	12	range	range	NOUN
ap-2128	71	13	defined	define	VERB
ap-2128	71	14	by	by	ADP
ap-2128	71	15	the	the	DET
ap-2128	71	16	pre	pre	ADJ
ap-2128	71	17	-	-	ADJ
ap-2128	71	18	defined	define	VERB
ap-2128	71	19	threshold	threshold	NOUN
ap-2128	71	20	values	value	NOUN
ap-2128	71	21	determines	determine	VERB
ap-2128	71	22	the	the	DET
ap-2128	71	23	angular	angular	ADJ
ap-2128	71	24	velocity	velocity	NOUN
ap-2128	71	25	.	.	PUNCT
ap-2128	72	1	the	the	DET
ap-2128	72	2	second	second	ADJ
ap-2128	72	3	method	method	NOUN
ap-2128	72	4	is	be	AUX
ap-2128	72	5	based	base	VERB
ap-2128	72	6	on	on	ADP
ap-2128	72	7	the	the	DET
ap-2128	72	8	level	level	NOUN
ap-2128	72	9	of	of	ADP
ap-2128	72	10	the	the	DET
ap-2128	72	11	slope	slope	NOUN
ap-2128	72	12	of	of	ADP
ap-2128	72	13	the	the	DET
ap-2128	72	14	envelope	envelope	NOUN
ap-2128	72	15	.	.	PUNCT
ap-2128	73	1	if	if	SCONJ
ap-2128	73	2	the	the	DET
ap-2128	73	3	rate	rate	NOUN
ap-2128	73	4	of	of	ADP
ap-2128	73	5	the	the	DET
ap-2128	73	6	patient	patient	NOUN
ap-2128	73	7	’s	’s	PART
ap-2128	73	8	muscle	muscle	NOUN
ap-2128	73	9	contraction	contraction	NOUN
ap-2128	73	10	is	be	AUX
ap-2128	73	11	higher	high	ADJ
ap-2128	73	12	,	,	PUNCT
ap-2128	73	13	the	the	DET
ap-2128	73	14	slope	slope	NOUN
ap-2128	73	15	of	of	ADP
ap-2128	73	16	the	the	DET
ap-2128	73	17	envelope	envelope	NOUN
ap-2128	73	18	of	of	ADP
ap-2128	73	19	the	the	DET
ap-2128	73	20	emg	emg	NOUN
ap-2128	73	21	signal	signal	NOUN
ap-2128	73	22	is	be	AUX
ap-2128	73	23	steeper	steep	ADJ
ap-2128	73	24	,	,	PUNCT
ap-2128	73	25	and	and	CCONJ
ap-2128	73	26	vice	vice	ADV
ap-2128	73	27	versa	versa	ADV
ap-2128	73	28	.	.	PUNCT
ap-2128	74	1	the	the	DET
ap-2128	74	2	value	value	NOUN
ap-2128	74	3	for	for	ADP
ap-2128	74	4	the	the	DET
ap-2128	74	5	magnitude	magnitude	NOUN
ap-2128	74	6	of	of	ADP
ap-2128	74	7	the	the	DET
ap-2128	74	8	slope	slope	NOUN
ap-2128	74	9	of	of	ADP
ap-2128	74	10	the	the	DET
ap-2128	74	11	envelope	envelope	NOUN
ap-2128	74	12	deter198	deter198	PROPN
ap-2128	74	13	vol	vol	NOUN
ap-2128	74	14	.	.	PUNCT
ap-2128	75	1	54	54	NUM
ap-2128	75	2	no	no	NOUN
ap-2128	75	3	.	.	PUNCT
ap-2128	76	1	3/2014	3/2014	NUM
ap-2128	76	2	a	a	DET
ap-2128	76	3	myoelectric	myoelectric	ADJ
ap-2128	76	4	prosthetic	prosthetic	ADJ
ap-2128	76	5	arm	arm	NOUN
ap-2128	76	6	controlled	control	VERB
ap-2128	76	7	by	by	ADP
ap-2128	76	8	a	a	DET
ap-2128	76	9	sensor	sensor	NOUN
ap-2128	76	10	-	-	PUNCT
ap-2128	76	11	actuator	actuator	NOUN
ap-2128	76	12	loop	loop	NOUN
ap-2128	76	13	figure	figure	NOUN
ap-2128	76	14	2	2	NUM
ap-2128	76	15	.	.	NOUN
ap-2128	76	16	method	method	NOUN
ap-2128	76	17	of	of	ADP
ap-2128	76	18	two	two	NUM
ap-2128	76	19	levels	level	NOUN
ap-2128	76	20	of	of	ADP
ap-2128	76	21	magnitude	magnitude	NOUN
ap-2128	76	22	of	of	ADP
ap-2128	76	23	the	the	DET
ap-2128	76	24	emg	emg	NOUN
ap-2128	76	25	signal	signal	PROPN
ap-2128	76	26	envelope	envelope	PROPN
ap-2128	76	27	(	(	PUNCT
ap-2128	76	28	i.	i.	NOUN
ap-2128	76	29	)	)	PUNCT
ap-2128	76	30	and	and	CCONJ
ap-2128	76	31	method	method	NOUN
ap-2128	76	32	of	of	ADP
ap-2128	76	33	level	level	NOUN
ap-2128	76	34	of	of	ADP
ap-2128	76	35	the	the	DET
ap-2128	76	36	slope	slope	NOUN
ap-2128	76	37	of	of	ADP
ap-2128	76	38	the	the	DET
ap-2128	76	39	envelope	envelope	NOUN
ap-2128	76	40	of	of	ADP
ap-2128	76	41	the	the	DET
ap-2128	76	42	emg	emg	NOUN
ap-2128	76	43	signal	signal	NOUN
ap-2128	76	44	(	(	PUNCT
ap-2128	76	45	ii	ii	PROPN
ap-2128	76	46	.	.	PUNCT
ap-2128	76	47	)	)	PUNCT
ap-2128	76	48	.	.	PUNCT
ap-2128	77	1	mines	mine	NOUN
ap-2128	77	2	the	the	DET
ap-2128	77	3	direction	direction	NOUN
ap-2128	77	4	of	of	ADP
ap-2128	77	5	rotation	rotation	NOUN
ap-2128	77	6	of	of	ADP
ap-2128	77	7	the	the	DET
ap-2128	77	8	joint	joint	ADJ
ap-2128	77	9	actuator	actuator	NOUN
ap-2128	77	10	.	.	PUNCT
ap-2128	78	1	again	again	ADV
ap-2128	78	2	,	,	PUNCT
ap-2128	78	3	the	the	DET
ap-2128	78	4	instantaneous	instantaneous	ADJ
ap-2128	78	5	value	value	NOUN
ap-2128	78	6	of	of	ADP
ap-2128	78	7	the	the	DET
ap-2128	78	8	magnitude	magnitude	NOUN
ap-2128	78	9	of	of	ADP
ap-2128	78	10	the	the	DET
ap-2128	78	11	envelope	envelope	NOUN
ap-2128	78	12	determines	determine	VERB
ap-2128	78	13	the	the	DET
ap-2128	78	14	angular	angular	ADJ
ap-2128	78	15	velocity	velocity	NOUN
ap-2128	78	16	.	.	PUNCT
ap-2128	79	1	the	the	DET
ap-2128	79	2	joint	joint	ADJ
ap-2128	79	3	actuator	actuator	NOUN
ap-2128	79	4	performs	perform	VERB
ap-2128	79	5	the	the	DET
ap-2128	79	6	extension	extension	NOUN
ap-2128	79	7	in	in	ADP
ap-2128	79	8	a	a	DET
ap-2128	79	9	joint	joint	ADJ
ap-2128	79	10	(	(	PUNCT
ap-2128	79	11	i.e.	i.e.	X
ap-2128	79	12	,	,	PUNCT
ap-2128	79	13	the	the	DET
ap-2128	79	14	actuator	actuator	NOUN
ap-2128	79	15	at	at	ADP
ap-2128	79	16	the	the	DET
ap-2128	79	17	elbow	elbow	NOUN
ap-2128	79	18	)	)	PUNCT
ap-2128	79	19	after	after	SCONJ
ap-2128	79	20	a	a	DET
ap-2128	79	21	pre	pre	ADJ
ap-2128	79	22	-	-	ADJ
ap-2128	79	23	defined	define	VERB
ap-2128	79	24	level	level	NOUN
ap-2128	79	25	of	of	ADP
ap-2128	79	26	the	the	DET
ap-2128	79	27	slope	slope	NOUN
ap-2128	79	28	of	of	ADP
ap-2128	79	29	the	the	DET
ap-2128	79	30	envelope	envelope	NOUN
ap-2128	79	31	has	have	AUX
ap-2128	79	32	been	be	AUX
ap-2128	79	33	exceeded	exceed	VERB
ap-2128	79	34	.	.	PUNCT
ap-2128	80	1	the	the	DET
ap-2128	80	2	joint	joint	ADJ
ap-2128	80	3	actuator	actuator	NOUN
ap-2128	80	4	performs	perform	VERB
ap-2128	80	5	flexion	flexion	NOUN
ap-2128	80	6	in	in	ADP
ap-2128	80	7	a	a	DET
ap-2128	80	8	joint	joint	NOUN
ap-2128	80	9	if	if	SCONJ
ap-2128	80	10	the	the	DET
ap-2128	80	11	magnitude	magnitude	NOUN
ap-2128	80	12	of	of	ADP
ap-2128	80	13	the	the	DET
ap-2128	80	14	slope	slope	NOUN
ap-2128	80	15	of	of	ADP
ap-2128	80	16	the	the	DET
ap-2128	80	17	envelope	envelope	NOUN
ap-2128	80	18	is	be	AUX
ap-2128	80	19	smaller	small	ADJ
ap-2128	80	20	than	than	ADP
ap-2128	80	21	a	a	DET
ap-2128	80	22	pre	pre	ADJ
ap-2128	80	23	-	-	ADJ
ap-2128	80	24	defined	define	VERB
ap-2128	80	25	level	level	NOUN
ap-2128	80	26	of	of	ADP
ap-2128	80	27	the	the	DET
ap-2128	80	28	slope	slope	NOUN
ap-2128	80	29	,	,	PUNCT
ap-2128	80	30	fig	fig	NOUN
ap-2128	80	31	.	.	PUNCT
ap-2128	81	1	2	2	NUM
ap-2128	81	2	.	.	X
ap-2128	81	3	2.2	2.2	NUM
ap-2128	81	4	.	.	PUNCT
ap-2128	82	1	sensory	sensory	ADJ
ap-2128	82	2	subsystem	subsystem	NOUN
ap-2128	82	3	the	the	DET
ap-2128	82	4	important	important	ADJ
ap-2128	82	5	part	part	NOUN
ap-2128	82	6	of	of	ADP
ap-2128	82	7	the	the	DET
ap-2128	82	8	sensor	sensor	NOUN
ap-2128	82	9	-	-	PUNCT
ap-2128	82	10	actuator	actuator	NOUN
ap-2128	82	11	loop	loop	NOUN
ap-2128	82	12	is	be	AUX
ap-2128	82	13	the	the	DET
ap-2128	82	14	ssb	ssb	PROPN
ap-2128	82	15	,	,	PUNCT
ap-2128	82	16	which	which	PRON
ap-2128	82	17	is	be	AUX
ap-2128	82	18	based	base	VERB
ap-2128	82	19	on	on	ADP
ap-2128	82	20	various	various	ADJ
ap-2128	82	21	types	type	NOUN
ap-2128	82	22	of	of	ADP
ap-2128	82	23	sensors	sensor	NOUN
ap-2128	82	24	to	to	PART
ap-2128	82	25	identify	identify	VERB
ap-2128	82	26	potential	potential	ADJ
ap-2128	82	27	collisions	collision	NOUN
ap-2128	82	28	or	or	CCONJ
ap-2128	82	29	a	a	DET
ap-2128	82	30	potentially	potentially	ADV
ap-2128	82	31	dangerous	dangerous	ADJ
ap-2128	82	32	environment	environment	NOUN
ap-2128	82	33	.	.	PUNCT
ap-2128	83	1	the	the	DET
ap-2128	83	2	most	most	ADV
ap-2128	83	3	important	important	ADJ
ap-2128	83	4	sensors	sensor	NOUN
ap-2128	83	5	are	be	AUX
ap-2128	83	6	ultrasonic	ultrasonic	ADJ
ap-2128	83	7	range	range	NOUN
ap-2128	83	8	sensors	sensor	NOUN
ap-2128	83	9	(	(	PUNCT
ap-2128	83	10	urs	urs	PROPN
ap-2128	83	11	)	)	PUNCT
ap-2128	83	12	for	for	ADP
ap-2128	83	13	identifying	identify	VERB
ap-2128	83	14	objects	object	NOUN
ap-2128	83	15	in	in	ADP
ap-2128	83	16	the	the	DET
ap-2128	83	17	surroundings	surrounding	NOUN
ap-2128	83	18	.	.	PUNCT
ap-2128	84	1	the	the	DET
ap-2128	84	2	sensory	sensory	ADJ
ap-2128	84	3	system	system	NOUN
ap-2128	84	4	is	be	AUX
ap-2128	84	5	therefore	therefore	ADV
ap-2128	84	6	based	base	VERB
ap-2128	84	7	mainly	mainly	ADV
ap-2128	84	8	on	on	ADP
ap-2128	84	9	the	the	DET
ap-2128	84	10	set	set	NOUN
ap-2128	84	11	of	of	ADP
ap-2128	84	12	ultrasonic	ultrasonic	ADJ
ap-2128	84	13	sensors	sensor	NOUN
ap-2128	84	14	for	for	ADP
ap-2128	84	15	distance	distance	NOUN
ap-2128	84	16	measurement	measurement	NOUN
ap-2128	85	1	[	[	X
ap-2128	85	2	15	15	NUM
ap-2128	85	3	,	,	PUNCT
ap-2128	85	4	19–21	19–21	NUM
ap-2128	85	5	]	]	PUNCT
ap-2128	85	6	.	.	PUNCT
ap-2128	86	1	the	the	DET
ap-2128	86	2	set	set	NOUN
ap-2128	86	3	of	of	ADP
ap-2128	86	4	sensors	sensor	NOUN
ap-2128	86	5	is	be	AUX
ap-2128	86	6	composed	compose	VERB
ap-2128	86	7	of	of	ADP
ap-2128	86	8	nine	nine	NUM
ap-2128	86	9	urss	urss	NOUN
ap-2128	86	10	(	(	PUNCT
ap-2128	86	11	srf05	srf05	NOUN
ap-2128	86	12	type	type	NOUN
ap-2128	86	13	,	,	PUNCT
ap-2128	86	14	devantech	devantech	PROPN
ap-2128	86	15	ltd	ltd	PROPN
ap-2128	86	16	.	.	PROPN
ap-2128	86	17	)	)	PUNCT
ap-2128	87	1	and	and	CCONJ
ap-2128	87	2	nine	nine	NUM
ap-2128	87	3	thermophile	thermophile	NOUN
ap-2128	87	4	array	array	NOUN
ap-2128	87	5	sensors	sensor	NOUN
ap-2128	87	6	(	(	PUNCT
ap-2128	87	7	tpas	tpas	PROPN
ap-2128	87	8	)	)	PUNCT
ap-2128	87	9	(	(	PUNCT
ap-2128	87	10	tpa81	tpa81	NOUN
ap-2128	87	11	type	type	VERB
ap-2128	87	12	,	,	PUNCT
ap-2128	87	13	devantech	devantech	PROPN
ap-2128	87	14	ltd	ltd	PROPN
ap-2128	87	15	.	.	PROPN
ap-2128	87	16	)	)	PUNCT
ap-2128	87	17	.	.	PUNCT
ap-2128	88	1	the	the	DET
ap-2128	88	2	sensors	sensor	NOUN
ap-2128	88	3	(	(	PUNCT
ap-2128	88	4	i.e.	i.e.	X
ap-2128	88	5	,	,	PUNCT
ap-2128	88	6	nine	nine	NUM
ap-2128	88	7	urs	urs	NOUN
ap-2128	88	8	and	and	CCONJ
ap-2128	88	9	nine	nine	NUM
ap-2128	88	10	tpas	tpa	NOUN
ap-2128	88	11	)	)	PUNCT
ap-2128	88	12	are	be	AUX
ap-2128	88	13	divided	divide	VERB
ap-2128	88	14	into	into	ADP
ap-2128	88	15	three	three	NUM
ap-2128	88	16	blocks	block	NOUN
ap-2128	88	17	:	:	PUNCT
ap-2128	88	18	the	the	DET
ap-2128	88	19	manus	manus	NOUN
ap-2128	88	20	(	(	PUNCT
ap-2128	88	21	hand	hand	NOUN
ap-2128	88	22	)	)	PUNCT
ap-2128	88	23	block	block	NOUN
ap-2128	88	24	contains	contain	VERB
ap-2128	88	25	1xurs	1xurs	NUM
ap-2128	88	26	and	and	CCONJ
ap-2128	88	27	1xtpas	1xtpas	NUM
ap-2128	88	28	sensor	sensor	NOUN
ap-2128	88	29	(	(	PUNCT
ap-2128	88	30	scanning	scan	VERB
ap-2128	88	31	the	the	DET
ap-2128	88	32	space	space	NOUN
ap-2128	88	33	before	before	ADP
ap-2128	88	34	the	the	DET
ap-2128	88	35	hand	hand	NOUN
ap-2128	88	36	)	)	PUNCT
ap-2128	88	37	;	;	PUNCT
ap-2128	88	38	the	the	DET
ap-2128	88	39	antebrachium	antebrachium	NOUN
ap-2128	88	40	(	(	PUNCT
ap-2128	88	41	forearm	forearm	NOUN
ap-2128	88	42	)	)	PUNCT
ap-2128	88	43	block	block	NOUN
ap-2128	88	44	contains	contain	VERB
ap-2128	88	45	4xurs	4xurs	NUM
ap-2128	88	46	and	and	CCONJ
ap-2128	88	47	4xtpas	4xtpas	NUM
ap-2128	88	48	(	(	PUNCT
ap-2128	88	49	scanning	scan	VERB
ap-2128	88	50	the	the	DET
ap-2128	88	51	space	space	NOUN
ap-2128	88	52	around	around	ADP
ap-2128	88	53	the	the	DET
ap-2128	88	54	forearm	forearm	NOUN
ap-2128	88	55	)	)	PUNCT
ap-2128	88	56	;	;	PUNCT
ap-2128	88	57	and	and	CCONJ
ap-2128	88	58	the	the	DET
ap-2128	88	59	brachium	brachium	NOUN
ap-2128	88	60	(	(	PUNCT
ap-2128	88	61	upper	upper	ADJ
ap-2128	88	62	arm	arm	NOUN
ap-2128	88	63	)	)	PUNCT
ap-2128	88	64	block	block	NOUN
ap-2128	88	65	contains	contain	VERB
ap-2128	88	66	4xurs	4xurs	NUM
ap-2128	88	67	and	and	CCONJ
ap-2128	88	68	4xtpas	4xtpas	NUM
ap-2128	88	69	(	(	PUNCT
ap-2128	88	70	scanning	scan	VERB
ap-2128	88	71	the	the	DET
ap-2128	88	72	space	space	NOUN
ap-2128	88	73	around	around	ADP
ap-2128	88	74	the	the	DET
ap-2128	88	75	upper	upper	ADJ
ap-2128	88	76	arm	arm	NOUN
ap-2128	88	77	)	)	PUNCT
ap-2128	88	78	.	.	PUNCT
ap-2128	89	1	in	in	ADP
ap-2128	89	2	the	the	DET
ap-2128	89	3	antebrachium	antebrachium	NOUN
ap-2128	89	4	and	and	CCONJ
ap-2128	89	5	brachium	brachium	NOUN
ap-2128	89	6	blocks	block	NOUN
ap-2128	89	7	,	,	PUNCT
ap-2128	89	8	four	four	NUM
ap-2128	89	9	pair	pair	NOUN
ap-2128	89	10	of	of	ADP
ap-2128	89	11	sensors	sensor	NOUN
ap-2128	89	12	(	(	PUNCT
ap-2128	89	13	urs	urs	NOUN
ap-2128	89	14	and	and	CCONJ
ap-2128	89	15	tpas	tpa	NOUN
ap-2128	89	16	)	)	PUNCT
ap-2128	89	17	are	be	AUX
ap-2128	89	18	placed	place	VERB
ap-2128	89	19	around	around	ADP
ap-2128	89	20	the	the	DET
ap-2128	89	21	perimeter	perimeter	NOUN
ap-2128	89	22	of	of	ADP
ap-2128	89	23	each	each	DET
ap-2128	89	24	segment	segment	NOUN
ap-2128	89	25	.	.	PUNCT
ap-2128	90	1	the	the	DET
ap-2128	90	2	scanned	scan	VERB
ap-2128	90	3	planes	plane	NOUN
ap-2128	90	4	of	of	ADP
ap-2128	90	5	antebrachium	antebrachium	NOUN
ap-2128	90	6	and	and	CCONJ
ap-2128	90	7	brachium	brachium	NOUN
ap-2128	90	8	are	be	AUX
ap-2128	90	9	perpendicular	perpendicular	ADJ
ap-2128	90	10	to	to	ADP
ap-2128	90	11	each	each	DET
ap-2128	90	12	other	other	ADJ
ap-2128	90	13	,	,	PUNCT
ap-2128	90	14	i.e.	i.e.	X
ap-2128	90	15	,	,	PUNCT
ap-2128	90	16	the	the	DET
ap-2128	90	17	sensors	sensor	NOUN
ap-2128	90	18	are	be	AUX
ap-2128	90	19	oriented	orient	VERB
ap-2128	90	20	with	with	ADP
ap-2128	90	21	the	the	DET
ap-2128	90	22	axes	axis	NOUN
ap-2128	90	23	in	in	ADP
ap-2128	90	24	the	the	DET
ap-2128	90	25	superior	superior	ADJ
ap-2128	90	26	-	-	PUNCT
ap-2128	90	27	inferior	inferior	ADJ
ap-2128	90	28	and	and	CCONJ
ap-2128	90	29	anterior	anterior	ADJ
ap-2128	90	30	-	-	ADJ
ap-2128	90	31	posterior	posterior	ADJ
ap-2128	90	32	directions	direction	NOUN
ap-2128	90	33	in	in	ADP
ap-2128	90	34	the	the	DET
ap-2128	90	35	case	case	NOUN
ap-2128	90	36	of	of	ADP
ap-2128	90	37	neutral	neutral	ADJ
ap-2128	90	38	-	-	PUNCT
ap-2128	90	39	zero	zero	NUM
ap-2128	90	40	position	position	NOUN
ap-2128	90	41	of	of	ADP
ap-2128	90	42	the	the	DET
ap-2128	90	43	joint	joint	ADJ
ap-2128	90	44	angles	angle	NOUN
ap-2128	90	45	(	(	PUNCT
ap-2128	90	46	i.e.	i.e.	X
ap-2128	90	47	,	,	PUNCT
ap-2128	90	48	the	the	DET
ap-2128	90	49	so	so	ADV
ap-2128	90	50	-	-	PUNCT
ap-2128	90	51	called	call	VERB
ap-2128	90	52	neutral	neutral	ADJ
ap-2128	90	53	posture	posture	NOUN
ap-2128	90	54	of	of	ADP
ap-2128	90	55	a	a	DET
ap-2128	90	56	healthy	healthy	ADJ
ap-2128	90	57	human	human	ADJ
ap-2128	90	58	subject	subject	NOUN
ap-2128	90	59	)	)	PUNCT
ap-2128	90	60	.	.	PUNCT
ap-2128	91	1	the	the	DET
ap-2128	91	2	6	6	NUM
ap-2128	91	3	-	-	PUNCT
ap-2128	91	4	dof	dof	NOUN
ap-2128	91	5	myoelectric	myoelectric	ADJ
ap-2128	91	6	prosthetic	prosthetic	ADJ
ap-2128	91	7	arm	arm	NOUN
ap-2128	91	8	is	be	AUX
ap-2128	91	9	complemented	complement	VERB
ap-2128	91	10	by	by	ADP
ap-2128	91	11	additional	additional	ADJ
ap-2128	91	12	sensors	sensor	NOUN
ap-2128	91	13	near	near	ADP
ap-2128	91	14	its	its	PRON
ap-2128	91	15	endpoint	endpoint	NOUN
ap-2128	91	16	,	,	PUNCT
ap-2128	91	17	fig	fig	NOUN
ap-2128	91	18	.	.	PUNCT
ap-2128	92	1	3	3	X
ap-2128	92	2	.	.	X
ap-2128	92	3	the	the	DET
ap-2128	92	4	main	main	ADJ
ap-2128	92	5	reason	reason	NOUN
ap-2128	92	6	for	for	ADP
ap-2128	92	7	using	use	VERB
ap-2128	92	8	other	other	ADJ
ap-2128	92	9	types	type	NOUN
ap-2128	92	10	of	of	ADP
ap-2128	92	11	sensors	sensor	NOUN
ap-2128	92	12	is	be	AUX
ap-2128	92	13	to	to	PART
ap-2128	92	14	identify	identify	VERB
ap-2128	92	15	a	a	DET
ap-2128	92	16	dangerous	dangerous	ADJ
ap-2128	92	17	environment	environment	NOUN
ap-2128	92	18	,	,	PUNCT
ap-2128	92	19	figure	figure	VERB
ap-2128	92	20	3	3	NUM
ap-2128	92	21	.	.	NOUN
ap-2128	92	22	myoelectric	myoelectric	ADJ
ap-2128	92	23	robotic	robotic	ADJ
ap-2128	92	24	arm	arm	NOUN
ap-2128	92	25	with	with	ADP
ap-2128	92	26	the	the	DET
ap-2128	92	27	sensory	sensory	ADJ
ap-2128	92	28	subsystem	subsystem	NOUN
ap-2128	92	29	;	;	PUNCT
ap-2128	92	30	the	the	DET
ap-2128	92	31	arm	arm	NOUN
ap-2128	92	32	consists	consist	VERB
ap-2128	92	33	of	of	ADP
ap-2128	92	34	:	:	PUNCT
ap-2128	92	35	1	1	X
ap-2128	92	36	.	.	X
ap-2128	92	37	articulatio	articulatio	PROPN
ap-2128	92	38	humeri	humeri	PROPN
ap-2128	92	39	,	,	PUNCT
ap-2128	92	40	2	2	NUM
ap-2128	92	41	.	.	X
ap-2128	92	42	brachium	brachium	NOUN
ap-2128	92	43	,	,	PUNCT
ap-2128	92	44	3	3	NUM
ap-2128	92	45	.	.	X
ap-2128	92	46	antebrachium	antebrachium	NOUN
ap-2128	92	47	,	,	PUNCT
ap-2128	92	48	4	4	NUM
ap-2128	92	49	.	.	NUM
ap-2128	92	50	manus	manu	NOUN
ap-2128	92	51	;	;	PUNCT
ap-2128	92	52	the	the	DET
ap-2128	92	53	ssb	ssb	PROPN
ap-2128	92	54	consists	consist	VERB
ap-2128	92	55	of	of	ADP
ap-2128	92	56	:	:	PUNCT
ap-2128	92	57	a.	a.	NOUN
ap-2128	92	58	ultrasonic	ultrasonic	ADJ
ap-2128	92	59	range	range	PROPN
ap-2128	92	60	sensor	sensor	PROPN
ap-2128	92	61	,	,	PUNCT
ap-2128	92	62	b.	b.	PROPN
ap-2128	92	63	thermopile	thermopile	PROPN
ap-2128	92	64	array	array	PROPN
ap-2128	92	65	sensor	sensor	PROPN
ap-2128	92	66	,	,	PUNCT
ap-2128	92	67	c.	c.	PROPN
ap-2128	92	68	hall	hall	PROPN
ap-2128	92	69	effect	effect	NOUN
ap-2128	92	70	sensors	sensor	NOUN
ap-2128	92	71	,	,	PUNCT
ap-2128	92	72	d.	d.	PROPN
ap-2128	92	73	co2	co2	NOUN
ap-2128	92	74	sensor	sensor	PROPN
ap-2128	92	75	,	,	PUNCT
ap-2128	92	76	e.	e.	PROPN
ap-2128	92	77	relative	relative	PROPN
ap-2128	92	78	humidity	humidity	PROPN
ap-2128	92	79	sensor	sensor	NOUN
ap-2128	92	80	.	.	PUNCT
ap-2128	93	1	which	which	PRON
ap-2128	93	2	could	could	AUX
ap-2128	93	3	damage	damage	VERB
ap-2128	93	4	the	the	DET
ap-2128	93	5	prosthesis	prosthesis	NOUN
ap-2128	93	6	or	or	CCONJ
ap-2128	93	7	the	the	DET
ap-2128	93	8	user	user	NOUN
ap-2128	93	9	.	.	PUNCT
ap-2128	94	1	the	the	DET
ap-2128	94	2	additional	additional	ADJ
ap-2128	94	3	set	set	NOUN
ap-2128	94	4	of	of	ADP
ap-2128	94	5	sensors	sensor	NOUN
ap-2128	94	6	is	be	AUX
ap-2128	94	7	composed	compose	VERB
ap-2128	94	8	of	of	ADP
ap-2128	94	9	two	two	NUM
ap-2128	94	10	mutually	mutually	ADV
ap-2128	94	11	perpendicular	perpendicular	ADJ
ap-2128	94	12	hall	hall	NOUN
ap-2128	94	13	-	-	PUNCT
ap-2128	94	14	effect	effect	NOUN
ap-2128	94	15	sensors	sensor	NOUN
ap-2128	94	16	(	(	PUNCT
ap-2128	94	17	ss94a1	ss94a1	PROPN
ap-2128	94	18	,	,	PUNCT
ap-2128	94	19	honeywell	honeywell	PROPN
ap-2128	94	20	inc	inc	PROPN
ap-2128	94	21	.	.	PROPN
ap-2128	94	22	)	)	PUNCT
ap-2128	94	23	,	,	PUNCT
ap-2128	94	24	one	one	NUM
ap-2128	94	25	co2	co2	NOUN
ap-2128	94	26	sensor	sensor	NOUN
ap-2128	94	27	(	(	PUNCT
ap-2128	94	28	mg811	mg811	PROPN
ap-2128	94	29	,	,	PUNCT
ap-2128	94	30	hanwei	hanwei	PROPN
ap-2128	94	31	electronics	electronics	PROPN
ap-2128	94	32	ltd	ltd	PROPN
ap-2128	94	33	.	.	PUNCT
ap-2128	94	34	)	)	PUNCT
ap-2128	94	35	and	and	CCONJ
ap-2128	94	36	one	one	NUM
ap-2128	94	37	relative	relative	ADJ
ap-2128	94	38	humidity	humidity	NOUN
ap-2128	94	39	sensor	sensor	NOUN
ap-2128	94	40	(	(	PUNCT
ap-2128	94	41	hs1101lf	hs1101lf	PROPN
ap-2128	94	42	,	,	PUNCT
ap-2128	94	43	measurement	measurement	NOUN
ap-2128	94	44	specialties	specialties	PROPN
ap-2128	94	45	inc	inc	PROPN
ap-2128	94	46	.	.	PUNCT
ap-2128	94	47	)	)	PUNCT
ap-2128	95	1	the	the	DET
ap-2128	95	2	hall	hall	NOUN
ap-2128	95	3	-	-	PUNCT
ap-2128	95	4	effect	effect	NOUN
ap-2128	95	5	sensors	sensor	NOUN
ap-2128	95	6	are	be	AUX
ap-2128	95	7	used	use	VERB
ap-2128	95	8	to	to	PART
ap-2128	95	9	measure	measure	VERB
ap-2128	95	10	the	the	DET
ap-2128	95	11	magnetic	magnetic	ADJ
ap-2128	95	12	field	field	NOUN
ap-2128	95	13	strength	strength	NOUN
ap-2128	95	14	in	in	ADP
ap-2128	95	15	order	order	NOUN
ap-2128	95	16	to	to	PART
ap-2128	95	17	identify	identify	VERB
ap-2128	95	18	a	a	DET
ap-2128	95	19	potentially	potentially	ADV
ap-2128	95	20	dangerous	dangerous	ADJ
ap-2128	95	21	environment	environment	NOUN
ap-2128	95	22	in	in	ADP
ap-2128	95	23	which	which	PRON
ap-2128	95	24	the	the	DET
ap-2128	95	25	electronic	electronic	ADJ
ap-2128	95	26	components	component	NOUN
ap-2128	95	27	of	of	ADP
ap-2128	95	28	the	the	DET
ap-2128	95	29	prosthesis	prosthesis	NOUN
ap-2128	95	30	can	can	AUX
ap-2128	95	31	be	be	AUX
ap-2128	95	32	negatively	negatively	ADV
ap-2128	95	33	affected	affect	VERB
ap-2128	95	34	.	.	PUNCT
ap-2128	96	1	the	the	DET
ap-2128	96	2	carbon	carbon	NOUN
ap-2128	96	3	dioxide	dioxide	NOUN
ap-2128	96	4	sensor	sensor	NOUN
ap-2128	96	5	(	(	PUNCT
ap-2128	96	6	co2	co2	NOUN
ap-2128	96	7	sensor	sensor	NOUN
ap-2128	96	8	)	)	PUNCT
ap-2128	96	9	is	be	AUX
ap-2128	96	10	used	use	VERB
ap-2128	96	11	for	for	ADP
ap-2128	96	12	measuring	measure	VERB
ap-2128	96	13	the	the	DET
ap-2128	96	14	carbon	carbon	NOUN
ap-2128	96	15	dioxide	dioxide	NOUN
ap-2128	96	16	gas	gas	NOUN
ap-2128	96	17	concentration	concentration	NOUN
ap-2128	96	18	in	in	ADP
ap-2128	96	19	order	order	NOUN
ap-2128	96	20	to	to	PART
ap-2128	96	21	identify	identify	VERB
ap-2128	96	22	a	a	DET
ap-2128	96	23	potentially	potentially	ADV
ap-2128	96	24	dangerous	dangerous	ADJ
ap-2128	96	25	environment	environment	NOUN
ap-2128	96	26	in	in	ADP
ap-2128	96	27	which	which	PRON
ap-2128	96	28	the	the	DET
ap-2128	96	29	perception	perception	NOUN
ap-2128	96	30	of	of	ADP
ap-2128	96	31	the	the	DET
ap-2128	96	32	disabled	disabled	ADJ
ap-2128	96	33	patient	patient	NOUN
ap-2128	96	34	could	could	AUX
ap-2128	96	35	be	be	AUX
ap-2128	96	36	negatively	negatively	ADV
ap-2128	96	37	affected	affect	VERB
ap-2128	96	38	.	.	PUNCT
ap-2128	97	1	the	the	DET
ap-2128	97	2	co2	co2	NOUN
ap-2128	97	3	sensor	sensor	NOUN
ap-2128	97	4	is	be	AUX
ap-2128	97	5	used	use	VERB
ap-2128	97	6	as	as	ADP
ap-2128	97	7	a	a	DET
ap-2128	97	8	representative	representative	NOUN
ap-2128	97	9	of	of	ADP
ap-2128	97	10	the	the	DET
ap-2128	97	11	sensors	sensor	NOUN
ap-2128	97	12	for	for	ADP
ap-2128	97	13	measuring	measure	VERB
ap-2128	97	14	air	air	NOUN
ap-2128	97	15	quality	quality	NOUN
ap-2128	97	16	.	.	PUNCT
ap-2128	98	1	the	the	DET
ap-2128	98	2	humidity	humidity	NOUN
ap-2128	98	3	sensor	sensor	NOUN
ap-2128	98	4	is	be	AUX
ap-2128	98	5	used	use	VERB
ap-2128	98	6	to	to	PART
ap-2128	98	7	measure	measure	VERB
ap-2128	98	8	the	the	DET
ap-2128	98	9	relative	relative	ADJ
ap-2128	98	10	humidity	humidity	NOUN
ap-2128	98	11	and	and	CCONJ
ap-2128	98	12	to	to	PART
ap-2128	98	13	identify	identify	VERB
ap-2128	98	14	a	a	DET
ap-2128	98	15	potentially	potentially	ADV
ap-2128	98	16	dangerous	dangerous	ADJ
ap-2128	98	17	amount	amount	NOUN
ap-2128	98	18	of	of	ADP
ap-2128	98	19	water	water	NOUN
ap-2128	98	20	vapour	vapour	NOUN
ap-2128	98	21	in	in	ADP
ap-2128	98	22	the	the	DET
ap-2128	98	23	air	air	NOUN
ap-2128	98	24	,	,	PUNCT
ap-2128	98	25	due	due	ADP
ap-2128	98	26	to	to	ADP
ap-2128	98	27	which	which	PRON
ap-2128	98	28	the	the	DET
ap-2128	98	29	electronic	electronic	ADJ
ap-2128	98	30	components	component	NOUN
ap-2128	98	31	of	of	ADP
ap-2128	98	32	the	the	DET
ap-2128	98	33	prosthesis	prosthesis	NOUN
ap-2128	98	34	might	might	AUX
ap-2128	98	35	be	be	AUX
ap-2128	98	36	damaged	damage	VERB
ap-2128	98	37	.	.	PUNCT
ap-2128	99	1	2.3	2.3	NUM
ap-2128	99	2	.	.	PUNCT
ap-2128	100	1	real	real	ADJ
ap-2128	100	2	-	-	PUNCT
ap-2128	100	3	time	time	NOUN
ap-2128	100	4	mapping	mapping	NOUN
ap-2128	100	5	of	of	ADP
ap-2128	100	6	the	the	DET
ap-2128	100	7	environment	environment	NOUN
ap-2128	100	8	sensory	sensory	ADJ
ap-2128	100	9	readings	reading	NOUN
ap-2128	100	10	are	be	AUX
ap-2128	100	11	sent	send	VERB
ap-2128	100	12	to	to	ADP
ap-2128	100	13	a	a	DET
ap-2128	100	14	pc	pc	NOUN
ap-2128	100	15	via	via	ADP
ap-2128	100	16	the	the	DET
ap-2128	100	17	rs232	rs232	PROPN
ap-2128	100	18	bus	bus	NOUN
ap-2128	100	19	and	and	CCONJ
ap-2128	100	20	are	be	AUX
ap-2128	100	21	then	then	ADV
ap-2128	100	22	evaluated	evaluate	VERB
ap-2128	100	23	in	in	ADP
ap-2128	100	24	matlab	matlab	PROPN
ap-2128	100	25	software	software	NOUN
ap-2128	100	26	.	.	PUNCT
ap-2128	101	1	a	a	DET
ap-2128	101	2	3d	3d	NUM
ap-2128	101	3	map	map	NOUN
ap-2128	101	4	of	of	ADP
ap-2128	101	5	the	the	DET
ap-2128	101	6	environment	environment	NOUN
ap-2128	101	7	is	be	AUX
ap-2128	101	8	gradually	gradually	ADV
ap-2128	101	9	built	build	VERB
ap-2128	101	10	up	up	ADP
ap-2128	101	11	on	on	ADP
ap-2128	101	12	the	the	DET
ap-2128	101	13	basis	basis	NOUN
ap-2128	101	14	of	of	ADP
ap-2128	101	15	these	these	DET
ap-2128	101	16	readings	reading	NOUN
ap-2128	101	17	.	.	PUNCT
ap-2128	102	1	the	the	DET
ap-2128	102	2	most	most	ADV
ap-2128	102	3	important	important	ADJ
ap-2128	102	4	sensors	sensor	NOUN
ap-2128	102	5	used	use	VERB
ap-2128	102	6	here	here	ADV
ap-2128	102	7	are	be	AUX
ap-2128	102	8	the	the	DET
ap-2128	102	9	urss	urss	NOUN
ap-2128	102	10	to	to	PART
ap-2128	102	11	avoid	avoid	VERB
ap-2128	102	12	a	a	DET
ap-2128	102	13	collision	collision	NOUN
ap-2128	102	14	between	between	ADP
ap-2128	102	15	the	the	DET
ap-2128	102	16	arm	arm	NOUN
ap-2128	102	17	and	and	CCONJ
ap-2128	102	18	the	the	DET
ap-2128	102	19	surrounding	surround	VERB
ap-2128	102	20	objects	object	NOUN
ap-2128	102	21	.	.	PUNCT
ap-2128	103	1	a	a	DET
ap-2128	103	2	characteristic	characteristic	NOUN
ap-2128	103	3	of	of	ADP
ap-2128	103	4	urss	urss	NOUN
ap-2128	103	5	that	that	PRON
ap-2128	103	6	needs	need	VERB
ap-2128	103	7	to	to	PART
ap-2128	103	8	be	be	AUX
ap-2128	103	9	taken	take	VERB
ap-2128	103	10	into	into	ADP
ap-2128	103	11	account	account	NOUN
ap-2128	103	12	,	,	PUNCT
ap-2128	103	13	is	be	AUX
ap-2128	103	14	their	their	PRON
ap-2128	103	15	wide	wide	ADJ
ap-2128	103	16	beamwidth	beamwidth	NOUN
ap-2128	103	17	[	[	X
ap-2128	103	18	22	22	NUM
ap-2128	103	19	]	]	PUNCT
ap-2128	103	20	.	.	PUNCT
ap-2128	104	1	an	an	DET
ap-2128	104	2	obstacle	obstacle	NOUN
ap-2128	104	3	may	may	AUX
ap-2128	104	4	be	be	AUX
ap-2128	104	5	found	find	VERB
ap-2128	104	6	anywhere	anywhere	ADV
ap-2128	104	7	in	in	ADP
ap-2128	104	8	the	the	DET
ap-2128	104	9	cone	cone	NOUN
ap-2128	104	10	at	at	ADP
ap-2128	104	11	the	the	DET
ap-2128	104	12	measured	measured	ADJ
ap-2128	104	13	range	range	NOUN
ap-2128	104	14	[	[	X
ap-2128	104	15	23	23	NUM
ap-2128	104	16	]	]	PUNCT
ap-2128	104	17	.	.	PUNCT
ap-2128	105	1	however	however	ADV
ap-2128	105	2	,	,	PUNCT
ap-2128	105	3	the	the	DET
ap-2128	105	4	greatest	great	ADJ
ap-2128	105	5	probability	probability	NOUN
ap-2128	105	6	of	of	ADP
ap-2128	105	7	occurrence	occurrence	NOUN
ap-2128	105	8	of	of	ADP
ap-2128	105	9	an	an	DET
ap-2128	105	10	object	object	NOUN
ap-2128	105	11	is	be	AUX
ap-2128	105	12	directly	directly	ADV
ap-2128	105	13	opposite	opposite	ADJ
ap-2128	105	14	to	to	ADP
ap-2128	105	15	the	the	DET
ap-2128	105	16	sensor	sensor	NOUN
ap-2128	105	17	(	(	PUNCT
ap-2128	105	18	on	on	ADP
ap-2128	105	19	the	the	DET
ap-2128	105	20	axis	axis	NOUN
ap-2128	105	21	of	of	ADP
ap-2128	105	22	the	the	DET
ap-2128	105	23	sensor	sensor	NOUN
ap-2128	105	24	)	)	PUNCT
ap-2128	105	25	,	,	PUNCT
ap-2128	105	26	and	and	CCONJ
ap-2128	105	27	the	the	DET
ap-2128	105	28	probability	probability	NOUN
ap-2128	105	29	decreases	decrease	VERB
ap-2128	105	30	towards	towards	ADP
ap-2128	105	31	the	the	DET
ap-2128	105	32	edge	edge	NOUN
ap-2128	105	33	of	of	ADP
ap-2128	105	34	the	the	DET
ap-2128	105	35	cone	cone	NOUN
ap-2128	105	36	.	.	PUNCT
ap-2128	106	1	a	a	DET
ap-2128	106	2	quadratic	quadratic	ADJ
ap-2128	106	3	model	model	NOUN
ap-2128	106	4	of	of	ADP
ap-2128	106	5	urs	urs	PROPN
ap-2128	106	6	according	accord	VERB
ap-2128	106	7	199	199	NUM
ap-2128	106	8	p.	p.	NOUN
ap-2128	106	9	kutílek	kutílek	PROPN
ap-2128	106	10	,	,	PUNCT
ap-2128	106	11	j.	j.	PROPN
ap-2128	106	12	hýbl	hýbl	PROPN
ap-2128	106	13	,	,	PUNCT
ap-2128	106	14	j.	j.	PROPN
ap-2128	106	15	mareš	mareš	PROPN
ap-2128	107	1	et	et	PROPN
ap-2128	107	2	al	al	PROPN
ap-2128	107	3	.	.	PROPN
ap-2128	107	4	acta	acta	PROPN
ap-2128	107	5	polytechnica	polytechnica	PROPN
ap-2128	107	6	figure	figure	NOUN
ap-2128	107	7	4	4	NUM
ap-2128	107	8	.	.	PUNCT
ap-2128	107	9	quadratic	quadratic	ADJ
ap-2128	107	10	model	model	NOUN
ap-2128	107	11	of	of	ADP
ap-2128	107	12	an	an	DET
ap-2128	107	13	ultrasonic	ultrasonic	ADJ
ap-2128	107	14	sensor	sensor	NOUN
ap-2128	107	15	visualized	visualize	VERB
ap-2128	107	16	in	in	ADP
ap-2128	107	17	matlab	matlab	PROPN
ap-2128	107	18	.	.	PUNCT
ap-2128	108	1	to	to	PART
ap-2128	108	2	elfes	elfes	VERB
ap-2128	108	3	[	[	X
ap-2128	108	4	24	24	NUM
ap-2128	108	5	]	]	PUNCT
ap-2128	108	6	is	be	AUX
ap-2128	108	7	therefore	therefore	ADV
ap-2128	108	8	used	use	VERB
ap-2128	108	9	.	.	PUNCT
ap-2128	109	1	this	this	DET
ap-2128	109	2	model	model	NOUN
ap-2128	109	3	estimates	estimate	VERB
ap-2128	109	4	the	the	DET
ap-2128	109	5	distribution	distribution	NOUN
ap-2128	109	6	of	of	ADP
ap-2128	109	7	the	the	DET
ap-2128	109	8	occupancy	occupancy	NOUN
ap-2128	109	9	probability	probability	NOUN
ap-2128	109	10	from	from	ADP
ap-2128	109	11	one	one	NUM
ap-2128	109	12	urs	urs	NOUN
ap-2128	109	13	reading	reading	NOUN
ap-2128	109	14	.	.	PUNCT
ap-2128	110	1	the	the	DET
ap-2128	110	2	model	model	NOUN
ap-2128	110	3	is	be	AUX
ap-2128	110	4	visualized	visualize	VERB
ap-2128	110	5	in	in	ADP
ap-2128	110	6	fig	fig	NOUN
ap-2128	110	7	.	.	PUNCT
ap-2128	111	1	4	4	X
ap-2128	111	2	.	.	X
ap-2128	111	3	the	the	DET
ap-2128	111	4	x	x	PROPN
ap-2128	111	5	and	and	CCONJ
ap-2128	111	6	y	y	PROPN
ap-2128	111	7	axes	axis	NOUN
ap-2128	111	8	represent	represent	VERB
ap-2128	111	9	spatial	spatial	ADJ
ap-2128	111	10	coordinates	coordinate	NOUN
ap-2128	111	11	in	in	ADP
ap-2128	111	12	2d	2d	NUM
ap-2128	111	13	space	space	NOUN
ap-2128	111	14	(	(	PUNCT
ap-2128	111	15	in	in	ADP
ap-2128	111	16	a	a	DET
ap-2128	111	17	real	real	ADJ
ap-2128	111	18	application	application	NOUN
ap-2128	111	19	,	,	PUNCT
ap-2128	111	20	it	it	PRON
ap-2128	111	21	is	be	AUX
ap-2128	111	22	applied	apply	VERB
ap-2128	111	23	to	to	ADP
ap-2128	111	24	a	a	DET
ap-2128	111	25	3d	3d	NUM
ap-2128	111	26	space	space	NOUN
ap-2128	111	27	in	in	ADP
ap-2128	111	28	a	a	DET
ap-2128	111	29	similar	similar	ADJ
ap-2128	111	30	manner	manner	NOUN
ap-2128	111	31	)	)	PUNCT
ap-2128	111	32	and	and	CCONJ
ap-2128	111	33	the	the	DET
ap-2128	111	34	z	z	NOUN
ap-2128	111	35	axis	axis	NOUN
ap-2128	111	36	represents	represent	VERB
ap-2128	111	37	the	the	DET
ap-2128	111	38	probability	probability	NOUN
ap-2128	111	39	of	of	ADP
ap-2128	111	40	occurrence	occurrence	NOUN
ap-2128	111	41	of	of	ADP
ap-2128	111	42	an	an	DET
ap-2128	111	43	object	object	NOUN
ap-2128	111	44	.	.	PUNCT
ap-2128	112	1	the	the	DET
ap-2128	112	2	plane	plane	NOUN
ap-2128	112	3	at	at	ADP
ap-2128	112	4	a	a	DET
ap-2128	112	5	value	value	NOUN
ap-2128	112	6	of	of	ADP
ap-2128	112	7	0.5	0.5	NUM
ap-2128	112	8	(	(	PUNCT
ap-2128	112	9	fig	fig	NOUN
ap-2128	112	10	.	.	PUNCT
ap-2128	112	11	4	4	NUM
ap-2128	112	12	)	)	PUNCT
ap-2128	112	13	represents	represent	VERB
ap-2128	112	14	an	an	DET
ap-2128	112	15	unexplored	unexplored	ADJ
ap-2128	112	16	space	space	NOUN
ap-2128	112	17	.	.	PUNCT
ap-2128	113	1	values	value	NOUN
ap-2128	113	2	below	below	ADP
ap-2128	113	3	this	this	DET
ap-2128	113	4	level	level	NOUN
ap-2128	113	5	stand	stand	NOUN
ap-2128	113	6	for	for	ADP
ap-2128	113	7	an	an	DET
ap-2128	113	8	empty	empty	ADJ
ap-2128	113	9	space	space	NOUN
ap-2128	113	10	,	,	PUNCT
ap-2128	113	11	while	while	SCONJ
ap-2128	113	12	values	value	NOUN
ap-2128	113	13	above	above	ADP
ap-2128	113	14	this	this	DET
ap-2128	113	15	level	level	NOUN
ap-2128	113	16	represent	represent	VERB
ap-2128	113	17	a	a	DET
ap-2128	113	18	higher	high	ADJ
ap-2128	113	19	probability	probability	NOUN
ap-2128	113	20	of	of	ADP
ap-2128	113	21	occurrence	occurrence	NOUN
ap-2128	113	22	of	of	ADP
ap-2128	113	23	an	an	DET
ap-2128	113	24	object	object	NOUN
ap-2128	113	25	.	.	PUNCT
ap-2128	114	1	to	to	PART
ap-2128	114	2	build	build	VERB
ap-2128	114	3	a	a	DET
ap-2128	114	4	map	map	NOUN
ap-2128	114	5	,	,	PUNCT
ap-2128	114	6	we	we	PRON
ap-2128	114	7	decided	decide	VERB
ap-2128	114	8	to	to	PART
ap-2128	114	9	use	use	VERB
ap-2128	114	10	occupancy	occupancy	NOUN
ap-2128	114	11	grid	grid	NOUN
ap-2128	114	12	mapping	mapping	NOUN
ap-2128	114	13	,	,	PUNCT
ap-2128	114	14	which	which	PRON
ap-2128	114	15	was	be	AUX
ap-2128	114	16	first	first	ADV
ap-2128	114	17	introduced	introduce	VERB
ap-2128	114	18	by	by	ADP
ap-2128	114	19	elfes	elfe	NOUN
ap-2128	114	20	[	[	X
ap-2128	114	21	24	24	NUM
ap-2128	114	22	,	,	PUNCT
ap-2128	114	23	25	25	NUM
ap-2128	114	24	]	]	PUNCT
ap-2128	114	25	.	.	PUNCT
ap-2128	115	1	in	in	ADP
ap-2128	115	2	general	general	ADJ
ap-2128	115	3	,	,	PUNCT
ap-2128	115	4	this	this	DET
ap-2128	115	5	method	method	NOUN
ap-2128	115	6	is	be	AUX
ap-2128	115	7	based	base	VERB
ap-2128	115	8	on	on	ADP
ap-2128	115	9	decomposition	decomposition	NOUN
ap-2128	115	10	of	of	ADP
ap-2128	115	11	the	the	DET
ap-2128	115	12	proximate	proximate	NOUN
ap-2128	115	13	environment	environment	NOUN
ap-2128	115	14	of	of	ADP
ap-2128	115	15	ra	ra	PROPN
ap-2128	115	16	into	into	ADP
ap-2128	115	17	a	a	DET
ap-2128	115	18	3d	3d	NUM
ap-2128	115	19	array	array	NOUN
ap-2128	115	20	of	of	ADP
ap-2128	115	21	cubic	cubic	ADJ
ap-2128	115	22	cells	cell	NOUN
ap-2128	115	23	.	.	PUNCT
ap-2128	116	1	each	each	DET
ap-2128	116	2	cell	cell	NOUN
ap-2128	116	3	represents	represent	VERB
ap-2128	116	4	a	a	DET
ap-2128	116	5	section	section	NOUN
ap-2128	116	6	of	of	ADP
ap-2128	116	7	space	space	NOUN
ap-2128	116	8	at	at	ADP
ap-2128	116	9	given	give	VERB
ap-2128	116	10	coordinates	coordinate	NOUN
ap-2128	116	11	,	,	PUNCT
ap-2128	116	12	and	and	CCONJ
ap-2128	116	13	it	it	PRON
ap-2128	116	14	holds	hold	VERB
ap-2128	116	15	the	the	DET
ap-2128	116	16	values	value	NOUN
ap-2128	116	17	of	of	ADP
ap-2128	116	18	parameters	parameter	NOUN
ap-2128	116	19	describing	describe	VERB
ap-2128	116	20	this	this	DET
ap-2128	116	21	section	section	NOUN
ap-2128	116	22	.	.	PUNCT
ap-2128	117	1	the	the	DET
ap-2128	117	2	most	most	ADV
ap-2128	117	3	important	important	ADJ
ap-2128	117	4	information	information	NOUN
ap-2128	117	5	for	for	ADP
ap-2128	117	6	ra	ra	PROPN
ap-2128	117	7	navigation	navigation	NOUN
ap-2128	117	8	is	be	AUX
ap-2128	117	9	the	the	DET
ap-2128	117	10	probability	probability	NOUN
ap-2128	117	11	that	that	SCONJ
ap-2128	117	12	the	the	DET
ap-2128	117	13	cell	cell	NOUN
ap-2128	117	14	is	be	AUX
ap-2128	117	15	occupied	occupy	VERB
ap-2128	117	16	by	by	ADP
ap-2128	117	17	some	some	DET
ap-2128	117	18	object	object	NOUN
ap-2128	117	19	.	.	PUNCT
ap-2128	118	1	urss	urss	PROPN
ap-2128	118	2	are	be	AUX
ap-2128	118	3	able	able	ADJ
ap-2128	118	4	to	to	PART
ap-2128	118	5	localize	localize	VERB
ap-2128	118	6	obstacles	obstacle	NOUN
ap-2128	118	7	around	around	ADP
ap-2128	118	8	the	the	DET
ap-2128	118	9	ra	ra	NOUN
ap-2128	118	10	and	and	CCONJ
ap-2128	118	11	to	to	PART
ap-2128	118	12	return	return	VERB
ap-2128	118	13	values	value	NOUN
ap-2128	118	14	of	of	ADP
ap-2128	118	15	their	their	PRON
ap-2128	118	16	distance	distance	NOUN
ap-2128	118	17	from	from	ADP
ap-2128	118	18	the	the	DET
ap-2128	118	19	urss	urss	NOUN
ap-2128	118	20	.	.	PUNCT
ap-2128	119	1	these	these	PRON
ap-2128	119	2	are	be	AUX
ap-2128	119	3	used	use	VERB
ap-2128	119	4	to	to	PART
ap-2128	119	5	decide	decide	VERB
ap-2128	119	6	which	which	PRON
ap-2128	119	7	cells	cell	NOUN
ap-2128	119	8	are	be	AUX
ap-2128	119	9	probably	probably	ADV
ap-2128	119	10	occupied	occupy	VERB
ap-2128	119	11	and	and	CCONJ
ap-2128	119	12	which	which	PRON
ap-2128	119	13	are	be	AUX
ap-2128	119	14	probably	probably	ADV
ap-2128	119	15	not	not	PART
ap-2128	119	16	occupied	occupy	VERB
ap-2128	119	17	.	.	PUNCT
ap-2128	120	1	a	a	DET
ap-2128	120	2	probabilistic	probabilistic	ADJ
ap-2128	120	3	model	model	NOUN
ap-2128	120	4	is	be	AUX
ap-2128	120	5	essential	essential	ADJ
ap-2128	120	6	,	,	PUNCT
ap-2128	120	7	because	because	SCONJ
ap-2128	120	8	there	there	PRON
ap-2128	120	9	are	be	VERB
ap-2128	120	10	many	many	ADJ
ap-2128	120	11	uncertainties	uncertainty	NOUN
ap-2128	120	12	that	that	PRON
ap-2128	120	13	may	may	AUX
ap-2128	120	14	occur	occur	VERB
ap-2128	120	15	[	[	X
ap-2128	120	16	23	23	NUM
ap-2128	120	17	]	]	PUNCT
ap-2128	120	18	.	.	PUNCT
ap-2128	121	1	for	for	ADP
ap-2128	121	2	example	example	NOUN
ap-2128	121	3	,	,	PUNCT
ap-2128	121	4	there	there	PRON
ap-2128	121	5	may	may	AUX
ap-2128	121	6	be	be	AUX
ap-2128	121	7	errors	error	NOUN
ap-2128	121	8	in	in	ADP
ap-2128	121	9	the	the	DET
ap-2128	121	10	sensory	sensory	ADJ
ap-2128	121	11	readings	reading	NOUN
ap-2128	121	12	,	,	PUNCT
ap-2128	121	13	the	the	DET
ap-2128	121	14	beamwidth	beamwidth	NOUN
ap-2128	121	15	of	of	ADP
ap-2128	121	16	the	the	DET
ap-2128	121	17	sensors	sensor	NOUN
ap-2128	121	18	,	,	PUNCT
ap-2128	121	19	false	false	ADJ
ap-2128	121	20	reflections	reflection	NOUN
ap-2128	121	21	,	,	PUNCT
ap-2128	121	22	etc	etc	X
ap-2128	121	23	.	.	X
ap-2128	121	24	as	as	ADP
ap-2128	121	25	for	for	ADP
ap-2128	121	26	the	the	DET
ap-2128	121	27	mapping	mapping	NOUN
ap-2128	121	28	itself	itself	PRON
ap-2128	121	29	,	,	PUNCT
ap-2128	121	30	a	a	DET
ap-2128	121	31	cartesian	cartesian	ADJ
ap-2128	121	32	coordinate	coordinate	NOUN
ap-2128	121	33	system	system	NOUN
ap-2128	121	34	x	x	NOUN
ap-2128	121	35	,	,	PUNCT
ap-2128	121	36	y	y	PROPN
ap-2128	121	37	,	,	PUNCT
ap-2128	121	38	z	z	PROPN
ap-2128	121	39	has	have	AUX
ap-2128	121	40	been	be	AUX
ap-2128	121	41	defined	define	VERB
ap-2128	121	42	in	in	ADP
ap-2128	121	43	the	the	DET
ap-2128	121	44	3d	3d	NUM
ap-2128	121	45	space	space	NOUN
ap-2128	121	46	around	around	ADP
ap-2128	121	47	the	the	DET
ap-2128	121	48	ra	ra	NOUN
ap-2128	121	49	with	with	ADP
ap-2128	121	50	an	an	DET
ap-2128	121	51	origin	origin	NOUN
ap-2128	122	1	[	[	X
ap-2128	122	2	0	0	NUM
ap-2128	122	3	,	,	PUNCT
ap-2128	122	4	0	0	NUM
ap-2128	122	5	,	,	PUNCT
ap-2128	122	6	0	0	NUM
ap-2128	122	7	]	]	PUNCT
ap-2128	122	8	located	locate	VERB
ap-2128	122	9	at	at	ADP
ap-2128	122	10	the	the	DET
ap-2128	122	11	point	point	NOUN
ap-2128	122	12	of	of	ADP
ap-2128	122	13	the	the	DET
ap-2128	122	14	shoulder	shoulder	NOUN
ap-2128	122	15	joint	joint	NOUN
ap-2128	122	16	(	(	PUNCT
ap-2128	122	17	articulatio	articulatio	NOUN
ap-2128	122	18	humeri	humeri	PROPN
ap-2128	122	19	)	)	PUNCT
ap-2128	122	20	,	,	PUNCT
ap-2128	122	21	fig.3	fig.3	PROPN
ap-2128	122	22	.	.	PUNCT
ap-2128	123	1	a	a	DET
ap-2128	123	2	cell	cell	NOUN
ap-2128	123	3	is	be	AUX
ap-2128	123	4	a	a	DET
ap-2128	123	5	cube	cube	NOUN
ap-2128	123	6	with	with	ADP
ap-2128	123	7	dimensions	dimension	NOUN
ap-2128	123	8	1×1×1	1×1×1	PROPN
ap-2128	123	9	cm	cm	NOUN
ap-2128	123	10	.	.	PUNCT
ap-2128	124	1	this	this	DET
ap-2128	124	2	cell	cell	NOUN
ap-2128	124	3	size	size	NOUN
ap-2128	124	4	was	be	AUX
ap-2128	124	5	chosen	choose	VERB
ap-2128	124	6	as	as	ADP
ap-2128	124	7	a	a	DET
ap-2128	124	8	compromise	compromise	NOUN
ap-2128	124	9	between	between	ADP
ap-2128	124	10	the	the	DET
ap-2128	124	11	high	high	ADJ
ap-2128	124	12	resolution	resolution	NOUN
ap-2128	124	13	,	,	PUNCT
ap-2128	124	14	the	the	DET
ap-2128	124	15	computational	computational	ADJ
ap-2128	124	16	complexity	complexity	NOUN
ap-2128	124	17	and	and	CCONJ
ap-2128	124	18	the	the	DET
ap-2128	124	19	accuracy	accuracy	NOUN
ap-2128	124	20	of	of	ADP
ap-2128	124	21	urss	urss	NOUN
ap-2128	124	22	.	.	PUNCT
ap-2128	125	1	the	the	DET
ap-2128	125	2	map	map	NOUN
ap-2128	125	3	is	be	AUX
ap-2128	125	4	therefore	therefore	ADV
ap-2128	125	5	a	a	DET
ap-2128	125	6	discrete	discrete	ADJ
ap-2128	125	7	function	function	NOUN
ap-2128	125	8	of	of	ADP
ap-2128	125	9	spatial	spatial	ADJ
ap-2128	125	10	coordinates	coordinate	NOUN
ap-2128	125	11	map(x	map(x	PROPN
ap-2128	125	12	,	,	PUNCT
ap-2128	125	13	y	y	PROPN
ap-2128	125	14	,	,	PUNCT
ap-2128	125	15	z	z	NOUN
ap-2128	125	16	)	)	PUNCT
ap-2128	125	17	.	.	PUNCT
ap-2128	126	1	at	at	ADP
ap-2128	126	2	the	the	DET
ap-2128	126	3	start	start	NOUN
ap-2128	126	4	of	of	ADP
ap-2128	126	5	the	the	DET
ap-2128	126	6	mapping	mapping	NOUN
ap-2128	126	7	procedure	procedure	NOUN
ap-2128	126	8	,	,	PUNCT
ap-2128	126	9	the	the	DET
ap-2128	126	10	map	map	NOUN
ap-2128	126	11	is	be	AUX
ap-2128	126	12	a	a	DET
ap-2128	126	13	3	3	NUM
ap-2128	126	14	-	-	PUNCT
ap-2128	126	15	dimensional	dimensional	ADJ
ap-2128	126	16	matrix	matrix	NOUN
ap-2128	126	17	with	with	ADP
ap-2128	126	18	each	each	DET
ap-2128	126	19	element	element	NOUN
ap-2128	126	20	set	set	VERB
ap-2128	126	21	to	to	ADP
ap-2128	126	22	0.5	0.5	NUM
ap-2128	126	23	[	[	X
ap-2128	126	24	26	26	NUM
ap-2128	126	25	]	]	PUNCT
ap-2128	126	26	.	.	PUNCT
ap-2128	127	1	this	this	PRON
ap-2128	127	2	means	mean	VERB
ap-2128	127	3	that	that	SCONJ
ap-2128	127	4	the	the	DET
ap-2128	127	5	states	state	NOUN
ap-2128	127	6	of	of	ADP
ap-2128	127	7	the	the	DET
ap-2128	127	8	cells	cell	NOUN
ap-2128	127	9	are	be	AUX
ap-2128	127	10	unknown	unknown	ADJ
ap-2128	127	11	.	.	PUNCT
ap-2128	128	1	after	after	ADP
ap-2128	128	2	initialization	initialization	NOUN
ap-2128	128	3	of	of	ADP
ap-2128	128	4	the	the	DET
ap-2128	128	5	ssb	ssb	PROPN
ap-2128	128	6	,	,	PUNCT
ap-2128	128	7	the	the	DET
ap-2128	128	8	map	map	NOUN
ap-2128	128	9	is	be	AUX
ap-2128	128	10	updated	update	VERB
ap-2128	128	11	using	use	VERB
ap-2128	128	12	sensory	sensory	ADJ
ap-2128	128	13	data	datum	NOUN
ap-2128	128	14	.	.	PUNCT
ap-2128	129	1	using	use	VERB
ap-2128	129	2	fk	fk	INTJ
ap-2128	129	3	or	or	CCONJ
ap-2128	129	4	ik	ik	NOUN
ap-2128	129	5	,	,	PUNCT
ap-2128	129	6	the	the	DET
ap-2128	129	7	exact	exact	ADJ
ap-2128	129	8	locations	location	NOUN
ap-2128	129	9	of	of	ADP
ap-2128	129	10	the	the	DET
ap-2128	129	11	urss	urss	NOUN
ap-2128	129	12	in	in	ADP
ap-2128	129	13	the	the	DET
ap-2128	129	14	map	map	NOUN
ap-2128	129	15	,	,	PUNCT
ap-2128	129	16	and	and	CCONJ
ap-2128	129	17	also	also	ADV
ap-2128	129	18	their	their	PRON
ap-2128	129	19	orientation	orientation	NOUN
ap-2128	129	20	,	,	PUNCT
ap-2128	129	21	is	be	AUX
ap-2128	129	22	determined	determine	VERB
ap-2128	129	23	.	.	PUNCT
ap-2128	130	1	this	this	DET
ap-2128	130	2	information	information	NOUN
ap-2128	130	3	is	be	AUX
ap-2128	130	4	used	use	VERB
ap-2128	130	5	to	to	PART
ap-2128	130	6	determine	determine	VERB
ap-2128	130	7	which	which	PRON
ap-2128	130	8	cells	cell	NOUN
ap-2128	130	9	are	be	AUX
ap-2128	130	10	located	locate	VERB
ap-2128	130	11	within	within	ADP
ap-2128	130	12	the	the	DET
ap-2128	130	13	cone	cone	NOUN
ap-2128	130	14	of	of	ADP
ap-2128	130	15	the	the	DET
ap-2128	130	16	ultrasonic	ultrasonic	ADJ
ap-2128	130	17	beam	beam	NOUN
ap-2128	130	18	and	and	CCONJ
ap-2128	130	19	,	,	PUNCT
ap-2128	130	20	therefore	therefore	ADV
ap-2128	130	21	,	,	PUNCT
ap-2128	130	22	their	their	PRON
ap-2128	130	23	values	value	NOUN
ap-2128	130	24	have	have	VERB
ap-2128	130	25	to	to	PART
ap-2128	130	26	be	be	AUX
ap-2128	130	27	updated	update	VERB
ap-2128	130	28	.	.	PUNCT
ap-2128	131	1	the	the	DET
ap-2128	131	2	quadratic	quadratic	ADJ
ap-2128	131	3	model	model	NOUN
ap-2128	131	4	(	(	PUNCT
ap-2128	131	5	fig	fig	NOUN
ap-2128	131	6	.	.	PUNCT
ap-2128	131	7	4	4	NUM
ap-2128	131	8	)	)	PUNCT
ap-2128	131	9	is	be	AUX
ap-2128	131	10	applied	apply	VERB
ap-2128	131	11	to	to	ADP
ap-2128	131	12	the	the	DET
ap-2128	131	13	data	datum	NOUN
ap-2128	131	14	in	in	ADP
ap-2128	131	15	order	order	NOUN
ap-2128	131	16	to	to	PART
ap-2128	131	17	get	get	VERB
ap-2128	131	18	the	the	DET
ap-2128	131	19	states	state	NOUN
ap-2128	131	20	of	of	ADP
ap-2128	131	21	the	the	DET
ap-2128	131	22	cells	cell	NOUN
ap-2128	131	23	based	base	VERB
ap-2128	131	24	on	on	ADP
ap-2128	131	25	sensory	sensory	ADJ
ap-2128	131	26	readings	reading	NOUN
ap-2128	131	27	.	.	PUNCT
ap-2128	132	1	the	the	DET
ap-2128	132	2	values	value	NOUN
ap-2128	132	3	stored	store	VERB
ap-2128	132	4	in	in	ADP
ap-2128	132	5	the	the	DET
ap-2128	132	6	cells	cell	NOUN
ap-2128	132	7	are	be	AUX
ap-2128	132	8	then	then	ADV
ap-2128	132	9	updated	update	VERB
ap-2128	132	10	by	by	ADP
ap-2128	132	11	the	the	DET
ap-2128	132	12	bayesian	bayesian	NOUN
ap-2128	132	13	formula	formula	NOUN
ap-2128	132	14	[	[	X
ap-2128	132	15	26	26	NUM
ap-2128	132	16	,	,	PUNCT
ap-2128	132	17	27	27	NUM
ap-2128	132	18	]	]	SYM
ap-2128	132	19	:	:	PUNCT
ap-2128	132	20	map(x	map(x	PROPN
ap-2128	132	21	,	,	PUNCT
ap-2128	132	22	y	y	PROPN
ap-2128	132	23	,	,	PUNCT
ap-2128	132	24	z)′	z)′	NOUN
ap-2128	132	25	=	=	SYM
ap-2128	132	26	ps	ps	PROPN
ap-2128	132	27	map(x	map(x	PROPN
ap-2128	132	28	,	,	PUNCT
ap-2128	132	29	y	y	PROPN
ap-2128	132	30	,	,	PUNCT
ap-2128	132	31	z	z	NOUN
ap-2128	132	32	)	)	PUNCT
ap-2128	132	33	ps	ps	PROPN
ap-2128	132	34	map(x	map(x	PROPN
ap-2128	132	35	,	,	PUNCT
ap-2128	132	36	y	y	PROPN
ap-2128	132	37	,	,	PUNCT
ap-2128	132	38	z	z	NOUN
ap-2128	132	39	)	)	PUNCT
ap-2128	132	40	+	+	CCONJ
ap-2128	132	41	(	(	PUNCT
ap-2128	132	42	1−	1−	NUM
ap-2128	132	43	ps)(1−map(x	ps)(1−map(x	PROPN
ap-2128	132	44	,	,	PUNCT
ap-2128	132	45	y	y	PROPN
ap-2128	132	46	,	,	PUNCT
ap-2128	132	47	z	z	NOUN
ap-2128	132	48	)	)	PUNCT
ap-2128	132	49	)	)	PUNCT
ap-2128	132	50	,	,	PUNCT
ap-2128	132	51	where	where	SCONJ
ap-2128	132	52	map(x	map(x	PROPN
ap-2128	132	53	,	,	PUNCT
ap-2128	132	54	y	y	PROPN
ap-2128	132	55	,	,	PUNCT
ap-2128	132	56	z)′	z)′	PROPN
ap-2128	132	57	represents	represent	VERB
ap-2128	132	58	an	an	DET
ap-2128	132	59	updated	update	VERB
ap-2128	132	60	value	value	NOUN
ap-2128	132	61	of	of	ADP
ap-2128	132	62	the	the	DET
ap-2128	132	63	cell	cell	NOUN
ap-2128	132	64	in	in	ADP
ap-2128	132	65	position	position	NOUN
ap-2128	133	1	[	[	X
ap-2128	133	2	x	x	X
ap-2128	133	3	,	,	PUNCT
ap-2128	133	4	y	y	PROPN
ap-2128	133	5	,	,	PUNCT
ap-2128	133	6	z	z	X
ap-2128	133	7	]	]	X
ap-2128	133	8	after	after	ADP
ap-2128	133	9	integration	integration	NOUN
ap-2128	133	10	of	of	ADP
ap-2128	133	11	a	a	DET
ap-2128	133	12	new	new	ADJ
ap-2128	133	13	sensory	sensory	ADJ
ap-2128	133	14	reading	reading	NOUN
ap-2128	133	15	into	into	ADP
ap-2128	133	16	the	the	DET
ap-2128	133	17	map	map	NOUN
ap-2128	133	18	,	,	PUNCT
ap-2128	133	19	map(x	map(x	PROPN
ap-2128	133	20	,	,	PUNCT
ap-2128	133	21	y	y	PROPN
ap-2128	133	22	,	,	PUNCT
ap-2128	133	23	z	z	NOUN
ap-2128	133	24	)	)	PUNCT
ap-2128	133	25	represents	represent	VERB
ap-2128	133	26	the	the	DET
ap-2128	133	27	previous	previous	ADJ
ap-2128	133	28	value	value	NOUN
ap-2128	133	29	,	,	PUNCT
ap-2128	133	30	and	and	CCONJ
ap-2128	133	31	ps	ps	PROPN
ap-2128	133	32	=	=	SYM
ap-2128	133	33	p	p	X
ap-2128	133	34	[	[	PUNCT
ap-2128	133	35	map(x	map(x	PROPN
ap-2128	133	36	,	,	PUNCT
ap-2128	133	37	y	y	PROPN
ap-2128	133	38	,	,	PUNCT
ap-2128	133	39	z	z	NOUN
ap-2128	133	40	)	)	PUNCT
ap-2128	133	41	=	=	SYM
ap-2128	133	42	occ	occ	X
ap-2128	133	43	∣∣	∣∣	X
ap-2128	133	44	{	{	PUNCT
ap-2128	133	45	r	r	NOUN
ap-2128	133	46	}	}	PUNCT
ap-2128	133	47	]	]	PUNCT
ap-2128	133	48	is	be	AUX
ap-2128	133	49	the	the	DET
ap-2128	133	50	probability	probability	NOUN
ap-2128	133	51	that	that	SCONJ
ap-2128	133	52	the	the	DET
ap-2128	133	53	cell	cell	NOUN
ap-2128	133	54	is	be	AUX
ap-2128	133	55	occupied	occupy	VERB
ap-2128	133	56	(	(	PUNCT
ap-2128	133	57	occ	occ	NOUN
ap-2128	133	58	)	)	PUNCT
ap-2128	133	59	according	accord	VERB
ap-2128	133	60	to	to	ADP
ap-2128	133	61	sensor	sensor	NOUN
ap-2128	133	62	range	range	NOUN
ap-2128	133	63	reading	read	VERB
ap-2128	133	64	r	r	NOUN
ap-2128	133	65	,	,	PUNCT
ap-2128	133	66	i.e.	i.e.	X
ap-2128	133	67	,	,	PUNCT
ap-2128	133	68	the	the	DET
ap-2128	133	69	sensor	sensor	NOUN
ap-2128	133	70	model	model	NOUN
ap-2128	133	71	(	(	PUNCT
ap-2128	133	72	fig	fig	NOUN
ap-2128	133	73	.	.	PUNCT
ap-2128	133	74	4	4	NUM
ap-2128	133	75	)	)	PUNCT
ap-2128	133	76	.	.	PUNCT
ap-2128	134	1	it	it	PRON
ap-2128	134	2	is	be	AUX
ap-2128	134	3	essential	essential	ADJ
ap-2128	134	4	to	to	PART
ap-2128	134	5	combine	combine	VERB
ap-2128	134	6	data	datum	NOUN
ap-2128	134	7	from	from	ADP
ap-2128	134	8	several	several	ADJ
ap-2128	134	9	measurements	measurement	NOUN
ap-2128	134	10	[	[	X
ap-2128	134	11	24	24	NUM
ap-2128	134	12	]	]	PUNCT
ap-2128	134	13	.	.	PUNCT
ap-2128	135	1	at	at	ADP
ap-2128	135	2	each	each	DET
ap-2128	135	3	time	time	NOUN
ap-2128	135	4	step	step	NOUN
ap-2128	135	5	,	,	PUNCT
ap-2128	135	6	we	we	PRON
ap-2128	135	7	obtain	obtain	VERB
ap-2128	135	8	sensory	sensory	ADJ
ap-2128	135	9	readings	reading	NOUN
ap-2128	135	10	from	from	ADP
ap-2128	135	11	all	all	DET
ap-2128	135	12	urss	urss	NOUN
ap-2128	135	13	.	.	PUNCT
ap-2128	136	1	a	a	DET
ap-2128	136	2	viable	viable	ADJ
ap-2128	136	3	method	method	NOUN
ap-2128	136	4	for	for	ADP
ap-2128	136	5	integrating	integrate	VERB
ap-2128	136	6	data	datum	NOUN
ap-2128	136	7	from	from	ADP
ap-2128	136	8	independent	independent	ADJ
ap-2128	136	9	measurements	measurement	NOUN
ap-2128	136	10	makes	make	VERB
ap-2128	136	11	the	the	DET
ap-2128	136	12	map	map	NOUN
ap-2128	136	13	more	more	ADV
ap-2128	136	14	accurate	accurate	ADJ
ap-2128	136	15	with	with	ADP
ap-2128	136	16	each	each	DET
ap-2128	136	17	measurement	measurement	NOUN
ap-2128	136	18	.	.	PUNCT
ap-2128	137	1	in	in	ADP
ap-2128	137	2	this	this	DET
ap-2128	137	3	way	way	NOUN
ap-2128	137	4	,	,	PUNCT
ap-2128	137	5	we	we	PRON
ap-2128	137	6	obtain	obtain	VERB
ap-2128	137	7	the	the	DET
ap-2128	137	8	precise	precise	ADJ
ap-2128	137	9	location	location	NOUN
ap-2128	137	10	of	of	ADP
ap-2128	137	11	objects	object	NOUN
ap-2128	137	12	in	in	ADP
ap-2128	137	13	relation	relation	NOUN
ap-2128	137	14	to	to	ADP
ap-2128	137	15	the	the	DET
ap-2128	137	16	articulatio	articulatio	NOUN
ap-2128	137	17	humeri	humeri	PROPN
ap-2128	137	18	and	and	CCONJ
ap-2128	137	19	arm	arm	NOUN
ap-2128	137	20	segments	segment	NOUN
ap-2128	137	21	with	with	ADP
ap-2128	137	22	sensors	sensor	NOUN
ap-2128	137	23	.	.	PUNCT
ap-2128	138	1	2.4	2.4	NUM
ap-2128	138	2	.	.	PUNCT
ap-2128	138	3	fuzzy	fuzzy	ADJ
ap-2128	138	4	expert	expert	NOUN
ap-2128	138	5	system	system	NOUN
ap-2128	138	6	a	a	DET
ap-2128	138	7	fuzzy	fuzzy	ADJ
ap-2128	138	8	expert	expert	NOUN
ap-2128	138	9	system	system	NOUN
ap-2128	138	10	(	(	PUNCT
ap-2128	138	11	fes	fes	NOUN
ap-2128	138	12	)	)	PUNCT
ap-2128	138	13	is	be	AUX
ap-2128	138	14	designed	design	VERB
ap-2128	138	15	to	to	PART
ap-2128	138	16	convert	convert	VERB
ap-2128	138	17	the	the	DET
ap-2128	138	18	measured	measure	VERB
ap-2128	138	19	data	datum	NOUN
ap-2128	138	20	from	from	ADP
ap-2128	138	21	ssb	ssb	PROPN
ap-2128	138	22	and/or	and/or	CCONJ
ap-2128	138	23	mcb	mcb	PROPN
ap-2128	138	24	,	,	PUNCT
ap-2128	138	25	and	and	CCONJ
ap-2128	138	26	to	to	PART
ap-2128	138	27	identify	identify	VERB
ap-2128	138	28	potentially	potentially	ADV
ap-2128	138	29	dangerous	dangerous	ADJ
ap-2128	138	30	situations	situation	NOUN
ap-2128	138	31	(	(	PUNCT
ap-2128	138	32	pds	pds	NOUN
ap-2128	138	33	)	)	PUNCT
ap-2128	138	34	.	.	PUNCT
ap-2128	139	1	the	the	DET
ap-2128	139	2	fes	fes	NOUN
ap-2128	139	3	is	be	AUX
ap-2128	139	4	used	use	VERB
ap-2128	139	5	to	to	PART
ap-2128	139	6	interpret	interpret	VERB
ap-2128	139	7	data	datum	NOUN
ap-2128	139	8	from	from	ADP
ap-2128	139	9	the	the	DET
ap-2128	139	10	multi	multi	NOUN
ap-2128	139	11	-	-	NOUN
ap-2128	139	12	sensor	sensor	NOUN
ap-2128	139	13	,	,	PUNCT
ap-2128	139	14	and	and	CCONJ
ap-2128	139	15	,	,	PUNCT
ap-2128	139	16	on	on	ADP
ap-2128	139	17	the	the	DET
ap-2128	139	18	basis	basis	NOUN
ap-2128	139	19	of	of	ADP
ap-2128	139	20	sets	set	NOUN
ap-2128	139	21	of	of	ADP
ap-2128	139	22	if	if	SCONJ
ap-2128	139	23	-	-	PUNCT
ap-2128	139	24	then	then	ADV
ap-2128	139	25	rules	rule	NOUN
ap-2128	139	26	,	,	PUNCT
ap-2128	139	27	to	to	PART
ap-2128	139	28	infer	infer	VERB
ap-2128	139	29	an	an	DET
ap-2128	139	30	output	output	NOUN
ap-2128	139	31	.	.	PUNCT
ap-2128	140	1	expert	expert	ADJ
ap-2128	140	2	knowledge	knowledge	NOUN
ap-2128	140	3	based	base	VERB
ap-2128	140	4	on	on	ADP
ap-2128	140	5	information	information	NOUN
ap-2128	140	6	about	about	ADP
ap-2128	140	7	the	the	DET
ap-2128	140	8	sensor	sensor	NOUN
ap-2128	140	9	characteristics	characteristic	NOUN
ap-2128	140	10	and	and	CCONJ
ap-2128	140	11	dimensions	dimension	NOUN
ap-2128	140	12	of	of	ADP
ap-2128	140	13	the	the	DET
ap-2128	140	14	ra	ra	PROPN
ap-2128	140	15	was	be	AUX
ap-2128	140	16	used	use	VERB
ap-2128	140	17	for	for	ADP
ap-2128	140	18	setting	set	VERB
ap-2128	140	19	up	up	ADP
ap-2128	140	20	the	the	DET
ap-2128	140	21	fes	fes	NOUN
ap-2128	140	22	implemented	implement	VERB
ap-2128	140	23	in	in	ADP
ap-2128	140	24	matlab	matlab	PROPN
ap-2128	140	25	toolboxes	toolbox	NOUN
ap-2128	141	1	[	[	X
ap-2128	141	2	28	28	NUM
ap-2128	141	3	]	]	PUNCT
ap-2128	141	4	.	.	PUNCT
ap-2128	142	1	with	with	ADP
ap-2128	142	2	fuzzy	fuzzy	ADJ
ap-2128	142	3	logic	logic	NOUN
ap-2128	142	4	we	we	PRON
ap-2128	142	5	are	be	AUX
ap-2128	142	6	able	able	ADJ
ap-2128	142	7	to	to	PART
ap-2128	142	8	use	use	VERB
ap-2128	142	9	natural	natural	ADJ
ap-2128	142	10	language	language	NOUN
ap-2128	142	11	and	and	CCONJ
ap-2128	142	12	words	word	NOUN
ap-2128	142	13	,	,	PUNCT
ap-2128	142	14	instead	instead	ADV
ap-2128	142	15	of	of	ADP
ap-2128	142	16	equations	equation	NOUN
ap-2128	142	17	and	and	CCONJ
ap-2128	142	18	numbers	number	NOUN
ap-2128	142	19	,	,	PUNCT
ap-2128	142	20	[	[	X
ap-2128	142	21	29	29	NUM
ap-2128	142	22	]	]	PUNCT
ap-2128	142	23	.	.	PUNCT
ap-2128	143	1	the	the	DET
ap-2128	143	2	possibility	possibility	NOUN
ap-2128	143	3	of	of	ADP
ap-2128	143	4	a	a	DET
ap-2128	143	5	pds	pds	NOUN
ap-2128	143	6	can	can	AUX
ap-2128	143	7	be	be	AUX
ap-2128	143	8	described	describe	VERB
ap-2128	143	9	linguistically	linguistically	ADV
ap-2128	143	10	as	as	ADP
ap-2128	143	11	:	:	PUNCT
ap-2128	143	12	low	low	ADJ
ap-2128	143	13	,	,	PUNCT
ap-2128	143	14	medium	medium	ADJ
ap-2128	143	15	or	or	CCONJ
ap-2128	143	16	high	high	ADJ
ap-2128	143	17	(	(	PUNCT
ap-2128	143	18	see	see	VERB
ap-2128	143	19	table	table	NOUN
ap-2128	143	20	1	1	NUM
ap-2128	143	21	)	)	PUNCT
ap-2128	143	22	.	.	PUNCT
ap-2128	144	1	a	a	DET
ap-2128	144	2	fuzzy	fuzzy	ADJ
ap-2128	144	3	if	if	SCONJ
ap-2128	144	4	-	-	PUNCT
ap-2128	144	5	then	then	ADV
ap-2128	144	6	rule	rule	NOUN
ap-2128	144	7	assumes	assume	VERB
ap-2128	144	8	the	the	DET
ap-2128	144	9	form	form	NOUN
ap-2128	144	10	:	:	PUNCT
ap-2128	144	11	if	if	SCONJ
ap-2128	144	12	x	x	PRON
ap-2128	144	13	is	be	AUX
ap-2128	144	14	200	200	NUM
ap-2128	144	15	vol	vol	NOUN
ap-2128	144	16	.	.	PUNCT
ap-2128	145	1	54	54	NUM
ap-2128	145	2	no	no	NOUN
ap-2128	145	3	.	.	PUNCT
ap-2128	146	1	3/2014	3/2014	NUM
ap-2128	146	2	a	a	DET
ap-2128	146	3	myoelectric	myoelectric	ADJ
ap-2128	146	4	prosthetic	prosthetic	ADJ
ap-2128	146	5	arm	arm	NOUN
ap-2128	146	6	controlled	control	VERB
ap-2128	146	7	by	by	ADP
ap-2128	146	8	a	a	DET
ap-2128	146	9	sensor	sensor	NOUN
ap-2128	146	10	-	-	PUNCT
ap-2128	146	11	actuator	actuator	NOUN
ap-2128	146	12	loop	loop	NOUN
ap-2128	146	13	if	if	SCONJ
ap-2128	146	14	distance	distance	NOUN
ap-2128	146	15	is	be	AUX
ap-2128	146	16	long	long	ADV
ap-2128	146	17	then	then	ADV
ap-2128	146	18	pds	pds	NOUN
ap-2128	146	19	is	be	AUX
ap-2128	146	20	low	low	ADJ
ap-2128	146	21	if	if	SCONJ
ap-2128	146	22	distance	distance	NOUN
ap-2128	146	23	is	be	AUX
ap-2128	146	24	medium	medium	ADJ
ap-2128	146	25	then	then	ADV
ap-2128	146	26	pds	pds	NOUN
ap-2128	146	27	is	be	AUX
ap-2128	146	28	medium	medium	ADJ
ap-2128	146	29	if	if	SCONJ
ap-2128	146	30	distance	distance	NOUN
ap-2128	146	31	is	be	AUX
ap-2128	146	32	short	short	ADJ
ap-2128	146	33	then	then	ADV
ap-2128	146	34	pds	pds	NOUN
ap-2128	146	35	is	be	AUX
ap-2128	146	36	high	high	ADJ
ap-2128	146	37	if	if	SCONJ
ap-2128	146	38	temperature	temperature	NOUN
ap-2128	146	39	is	be	AUX
ap-2128	146	40	low	low	ADJ
ap-2128	146	41	then	then	ADV
ap-2128	146	42	pds	pds	NOUN
ap-2128	146	43	is	be	AUX
ap-2128	146	44	low	low	ADJ
ap-2128	146	45	if	if	SCONJ
ap-2128	146	46	temperature	temperature	NOUN
ap-2128	146	47	is	be	AUX
ap-2128	146	48	medium	medium	ADJ
ap-2128	146	49	then	then	ADV
ap-2128	146	50	pds	pds	NOUN
ap-2128	146	51	is	be	AUX
ap-2128	146	52	medium	medium	ADJ
ap-2128	146	53	if	if	SCONJ
ap-2128	146	54	temperature	temperature	NOUN
ap-2128	146	55	is	be	AUX
ap-2128	146	56	high	high	ADJ
ap-2128	146	57	then	then	ADV
ap-2128	146	58	pds	pds	NOUN
ap-2128	146	59	is	be	AUX
ap-2128	146	60	high	high	ADJ
ap-2128	146	61	if	if	SCONJ
ap-2128	146	62	magnetic	magnetic	ADJ
ap-2128	146	63	field	field	NOUN
ap-2128	146	64	is	be	AUX
ap-2128	146	65	low	low	ADJ
ap-2128	146	66	then	then	ADV
ap-2128	146	67	pds	pds	NOUN
ap-2128	146	68	is	be	AUX
ap-2128	146	69	low	low	ADJ
ap-2128	146	70	if	if	SCONJ
ap-2128	146	71	magnetic	magnetic	ADJ
ap-2128	146	72	field	field	NOUN
ap-2128	146	73	is	be	AUX
ap-2128	146	74	medium	medium	ADJ
ap-2128	146	75	then	then	ADV
ap-2128	146	76	pds	pds	NOUN
ap-2128	146	77	is	be	AUX
ap-2128	146	78	medium	medium	ADJ
ap-2128	146	79	if	if	SCONJ
ap-2128	146	80	magnetic	magnetic	ADJ
ap-2128	146	81	field	field	NOUN
ap-2128	146	82	is	be	AUX
ap-2128	146	83	high	high	ADJ
ap-2128	146	84	then	then	ADV
ap-2128	146	85	pds	pds	NOUN
ap-2128	146	86	is	be	AUX
ap-2128	146	87	high	high	ADJ
ap-2128	146	88	if	if	SCONJ
ap-2128	146	89	co2	co2	NOUN
ap-2128	146	90	concentration	concentration	NOUN
ap-2128	146	91	is	be	AUX
ap-2128	146	92	low	low	ADJ
ap-2128	146	93	then	then	ADV
ap-2128	146	94	pds	pds	NOUN
ap-2128	146	95	is	be	AUX
ap-2128	146	96	low	low	ADJ
ap-2128	146	97	if	if	SCONJ
ap-2128	146	98	co2	co2	NOUN
ap-2128	146	99	concentration	concentration	NOUN
ap-2128	146	100	is	be	AUX
ap-2128	146	101	medium	medium	ADJ
ap-2128	146	102	then	then	ADV
ap-2128	146	103	pds	pds	NOUN
ap-2128	146	104	is	be	AUX
ap-2128	146	105	medium	medium	ADJ
ap-2128	146	106	if	if	SCONJ
ap-2128	146	107	co2	co2	NOUN
ap-2128	146	108	concentration	concentration	NOUN
ap-2128	146	109	is	be	AUX
ap-2128	146	110	high	high	ADJ
ap-2128	146	111	then	then	ADV
ap-2128	146	112	pds	pds	NOUN
ap-2128	146	113	is	be	AUX
ap-2128	146	114	high	high	ADJ
ap-2128	146	115	if	if	SCONJ
ap-2128	146	116	relative	relative	ADJ
ap-2128	146	117	humidity	humidity	NOUN
ap-2128	146	118	is	be	AUX
ap-2128	146	119	low	low	ADJ
ap-2128	146	120	then	then	ADV
ap-2128	146	121	pds	pds	NOUN
ap-2128	146	122	is	be	AUX
ap-2128	146	123	low	low	ADJ
ap-2128	146	124	if	if	SCONJ
ap-2128	146	125	relative	relative	ADJ
ap-2128	146	126	humidity	humidity	NOUN
ap-2128	146	127	is	be	AUX
ap-2128	146	128	medium	medium	ADJ
ap-2128	146	129	then	then	ADV
ap-2128	146	130	pds	pds	NOUN
ap-2128	146	131	is	be	AUX
ap-2128	146	132	medium	medium	ADJ
ap-2128	146	133	if	if	SCONJ
ap-2128	146	134	relative	relative	ADJ
ap-2128	146	135	humidity	humidity	NOUN
ap-2128	146	136	is	be	AUX
ap-2128	146	137	high	high	ADJ
ap-2128	146	138	then	then	ADV
ap-2128	146	139	pds	pds	NOUN
ap-2128	146	140	is	be	AUX
ap-2128	146	141	high	high	ADJ
ap-2128	146	142	table	table	NOUN
ap-2128	146	143	1	1	NUM
ap-2128	146	144	.	.	PUNCT
ap-2128	146	145	general	general	ADJ
ap-2128	146	146	if	if	SCONJ
ap-2128	146	147	-	-	PUNCT
ap-2128	146	148	then	then	ADV
ap-2128	146	149	rules	rule	VERB
ap-2128	146	150	to	to	PART
ap-2128	146	151	determine	determine	VERB
ap-2128	146	152	the	the	DET
ap-2128	146	153	possibility	possibility	NOUN
ap-2128	146	154	of	of	ADP
ap-2128	146	155	a	a	DET
ap-2128	146	156	potentially	potentially	ADV
ap-2128	146	157	dangerous	dangerous	ADJ
ap-2128	146	158	situation	situation	NOUN
ap-2128	146	159	.	.	PUNCT
ap-2128	147	1	a	a	PRON
ap-2128	147	2	then	then	ADV
ap-2128	147	3	y	y	PROPN
ap-2128	147	4	is	be	AUX
ap-2128	147	5	b	b	NOUN
ap-2128	147	6	,	,	PUNCT
ap-2128	147	7	where	where	SCONJ
ap-2128	147	8	a	a	PRON
ap-2128	147	9	and	and	CCONJ
ap-2128	147	10	b	b	NOUN
ap-2128	147	11	are	be	AUX
ap-2128	147	12	linguistic	linguistic	ADJ
ap-2128	147	13	variables	variable	NOUN
ap-2128	147	14	defined	define	VERB
ap-2128	147	15	by	by	ADP
ap-2128	147	16	fuzzy	fuzzy	ADJ
ap-2128	147	17	sets	set	NOUN
ap-2128	147	18	on	on	ADP
ap-2128	147	19	universes	universe	NOUN
ap-2128	147	20	of	of	ADP
ap-2128	147	21	discourse	discourse	NOUN
ap-2128	147	22	x	x	PUNCT
ap-2128	147	23	and	and	CCONJ
ap-2128	147	24	y	y	PROPN
ap-2128	147	25	,	,	PUNCT
ap-2128	147	26	respectively	respectively	ADV
ap-2128	147	27	(	(	PUNCT
ap-2128	147	28	tab	tab	NOUN
ap-2128	147	29	.	.	NOUN
ap-2128	147	30	1	1	NUM
ap-2128	147	31	and	and	CCONJ
ap-2128	147	32	tab	tab	NOUN
ap-2128	147	33	.	.	NOUN
ap-2128	147	34	2	2	NUM
ap-2128	147	35	)	)	PUNCT
ap-2128	147	36	.	.	PUNCT
ap-2128	148	1	the	the	PRON
ap-2128	148	2	x	x	PUNCT
ap-2128	148	3	can	can	AUX
ap-2128	148	4	be	be	AUX
ap-2128	148	5	distance	distance	NOUN
ap-2128	148	6	,	,	PUNCT
ap-2128	148	7	temperature	temperature	NOUN
ap-2128	148	8	,	,	PUNCT
ap-2128	148	9	magnetic	magnetic	ADJ
ap-2128	148	10	field	field	NOUN
ap-2128	148	11	,	,	PUNCT
ap-2128	148	12	co2	co2	NOUN
ap-2128	148	13	concentration	concentration	NOUN
ap-2128	148	14	or	or	CCONJ
ap-2128	148	15	relative	relative	ADJ
ap-2128	148	16	humidity	humidity	NOUN
ap-2128	148	17	,	,	PUNCT
ap-2128	148	18	and	and	CCONJ
ap-2128	148	19	the	the	DET
ap-2128	148	20	y	y	PROPN
ap-2128	148	21	is	be	AUX
ap-2128	148	22	the	the	DET
ap-2128	148	23	possibility	possibility	NOUN
ap-2128	148	24	of	of	ADP
ap-2128	148	25	a	a	DET
ap-2128	148	26	pds	pds	NOUN
ap-2128	148	27	,	,	PUNCT
ap-2128	148	28	tab	tab	NOUN
ap-2128	148	29	.	.	PUNCT
ap-2128	149	1	1	1	X
ap-2128	149	2	.	.	X
ap-2128	150	1	the	the	DET
ap-2128	150	2	if	if	NOUN
ap-2128	150	3	-	-	PUNCT
ap-2128	150	4	then	then	ADV
ap-2128	150	5	rules	rule	NOUN
ap-2128	150	6	are	be	AUX
ap-2128	150	7	derived	derive	VERB
ap-2128	150	8	from	from	ADP
ap-2128	150	9	experimental	experimental	ADJ
ap-2128	150	10	findings	finding	NOUN
ap-2128	150	11	and	and	CCONJ
ap-2128	150	12	knowledge	knowledge	NOUN
ap-2128	150	13	indicating	indicate	VERB
ap-2128	150	14	the	the	DET
ap-2128	150	15	relation	relation	NOUN
ap-2128	150	16	between	between	ADP
ap-2128	150	17	the	the	DET
ap-2128	150	18	measured	measure	VERB
ap-2128	150	19	data	datum	NOUN
ap-2128	150	20	from	from	ADP
ap-2128	150	21	the	the	DET
ap-2128	150	22	sensors	sensor	NOUN
ap-2128	150	23	and	and	CCONJ
ap-2128	150	24	the	the	DET
ap-2128	150	25	pds	pds	NOUN
ap-2128	150	26	.	.	PUNCT
ap-2128	151	1	fuzzy	fuzzy	ADJ
ap-2128	151	2	sets	set	NOUN
ap-2128	151	3	and	and	CCONJ
ap-2128	151	4	membership	membership	NOUN
ap-2128	151	5	functions	function	NOUN
ap-2128	151	6	of	of	ADP
ap-2128	151	7	the	the	DET
ap-2128	151	8	fes	fes	NOUN
ap-2128	151	9	are	be	AUX
ap-2128	151	10	also	also	ADV
ap-2128	151	11	designed	design	VERB
ap-2128	151	12	[	[	X
ap-2128	151	13	15	15	NUM
ap-2128	151	14	]	]	PUNCT
ap-2128	151	15	.	.	PUNCT
ap-2128	152	1	thus	thus	ADV
ap-2128	152	2	,	,	PUNCT
ap-2128	152	3	each	each	DET
ap-2128	152	4	variable	variable	NOUN
ap-2128	152	5	is	be	AUX
ap-2128	152	6	described	describe	VERB
ap-2128	152	7	by	by	ADP
ap-2128	152	8	fuzzy	fuzzy	ADJ
ap-2128	152	9	sets	set	NOUN
ap-2128	152	10	.	.	PUNCT
ap-2128	153	1	the	the	DET
ap-2128	153	2	output	output	NOUN
ap-2128	153	3	variable	variable	NOUN
ap-2128	153	4	from	from	ADP
ap-2128	153	5	the	the	DET
ap-2128	153	6	fes	fes	NOUN
ap-2128	153	7	is	be	AUX
ap-2128	153	8	the	the	DET
ap-2128	153	9	possibility	possibility	NOUN
ap-2128	153	10	(	(	PUNCT
ap-2128	153	11	i.e.	i.e.	X
ap-2128	153	12	,	,	PUNCT
ap-2128	153	13	probability	probability	NOUN
ap-2128	153	14	)	)	PUNCT
ap-2128	153	15	of	of	ADP
ap-2128	153	16	the	the	DET
ap-2128	153	17	pds	pds	NOUN
ap-2128	153	18	(	(	PUNCT
ap-2128	153	19	having	have	VERB
ap-2128	153	20	values	value	NOUN
ap-2128	153	21	in	in	ADP
ap-2128	153	22	the	the	DET
ap-2128	153	23	interval	interval	NOUN
ap-2128	153	24	from	from	ADP
ap-2128	153	25	0	0	NUM
ap-2128	153	26	to	to	ADP
ap-2128	153	27	1	1	NUM
ap-2128	153	28	)	)	PUNCT
ap-2128	153	29	,	,	PUNCT
ap-2128	153	30	table	table	NOUN
ap-2128	153	31	2	2	NUM
ap-2128	153	32	.	.	PUNCT
ap-2128	154	1	the	the	DET
ap-2128	154	2	designed	design	VERB
ap-2128	154	3	fes	fes	NOUN
ap-2128	154	4	interprets	interpret	VERB
ap-2128	154	5	an	an	DET
ap-2128	154	6	input	input	NOUN
ap-2128	154	7	,	,	PUNCT
ap-2128	154	8	and	and	CCONJ
ap-2128	154	9	,	,	PUNCT
ap-2128	154	10	on	on	ADP
ap-2128	154	11	the	the	DET
ap-2128	154	12	basis	basis	NOUN
ap-2128	154	13	of	of	ADP
ap-2128	154	14	sets	set	NOUN
ap-2128	154	15	of	of	ADP
ap-2128	154	16	if	if	SCONJ
ap-2128	154	17	-	-	PUNCT
ap-2128	154	18	then	then	ADV
ap-2128	154	19	rules	rule	NOUN
ap-2128	154	20	,	,	PUNCT
ap-2128	154	21	infers	infer	VERB
ap-2128	154	22	an	an	DET
ap-2128	154	23	output	output	NOUN
ap-2128	154	24	.	.	PUNCT
ap-2128	155	1	the	the	DET
ap-2128	155	2	fes	fes	NOUN
ap-2128	155	3	has	have	VERB
ap-2128	155	4	five	five	NUM
ap-2128	155	5	input	input	NOUN
ap-2128	155	6	variables	variable	NOUN
ap-2128	155	7	and	and	CCONJ
ap-2128	155	8	one	one	NUM
ap-2128	155	9	output	output	NOUN
ap-2128	155	10	variable	variable	NOUN
ap-2128	155	11	,	,	PUNCT
ap-2128	155	12	table	table	NOUN
ap-2128	155	13	1	1	NUM
ap-2128	155	14	.	.	PUNCT
ap-2128	156	1	the	the	DET
ap-2128	156	2	fuzzy	fuzzy	ADJ
ap-2128	156	3	toolbox	toolbox	NOUN
ap-2128	156	4	and	and	CCONJ
ap-2128	156	5	the	the	DET
ap-2128	156	6	mamdani	mamdani	NOUN
ap-2128	156	7	fuzzy	fuzzy	ADJ
ap-2128	156	8	inference	inference	NOUN
ap-2128	156	9	system	system	NOUN
ap-2128	156	10	(	(	PUNCT
ap-2128	156	11	fis	fis	PROPN
ap-2128	156	12	)	)	PUNCT
ap-2128	156	13	in	in	ADP
ap-2128	156	14	matlab	matlab	PROPN
ap-2128	156	15	were	be	AUX
ap-2128	156	16	used	use	VERB
ap-2128	156	17	to	to	PART
ap-2128	156	18	create	create	VERB
ap-2128	156	19	the	the	DET
ap-2128	156	20	fed	fed	PROPN
ap-2128	156	21	described	describe	VERB
ap-2128	156	22	here	here	ADV
ap-2128	156	23	.	.	PUNCT
ap-2128	157	1	mamdani	mamdani	PROPN
ap-2128	157	2	fis	fis	PROPN
ap-2128	157	3	is	be	AUX
ap-2128	157	4	the	the	DET
ap-2128	157	5	best	well	ADV
ap-2128	157	6	known	know	VERB
ap-2128	157	7	and	and	CCONJ
ap-2128	157	8	the	the	DET
ap-2128	157	9	most	most	ADV
ap-2128	157	10	widely	widely	ADV
ap-2128	157	11	-	-	PUNCT
ap-2128	157	12	used	use	VERB
ap-2128	157	13	system	system	NOUN
ap-2128	157	14	in	in	ADP
ap-2128	157	15	developing	develop	VERB
ap-2128	157	16	and	and	CCONJ
ap-2128	157	17	applying	apply	VERB
ap-2128	157	18	fuzzy	fuzzy	ADJ
ap-2128	157	19	models	model	NOUN
ap-2128	157	20	[	[	X
ap-2128	157	21	15	15	NUM
ap-2128	157	22	]	]	PUNCT
ap-2128	157	23	.	.	PUNCT
ap-2128	158	1	the	the	DET
ap-2128	158	2	designed	design	VERB
ap-2128	158	3	fes	fes	NOUN
ap-2128	158	4	uses	use	VERB
ap-2128	158	5	prod	prod	NOUN
ap-2128	158	6	(	(	PUNCT
ap-2128	158	7	product	product	NOUN
ap-2128	158	8	)	)	PUNCT
ap-2128	158	9	for	for	ADP
ap-2128	158	10	implication	implication	NOUN
ap-2128	158	11	,	,	PUNCT
ap-2128	158	12	sum	sum	NOUN
ap-2128	158	13	(	(	PUNCT
ap-2128	158	14	simply	simply	ADV
ap-2128	158	15	the	the	DET
ap-2128	158	16	sum	sum	NOUN
ap-2128	158	17	of	of	ADP
ap-2128	158	18	each	each	DET
ap-2128	158	19	rule	rule	NOUN
ap-2128	158	20	’s	’s	PART
ap-2128	158	21	output	output	NOUN
ap-2128	158	22	set	set	NOUN
ap-2128	158	23	)	)	PUNCT
ap-2128	158	24	and	and	CCONJ
ap-2128	158	25	bisector	bisector	NOUN
ap-2128	158	26	for	for	ADP
ap-2128	158	27	defuzzification	defuzzification	NOUN
ap-2128	158	28	.	.	PUNCT
ap-2128	159	1	each	each	DET
ap-2128	159	2	group	group	NOUN
ap-2128	159	3	of	of	ADP
ap-2128	159	4	sensors	sensor	NOUN
ap-2128	159	5	has	have	VERB
ap-2128	159	6	one	one	NUM
ap-2128	159	7	fes	fes	NOUN
ap-2128	159	8	[	[	X
ap-2128	159	9	15	15	NUM
ap-2128	159	10	]	]	PUNCT
ap-2128	159	11	.	.	PUNCT
ap-2128	160	1	if	if	SCONJ
ap-2128	160	2	the	the	DET
ap-2128	160	3	identified	identify	VERB
ap-2128	160	4	value	value	NOUN
ap-2128	160	5	of	of	ADP
ap-2128	160	6	the	the	DET
ap-2128	160	7	pds	pds	NOUN
ap-2128	160	8	is	be	AUX
ap-2128	160	9	more	more	ADJ
ap-2128	160	10	than	than	ADP
ap-2128	160	11	0.8	0.8	NUM
ap-2128	160	12	,	,	PUNCT
ap-2128	160	13	the	the	DET
ap-2128	160	14	control	control	NOUN
ap-2128	160	15	system	system	NOUN
ap-2128	160	16	with	with	ADP
ap-2128	160	17	the	the	DET
ap-2128	160	18	sensor	sensor	NOUN
ap-2128	160	19	-	-	PUNCT
ap-2128	160	20	actuator	actuator	NOUN
ap-2128	160	21	loop	loop	NOUN
ap-2128	160	22	stops	stop	VERB
ap-2128	160	23	the	the	DET
ap-2128	160	24	motion	motion	NOUN
ap-2128	160	25	of	of	ADP
ap-2128	160	26	the	the	DET
ap-2128	160	27	ra	ra	PROPN
ap-2128	160	28	,	,	PUNCT
ap-2128	160	29	or	or	CCONJ
ap-2128	160	30	a	a	DET
ap-2128	160	31	specific	specific	ADJ
ap-2128	160	32	segment	segment	NOUN
ap-2128	160	33	of	of	ADP
ap-2128	160	34	the	the	DET
ap-2128	160	35	ra	ra	PROPN
ap-2128	160	36	,	,	PUNCT
ap-2128	160	37	and	and	CCONJ
ap-2128	160	38	the	the	DET
ap-2128	160	39	proband	proband	NOUN
ap-2128	160	40	is	be	AUX
ap-2128	160	41	informed	inform	VERB
ap-2128	160	42	by	by	ADP
ap-2128	160	43	a	a	DET
ap-2128	160	44	warning	warning	NOUN
ap-2128	160	45	signal	signal	NOUN
ap-2128	160	46	.	.	PUNCT
ap-2128	161	1	information	information	NOUN
ap-2128	161	2	from	from	ADP
ap-2128	161	3	the	the	DET
ap-2128	161	4	3d	3d	NOUN
ap-2128	161	5	map	map	NOUN
ap-2128	161	6	is	be	AUX
ap-2128	161	7	used	use	VERB
ap-2128	161	8	to	to	PART
ap-2128	161	9	stop	stop	VERB
ap-2128	161	10	the	the	DET
ap-2128	161	11	whole	whole	ADJ
ap-2128	161	12	ra	ra	NOUN
ap-2128	161	13	,	,	PUNCT
ap-2128	161	14	and	and	CCONJ
ap-2128	161	15	the	the	DET
ap-2128	161	16	information	information	NOUN
ap-2128	161	17	from	from	ADP
ap-2128	161	18	the	the	DET
ap-2128	161	19	specific	specific	ADJ
ap-2128	161	20	sensor	sensor	NOUN
ap-2128	161	21	is	be	AUX
ap-2128	161	22	used	use	VERB
ap-2128	161	23	to	to	PART
ap-2128	161	24	stop	stop	VERB
ap-2128	161	25	the	the	DET
ap-2128	161	26	specific	specific	ADJ
ap-2128	161	27	segment	segment	NOUN
ap-2128	161	28	with	with	ADP
ap-2128	161	29	the	the	DET
ap-2128	161	30	sensor	sensor	NOUN
ap-2128	161	31	3	3	NUM
ap-2128	161	32	.	.	PUNCT
ap-2128	162	1	results	result	NOUN
ap-2128	162	2	tests	test	NOUN
ap-2128	162	3	were	be	AUX
ap-2128	162	4	carried	carry	VERB
ap-2128	162	5	out	out	ADP
ap-2128	162	6	on	on	ADP
ap-2128	162	7	the	the	DET
ap-2128	162	8	applicability	applicability	NOUN
ap-2128	162	9	of	of	ADP
ap-2128	162	10	the	the	DET
ap-2128	162	11	control	control	NOUN
ap-2128	162	12	systems	system	NOUN
ap-2128	162	13	based	base	VERB
ap-2128	162	14	on	on	ADP
ap-2128	162	15	:	:	PUNCT
ap-2128	162	16	level	level	NOUN
ap-2128	162	17	of	of	ADP
ap-2128	162	18	magnitude	magnitude	NOUN
ap-2128	162	19	of	of	ADP
ap-2128	162	20	the	the	DET
ap-2128	162	21	emg	emg	NOUN
ap-2128	162	22	signal	signal	PROPN
ap-2128	162	23	envelope	envelope	PROPN
ap-2128	162	24	,	,	PUNCT
ap-2128	162	25	the	the	DET
ap-2128	162	26	level	level	NOUN
ap-2128	162	27	on	on	ADP
ap-2128	162	28	the	the	DET
ap-2128	162	29	slope	slope	NOUN
ap-2128	162	30	of	of	ADP
ap-2128	162	31	the	the	DET
ap-2128	162	32	envelope	envelope	NOUN
ap-2128	162	33	,	,	PUNCT
ap-2128	162	34	ssb	ssb	PROPN
ap-2128	162	35	,	,	PUNCT
ap-2128	162	36	real	real	ADJ
ap-2128	162	37	-	-	PUNCT
ap-2128	162	38	time	time	NOUN
ap-2128	162	39	mapping	mapping	NOUN
ap-2128	162	40	of	of	ADP
ap-2128	162	41	the	the	DET
ap-2128	162	42	environment	environment	NOUN
ap-2128	162	43	,	,	PUNCT
ap-2128	162	44	fuzzy	fuzzy	ADJ
ap-2128	162	45	variable	variable	ADJ
ap-2128	162	46	fuzzy	fuzzy	NOUN
ap-2128	162	47	set	set	VERB
ap-2128	162	48	a	a	DET
ap-2128	162	49	b	b	NOUN
ap-2128	162	50	c	c	X
ap-2128	162	51	output	output	NOUN
ap-2128	162	52	potentially	potentially	ADV
ap-2128	162	53	low	low	ADJ
ap-2128	162	54	0	0	NUM
ap-2128	162	55	0	0	NUM
ap-2128	162	56	0.7	0.7	NUM
ap-2128	162	57	dangerous	dangerous	ADJ
ap-2128	162	58	medium	medium	NOUN
ap-2128	162	59	0	0	NUM
ap-2128	162	60	0.7	0.7	NUM
ap-2128	162	61	1	1	NUM
ap-2128	162	62	situation	situation	NOUN
ap-2128	162	63	[	[	X
ap-2128	162	64	–	–	PUNCT
ap-2128	162	65	]	]	X
ap-2128	162	66	high	high	ADJ
ap-2128	162	67	0.7	0.7	NUM
ap-2128	162	68	1	1	NUM
ap-2128	162	69	1	1	NUM
ap-2128	162	70	input	input	NOUN
ap-2128	162	71	distance	distance	NOUN
ap-2128	162	72	small	small	ADJ
ap-2128	162	73	0	0	NUM
ap-2128	162	74	0	0	NUM
ap-2128	162	75	30	30	NUM
ap-2128	163	1	[	[	X
ap-2128	163	2	cm	cm	X
ap-2128	163	3	]	]	X
ap-2128	163	4	medium	medium	NOUN
ap-2128	163	5	0	0	NUM
ap-2128	163	6	30	30	NUM
ap-2128	163	7	60	60	NUM
ap-2128	163	8	long	long	ADJ
ap-2128	163	9	30	30	NUM
ap-2128	163	10	60	60	NUM
ap-2128	163	11	60	60	NUM
ap-2128	163	12	temperature	temperature	NOUN
ap-2128	163	13	low	low	ADJ
ap-2128	163	14	0	0	NUM
ap-2128	163	15	0	0	NUM
ap-2128	163	16	40	40	NUM
ap-2128	164	1	[	[	X
ap-2128	164	2	°	°	ADP
ap-2128	164	3	c	c	NOUN
ap-2128	164	4	]	]	X
ap-2128	164	5	medium	medium	NOUN
ap-2128	164	6	0	0	NUM
ap-2128	164	7	40	40	NUM
ap-2128	164	8	100	100	NUM
ap-2128	164	9	high	high	ADJ
ap-2128	164	10	40	40	NUM
ap-2128	164	11	100	100	NUM
ap-2128	164	12	100	100	NUM
ap-2128	164	13	magnetic	magnetic	ADJ
ap-2128	164	14	field	field	NOUN
ap-2128	164	15	low	low	ADJ
ap-2128	164	16	0	0	NUM
ap-2128	164	17	0	0	NUM
ap-2128	164	18	0.5	0.5	NUM
ap-2128	165	1	[	[	X
ap-2128	165	2	mt	mt	X
ap-2128	165	3	]	]	X
ap-2128	165	4	medium	medium	NOUN
ap-2128	165	5	0	0	NUM
ap-2128	165	6	0.5	0.5	NUM
ap-2128	165	7	200	200	NUM
ap-2128	165	8	high	high	ADJ
ap-2128	165	9	0.5	0.5	NUM
ap-2128	165	10	200	200	NUM
ap-2128	165	11	200	200	NUM
ap-2128	165	12	co2	co2	NOUN
ap-2128	165	13	concenlow	concenlow	ADJ
ap-2128	165	14	0	0	NUM
ap-2128	165	15	0	0	NUM
ap-2128	165	16	3	3	NUM
ap-2128	165	17	tration	tration	NOUN
ap-2128	166	1	[	[	X
ap-2128	166	2	%	%	X
ap-2128	166	3	]	]	X
ap-2128	166	4	medium	medium	NOUN
ap-2128	166	5	0	0	NUM
ap-2128	166	6	3	3	NUM
ap-2128	166	7	5	5	NUM
ap-2128	166	8	high	high	ADJ
ap-2128	166	9	3	3	NUM
ap-2128	166	10	5	5	NUM
ap-2128	166	11	5	5	NUM
ap-2128	166	12	relative	relative	ADJ
ap-2128	166	13	low	low	ADJ
ap-2128	166	14	0	0	NUM
ap-2128	166	15	0	0	NUM
ap-2128	166	16	60	60	NUM
ap-2128	166	17	humidity	humidity	NOUN
ap-2128	166	18	[	[	X
ap-2128	166	19	%	%	X
ap-2128	166	20	]	]	X
ap-2128	166	21	medium	medium	NOUN
ap-2128	166	22	0	0	NUM
ap-2128	166	23	60	60	NUM
ap-2128	166	24	85	85	NUM
ap-2128	166	25	high	high	ADJ
ap-2128	166	26	60	60	NUM
ap-2128	166	27	85	85	NUM
ap-2128	166	28	85	85	NUM
ap-2128	166	29	table	table	NOUN
ap-2128	166	30	2	2	NUM
ap-2128	166	31	.	.	PUNCT
ap-2128	166	32	fuzzy	fuzzy	ADJ
ap-2128	166	33	sets	set	NOUN
ap-2128	166	34	of	of	ADP
ap-2128	166	35	variables	variable	NOUN
ap-2128	166	36	,	,	PUNCT
ap-2128	166	37	linguistic	linguistic	ADJ
ap-2128	166	38	expressions	expression	NOUN
ap-2128	166	39	and	and	CCONJ
ap-2128	166	40	parameters	parameter	NOUN
ap-2128	166	41	for	for	ADP
ap-2128	166	42	defining	define	VERB
ap-2128	166	43	a	a	DET
ap-2128	166	44	triangular	triangular	NOUN
ap-2128	166	45	(	(	PUNCT
ap-2128	166	46	a	a	PRON
ap-2128	166	47	,	,	PUNCT
ap-2128	166	48	b	b	PROPN
ap-2128	166	49	and	and	CCONJ
ap-2128	166	50	c	c	NOUN
ap-2128	166	51	)	)	PUNCT
ap-2128	166	52	membership	membership	NOUN
ap-2128	166	53	function	function	NOUN
ap-2128	166	54	.	.	PUNCT
ap-2128	167	1	and	and	CCONJ
ap-2128	167	2	fes	fes	PROPN
ap-2128	167	3	.	.	PUNCT
ap-2128	168	1	the	the	DET
ap-2128	168	2	use	use	NOUN
ap-2128	168	3	of	of	ADP
ap-2128	168	4	the	the	DET
ap-2128	168	5	level	level	NOUN
ap-2128	168	6	of	of	ADP
ap-2128	168	7	magnitude	magnitude	NOUN
ap-2128	168	8	of	of	ADP
ap-2128	168	9	the	the	DET
ap-2128	168	10	emg	emg	NOUN
ap-2128	168	11	signal	signal	PROPN
ap-2128	168	12	envelope	envelope	PROPN
ap-2128	168	13	and/or	and/or	CCONJ
ap-2128	168	14	the	the	DET
ap-2128	168	15	level	level	NOUN
ap-2128	168	16	of	of	ADP
ap-2128	168	17	the	the	DET
ap-2128	168	18	slope	slope	NOUN
ap-2128	168	19	of	of	ADP
ap-2128	168	20	the	the	DET
ap-2128	168	21	envelope	envelope	NOUN
ap-2128	168	22	is	be	AUX
ap-2128	168	23	clear	clear	ADJ
ap-2128	168	24	and	and	CCONJ
ap-2128	168	25	easily	easily	ADV
ap-2128	168	26	applicable	applicable	ADJ
ap-2128	168	27	[	[	X
ap-2128	168	28	15	15	NUM
ap-2128	168	29	]	]	PUNCT
ap-2128	168	30	.	.	PUNCT
ap-2128	169	1	both	both	DET
ap-2128	169	2	methods	method	NOUN
ap-2128	169	3	are	be	AUX
ap-2128	169	4	able	able	ADJ
ap-2128	169	5	to	to	PART
ap-2128	169	6	control	control	VERB
ap-2128	169	7	the	the	DET
ap-2128	169	8	direction	direction	NOUN
ap-2128	169	9	and	and	CCONJ
ap-2128	169	10	the	the	DET
ap-2128	169	11	angular	angular	ADJ
ap-2128	169	12	velocity	velocity	NOUN
ap-2128	169	13	of	of	ADP
ap-2128	169	14	the	the	DET
ap-2128	169	15	rotation	rotation	NOUN
ap-2128	169	16	of	of	ADP
ap-2128	169	17	the	the	DET
ap-2128	169	18	joint	joint	ADJ
ap-2128	169	19	actuator	actuator	NOUN
ap-2128	169	20	by	by	ADP
ap-2128	169	21	the	the	DET
ap-2128	169	22	intensity	intensity	NOUN
ap-2128	169	23	of	of	ADP
ap-2128	169	24	the	the	DET
ap-2128	169	25	muscle	muscle	NOUN
ap-2128	169	26	contraction	contraction	NOUN
ap-2128	169	27	,	,	PUNCT
ap-2128	169	28	i.e.	i.e.	X
ap-2128	169	29	,	,	PUNCT
ap-2128	169	30	the	the	DET
ap-2128	169	31	magnitude	magnitude	NOUN
ap-2128	169	32	of	of	ADP
ap-2128	169	33	the	the	DET
ap-2128	169	34	emg	emg	NOUN
ap-2128	169	35	signal	signal	NOUN
ap-2128	169	36	envelope	envelope	NOUN
ap-2128	169	37	or	or	CCONJ
ap-2128	169	38	the	the	DET
ap-2128	169	39	slope	slope	NOUN
ap-2128	169	40	of	of	ADP
ap-2128	169	41	the	the	DET
ap-2128	169	42	envelope	envelope	NOUN
ap-2128	169	43	of	of	ADP
ap-2128	169	44	the	the	DET
ap-2128	169	45	emg	emg	NOUN
ap-2128	169	46	signal	signal	NOUN
ap-2128	169	47	.	.	PUNCT
ap-2128	170	1	the	the	DET
ap-2128	170	2	methods	method	NOUN
ap-2128	170	3	are	be	AUX
ap-2128	170	4	computationally	computationally	ADV
ap-2128	170	5	equivalent	equivalent	ADJ
ap-2128	170	6	and	and	CCONJ
ap-2128	170	7	equally	equally	ADV
ap-2128	170	8	complex	complex	ADJ
ap-2128	170	9	,	,	PUNCT
ap-2128	170	10	201	201	NUM
ap-2128	170	11	p.	p.	NOUN
ap-2128	170	12	kutílek	kutílek	PROPN
ap-2128	170	13	,	,	PUNCT
ap-2128	170	14	j.	j.	PROPN
ap-2128	170	15	hýbl	hýbl	PROPN
ap-2128	170	16	,	,	PUNCT
ap-2128	170	17	j.	j.	PROPN
ap-2128	170	18	mareš	mareš	PROPN
ap-2128	170	19	et	et	PROPN
ap-2128	170	20	al	al	PROPN
ap-2128	170	21	.	.	PROPN
ap-2128	170	22	acta	acta	PROPN
ap-2128	170	23	polytechnica	polytechnica	PROPN
ap-2128	170	24	figure	figure	NOUN
ap-2128	170	25	5	5	NUM
ap-2128	170	26	.	.	NOUN
ap-2128	170	27	example	example	NOUN
ap-2128	170	28	of	of	ADP
ap-2128	170	29	a	a	DET
ap-2128	170	30	planar	planar	ADJ
ap-2128	170	31	slice	slice	NOUN
ap-2128	170	32	of	of	ADP
ap-2128	170	33	the	the	DET
ap-2128	170	34	3d	3d	NOUN
ap-2128	170	35	map	map	NOUN
ap-2128	170	36	made	make	VERB
ap-2128	170	37	in	in	ADP
ap-2128	170	38	the	the	DET
ap-2128	170	39	plane	plane	NOUN
ap-2128	170	40	of	of	ADP
ap-2128	170	41	the	the	DET
ap-2128	170	42	antebrachium	antebrachium	NOUN
ap-2128	170	43	block	block	NOUN
ap-2128	170	44	(	(	PUNCT
ap-2128	170	45	i.	i.	NOUN
ap-2128	170	46	)	)	PUNCT
ap-2128	170	47	and	and	CCONJ
ap-2128	170	48	the	the	DET
ap-2128	170	49	experimental	experimental	ADJ
ap-2128	170	50	setting	setting	NOUN
ap-2128	170	51	of	of	ADP
ap-2128	170	52	the	the	DET
ap-2128	170	53	arm	arm	NOUN
ap-2128	170	54	(	(	PUNCT
ap-2128	170	55	ii	ii	PROPN
ap-2128	170	56	.	.	PUNCT
ap-2128	170	57	)	)	PUNCT
ap-2128	170	58	.	.	PUNCT
ap-2128	171	1	because	because	SCONJ
ap-2128	171	2	the	the	DET
ap-2128	171	3	main	main	ADJ
ap-2128	171	4	parts	part	NOUN
ap-2128	171	5	(	(	PUNCT
ap-2128	171	6	rectifications	rectification	NOUN
ap-2128	171	7	,	,	PUNCT
ap-2128	171	8	filtering	filtering	NOUN
ap-2128	171	9	,	,	PUNCT
ap-2128	171	10	etc	etc	X
ap-2128	171	11	.	.	X
ap-2128	171	12	)	)	PUNCT
ap-2128	171	13	of	of	ADP
ap-2128	171	14	the	the	DET
ap-2128	171	15	signal	signal	NOUN
ap-2128	171	16	processing	processing	NOUN
ap-2128	171	17	were	be	AUX
ap-2128	171	18	the	the	DET
ap-2128	171	19	same	same	ADJ
ap-2128	171	20	.	.	PUNCT
ap-2128	172	1	a	a	DET
ap-2128	172	2	more	more	ADV
ap-2128	172	3	important	important	ADJ
ap-2128	172	4	task	task	NOUN
ap-2128	172	5	is	be	AUX
ap-2128	172	6	to	to	PART
ap-2128	172	7	verify	verify	VERB
ap-2128	172	8	the	the	DET
ap-2128	172	9	ssb	ssb	PROPN
ap-2128	172	10	with	with	ADP
ap-2128	172	11	the	the	DET
ap-2128	172	12	fes	fes	NOUN
ap-2128	172	13	and	and	CCONJ
ap-2128	172	14	the	the	DET
ap-2128	172	15	3d	3d	PROPN
ap-2128	172	16	map	map	NOUN
ap-2128	172	17	,	,	PUNCT
ap-2128	172	18	because	because	SCONJ
ap-2128	172	19	the	the	DET
ap-2128	172	20	ssb	ssb	PROPN
ap-2128	172	21	is	be	AUX
ap-2128	172	22	the	the	DET
ap-2128	172	23	basis	basis	NOUN
ap-2128	172	24	of	of	ADP
ap-2128	172	25	the	the	DET
ap-2128	172	26	control	control	NOUN
ap-2128	172	27	of	of	ADP
ap-2128	172	28	the	the	DET
ap-2128	172	29	myoelectric	myoelectric	ADJ
ap-2128	172	30	ra	ra	PROPN
ap-2128	172	31	using	use	VERB
ap-2128	172	32	the	the	DET
ap-2128	172	33	sensoractuator	sensoractuator	PROPN
ap-2128	172	34	loop	loop	NOUN
ap-2128	172	35	.	.	PUNCT
ap-2128	173	1	the	the	DET
ap-2128	173	2	most	most	ADV
ap-2128	173	3	important	important	ADJ
ap-2128	173	4	sensors	sensor	NOUN
ap-2128	173	5	used	use	VERB
ap-2128	173	6	here	here	ADV
ap-2128	173	7	are	be	AUX
ap-2128	173	8	urss	urss	ADJ
ap-2128	173	9	to	to	PART
ap-2128	173	10	avoid	avoid	VERB
ap-2128	173	11	a	a	DET
ap-2128	173	12	collision	collision	NOUN
ap-2128	173	13	between	between	ADP
ap-2128	173	14	the	the	DET
ap-2128	173	15	ra	ra	PROPN
ap-2128	173	16	and	and	CCONJ
ap-2128	173	17	objects	object	VERB
ap-2128	173	18	in	in	ADP
ap-2128	173	19	the	the	DET
ap-2128	173	20	surroundings	surrounding	NOUN
ap-2128	173	21	.	.	PUNCT
ap-2128	174	1	an	an	DET
ap-2128	174	2	experiment	experiment	NOUN
ap-2128	174	3	was	be	AUX
ap-2128	174	4	performed	perform	VERB
ap-2128	174	5	to	to	PART
ap-2128	174	6	verify	verify	VERB
ap-2128	174	7	the	the	DET
ap-2128	174	8	functionality	functionality	NOUN
ap-2128	174	9	of	of	ADP
ap-2128	174	10	the	the	DET
ap-2128	174	11	real	real	ADJ
ap-2128	174	12	-	-	PUNCT
ap-2128	174	13	time	time	NOUN
ap-2128	174	14	mapping	mapping	NOUN
ap-2128	174	15	of	of	ADP
ap-2128	174	16	the	the	DET
ap-2128	174	17	environment	environment	NOUN
ap-2128	174	18	by	by	ADP
ap-2128	174	19	ssb	ssb	PROPN
ap-2128	174	20	.	.	PUNCT
ap-2128	175	1	the	the	DET
ap-2128	175	2	ra	ra	PROPN
ap-2128	175	3	was	be	AUX
ap-2128	175	4	in	in	ADP
ap-2128	175	5	neutral	neutral	ADJ
ap-2128	175	6	-	-	PUNCT
ap-2128	175	7	zero	zero	NUM
ap-2128	175	8	position	position	NOUN
ap-2128	175	9	,	,	PUNCT
ap-2128	175	10	and	and	CCONJ
ap-2128	175	11	specific	specific	ADJ
ap-2128	175	12	objects	object	NOUN
ap-2128	175	13	were	be	AUX
ap-2128	175	14	placed	place	VERB
ap-2128	175	15	in	in	ADP
ap-2128	175	16	its	its	PRON
ap-2128	175	17	proximity	proximity	NOUN
ap-2128	175	18	.	.	PUNCT
ap-2128	176	1	the	the	DET
ap-2128	176	2	data	datum	NOUN
ap-2128	176	3	from	from	ADP
ap-2128	176	4	,	,	PUNCT
ap-2128	176	5	for	for	ADP
ap-2128	176	6	example	example	NOUN
ap-2128	176	7	,	,	PUNCT
ap-2128	176	8	the	the	DET
ap-2128	176	9	antebrachium	antebrachium	NOUN
ap-2128	176	10	(	(	PUNCT
ap-2128	176	11	forearm	forearm	NOUN
ap-2128	176	12	)	)	PUNCT
ap-2128	176	13	block	block	NOUN
ap-2128	176	14	contains	contain	VERB
ap-2128	176	15	four	four	NUM
ap-2128	176	16	urss	urss	ADJ
ap-2128	176	17	sensors	sensor	NOUN
ap-2128	176	18	were	be	AUX
ap-2128	176	19	sent	send	VERB
ap-2128	176	20	to	to	ADP
ap-2128	176	21	program	program	NOUN
ap-2128	176	22	using	use	VERB
ap-2128	176	23	matlab	matlab	PROPN
ap-2128	176	24	.	.	PUNCT
ap-2128	177	1	the	the	DET
ap-2128	177	2	values	value	NOUN
ap-2128	177	3	of	of	ADP
ap-2128	177	4	the	the	DET
ap-2128	177	5	measured	measure	VERB
ap-2128	177	6	ranges	range	NOUN
ap-2128	177	7	were	be	AUX
ap-2128	177	8	subsequently	subsequently	ADV
ap-2128	177	9	processed	process	VERB
ap-2128	177	10	and	and	CCONJ
ap-2128	177	11	the	the	DET
ap-2128	177	12	software	software	NOUN
ap-2128	177	13	updated	update	VERB
ap-2128	177	14	the	the	DET
ap-2128	177	15	3d	3d	NUM
ap-2128	177	16	map	map	NOUN
ap-2128	177	17	.	.	PUNCT
ap-2128	178	1	the	the	DET
ap-2128	178	2	output	output	NOUN
ap-2128	178	3	of	of	ADP
ap-2128	178	4	the	the	DET
ap-2128	178	5	program	program	NOUN
ap-2128	178	6	is	be	AUX
ap-2128	178	7	a	a	DET
ap-2128	178	8	3d	3d	NUM
ap-2128	178	9	array	array	NOUN
ap-2128	178	10	of	of	ADP
ap-2128	178	11	the	the	DET
ap-2128	178	12	probabilities	probability	NOUN
ap-2128	178	13	that	that	PRON
ap-2128	178	14	the	the	DET
ap-2128	178	15	cells	cell	NOUN
ap-2128	178	16	of	of	ADP
ap-2128	178	17	the	the	DET
ap-2128	178	18	occupancy	occupancy	NOUN
ap-2128	178	19	grid	grid	NOUN
ap-2128	178	20	are	be	AUX
ap-2128	178	21	occupied	occupy	VERB
ap-2128	178	22	.	.	PUNCT
ap-2128	179	1	this	this	PRON
ap-2128	179	2	can	can	AUX
ap-2128	179	3	be	be	AUX
ap-2128	179	4	visualized	visualize	VERB
ap-2128	179	5	using	use	VERB
ap-2128	179	6	matlab	matlab	PROPN
ap-2128	179	7	software	software	NOUN
ap-2128	179	8	,	,	PUNCT
ap-2128	179	9	preferably	preferably	ADV
ap-2128	179	10	as	as	ADP
ap-2128	179	11	a	a	DET
ap-2128	179	12	planar	planar	ADJ
ap-2128	179	13	slice	slice	NOUN
ap-2128	179	14	of	of	ADP
ap-2128	179	15	the	the	DET
ap-2128	179	16	3d	3d	PROPN
ap-2128	179	17	space	space	NOUN
ap-2128	179	18	.	.	PUNCT
ap-2128	180	1	fig	fig	NOUN
ap-2128	180	2	.	.	PUNCT
ap-2128	181	1	5	5	X
ap-2128	181	2	.	.	X
ap-2128	181	3	shows	show	VERB
ap-2128	181	4	an	an	DET
ap-2128	181	5	example	example	NOUN
ap-2128	181	6	of	of	ADP
ap-2128	181	7	a	a	DET
ap-2128	181	8	planar	planar	ADJ
ap-2128	181	9	slice	slice	NOUN
ap-2128	181	10	of	of	ADP
ap-2128	181	11	the	the	DET
ap-2128	181	12	3d	3d	NOUN
ap-2128	181	13	map	map	NOUN
ap-2128	181	14	made	make	VERB
ap-2128	181	15	in	in	ADP
ap-2128	181	16	the	the	DET
ap-2128	181	17	plane	plane	NOUN
ap-2128	181	18	of	of	ADP
ap-2128	181	19	the	the	DET
ap-2128	181	20	four	four	NUM
ap-2128	181	21	urs	urs	PROPN
ap-2128	181	22	sensors	sensor	NOUN
ap-2128	181	23	.	.	PUNCT
ap-2128	182	1	fig	fig	NOUN
ap-2128	182	2	.	.	PUNCT
ap-2128	183	1	5	5	X
ap-2128	183	2	.	.	X
ap-2128	183	3	shows	show	VERB
ap-2128	183	4	a	a	DET
ap-2128	183	5	planar	planar	ADJ
ap-2128	183	6	slice	slice	NOUN
ap-2128	183	7	of	of	ADP
ap-2128	183	8	the	the	DET
ap-2128	183	9	3d	3d	PROPN
ap-2128	183	10	map	map	NOUN
ap-2128	183	11	,	,	PUNCT
ap-2128	183	12	which	which	PRON
ap-2128	183	13	was	be	AUX
ap-2128	183	14	updated	update	VERB
ap-2128	183	15	several	several	ADJ
ap-2128	183	16	times	time	NOUN
ap-2128	183	17	while	while	SCONJ
ap-2128	183	18	the	the	DET
ap-2128	183	19	ra	ra	PROPN
ap-2128	183	20	was	be	AUX
ap-2128	183	21	in	in	ADP
ap-2128	183	22	the	the	DET
ap-2128	183	23	neutral	neutral	ADJ
ap-2128	183	24	-	-	PUNCT
ap-2128	183	25	zero	zero	NUM
ap-2128	183	26	position	position	NOUN
ap-2128	183	27	.	.	PUNCT
ap-2128	184	1	the	the	DET
ap-2128	184	2	cones	cone	NOUN
ap-2128	184	3	of	of	ADP
ap-2128	184	4	the	the	DET
ap-2128	184	5	four	four	NUM
ap-2128	184	6	antebrachial	antebrachial	ADJ
ap-2128	184	7	sensors	sensor	NOUN
ap-2128	184	8	are	be	AUX
ap-2128	184	9	clearly	clearly	ADV
ap-2128	184	10	visible	visible	ADJ
ap-2128	184	11	.	.	PUNCT
ap-2128	185	1	the	the	DET
ap-2128	185	2	white	white	PROPN
ap-2128	185	3	cells	cell	NOUN
ap-2128	185	4	(	(	PUNCT
ap-2128	185	5	pixels	pixel	NOUN
ap-2128	185	6	)	)	PUNCT
ap-2128	185	7	represent	represent	VERB
ap-2128	185	8	an	an	DET
ap-2128	185	9	empty	empty	ADJ
ap-2128	185	10	space	space	NOUN
ap-2128	185	11	,	,	PUNCT
ap-2128	185	12	and	and	CCONJ
ap-2128	185	13	the	the	DET
ap-2128	185	14	black	black	ADJ
ap-2128	185	15	cells	cell	NOUN
ap-2128	185	16	represent	represent	VERB
ap-2128	185	17	an	an	DET
ap-2128	185	18	occupied	occupied	ADJ
ap-2128	185	19	space	space	NOUN
ap-2128	185	20	.	.	PUNCT
ap-2128	186	1	the	the	DET
ap-2128	186	2	gray	gray	ADJ
ap-2128	186	3	area	area	NOUN
ap-2128	186	4	is	be	AUX
ap-2128	186	5	an	an	DET
ap-2128	186	6	unexplored	unexplored	ADJ
ap-2128	186	7	space	space	NOUN
ap-2128	186	8	.	.	PUNCT
ap-2128	187	1	an	an	DET
ap-2128	187	2	upper	upper	ADJ
ap-2128	187	3	cone	cone	NOUN
ap-2128	187	4	(	(	PUNCT
ap-2128	187	5	fig	fig	NOUN
ap-2128	187	6	.	.	PUNCT
ap-2128	187	7	5	5	NUM
ap-2128	187	8	)	)	PUNCT
ap-2128	187	9	arises	arise	VERB
ap-2128	187	10	from	from	ADP
ap-2128	187	11	one	one	NUM
ap-2128	187	12	urs	urs	NOUN
ap-2128	187	13	sensor	sensor	NOUN
ap-2128	187	14	.	.	PUNCT
ap-2128	188	1	object	object	VERB
ap-2128	188	2	a	a	DET
ap-2128	188	3	(	(	PUNCT
ap-2128	188	4	fig	fig	NOUN
ap-2128	188	5	.	.	NOUN
ap-2128	188	6	5	5	NUM
ap-2128	188	7	)	)	PUNCT
ap-2128	188	8	was	be	AUX
ap-2128	188	9	standing	stand	VERB
ap-2128	188	10	in	in	ADP
ap-2128	188	11	front	front	NOUN
ap-2128	188	12	of	of	ADP
ap-2128	188	13	the	the	DET
ap-2128	188	14	sensor	sensor	NOUN
ap-2128	188	15	during	during	ADP
ap-2128	188	16	the	the	DET
ap-2128	188	17	first	first	ADJ
ap-2128	188	18	several	several	ADJ
ap-2128	188	19	time	time	NOUN
ap-2128	188	20	steps	step	NOUN
ap-2128	188	21	(	(	PUNCT
ap-2128	188	22	i.e.	i.e.	X
ap-2128	188	23	,	,	PUNCT
ap-2128	188	24	records	record	NOUN
ap-2128	188	25	)	)	PUNCT
ap-2128	188	26	,	,	PUNCT
ap-2128	188	27	and	and	CCONJ
ap-2128	188	28	then	then	ADV
ap-2128	188	29	left	leave	VERB
ap-2128	188	30	.	.	PUNCT
ap-2128	189	1	it	it	PRON
ap-2128	189	2	is	be	AUX
ap-2128	189	3	evident	evident	ADJ
ap-2128	189	4	that	that	SCONJ
ap-2128	189	5	there	there	PRON
ap-2128	189	6	is	be	VERB
ap-2128	189	7	no	no	PRON
ap-2128	189	8	longer	long	ADV
ap-2128	189	9	any	any	DET
ap-2128	189	10	obstacle	obstacle	NOUN
ap-2128	189	11	in	in	ADP
ap-2128	189	12	the	the	DET
ap-2128	189	13	mapped	map	VERB
ap-2128	189	14	distance	distance	NOUN
ap-2128	189	15	,	,	PUNCT
ap-2128	189	16	because	because	SCONJ
ap-2128	189	17	the	the	DET
ap-2128	189	18	cone	cone	NOUN
ap-2128	189	19	goes	go	VERB
ap-2128	189	20	out	out	ADP
ap-2128	189	21	of	of	ADP
ap-2128	189	22	the	the	DET
ap-2128	189	23	map	map	NOUN
ap-2128	189	24	.	.	PUNCT
ap-2128	190	1	only	only	ADV
ap-2128	190	2	a	a	DET
ap-2128	190	3	gray	gray	ADJ
ap-2128	190	4	strip	strip	NOUN
ap-2128	190	5	can	can	AUX
ap-2128	190	6	be	be	AUX
ap-2128	190	7	seen	see	VERB
ap-2128	190	8	in	in	ADP
ap-2128	190	9	the	the	DET
ap-2128	190	10	distance	distance	NOUN
ap-2128	190	11	,	,	PUNCT
ap-2128	190	12	where	where	SCONJ
ap-2128	190	13	object	object	NOUN
ap-2128	190	14	a	a	PRON
ap-2128	190	15	had	have	AUX
ap-2128	190	16	been	be	AUX
ap-2128	190	17	standing	stand	VERB
ap-2128	190	18	.	.	PUNCT
ap-2128	191	1	in	in	ADP
ap-2128	191	2	the	the	DET
ap-2128	191	3	following	following	ADJ
ap-2128	191	4	time	time	NOUN
ap-2128	191	5	steps	step	NOUN
ap-2128	191	6	,	,	PUNCT
ap-2128	191	7	it	it	PRON
ap-2128	191	8	will	will	AUX
ap-2128	191	9	turn	turn	VERB
ap-2128	191	10	white	white	ADJ
ap-2128	191	11	.	.	PUNCT
ap-2128	192	1	the	the	DET
ap-2128	192	2	cone	cone	NOUN
ap-2128	192	3	on	on	ADP
ap-2128	192	4	the	the	DET
ap-2128	192	5	left	left	NOUN
ap-2128	192	6	(	(	PUNCT
ap-2128	192	7	fig	fig	NOUN
ap-2128	192	8	.	.	PUNCT
ap-2128	192	9	5	5	NUM
ap-2128	192	10	)	)	PUNCT
ap-2128	192	11	arises	arise	VERB
ap-2128	192	12	from	from	ADP
ap-2128	192	13	urss	urss	PROPN
ap-2128	192	14	that	that	PRON
ap-2128	192	15	measured	measure	VERB
ap-2128	192	16	an	an	DET
ap-2128	192	17	object	object	NOUN
ap-2128	192	18	at	at	ADP
ap-2128	192	19	a	a	DET
ap-2128	192	20	distance	distance	NOUN
ap-2128	192	21	of	of	ADP
ap-2128	192	22	30	30	NUM
ap-2128	192	23	cm	cm	NOUN
ap-2128	192	24	(	(	PUNCT
ap-2128	192	25	object	object	NOUN
ap-2128	192	26	b	b	NOUN
ap-2128	192	27	)	)	PUNCT
ap-2128	192	28	.	.	PUNCT
ap-2128	193	1	the	the	DET
ap-2128	193	2	cone	cone	NOUN
ap-2128	193	3	on	on	ADP
ap-2128	193	4	the	the	DET
ap-2128	193	5	right	right	NOUN
ap-2128	193	6	arises	arise	VERB
ap-2128	193	7	from	from	ADP
ap-2128	193	8	urss	urss	PROPN
ap-2128	193	9	that	that	PRON
ap-2128	193	10	measured	measure	VERB
ap-2128	193	11	an	an	DET
ap-2128	193	12	object	object	NOUN
ap-2128	193	13	at	at	ADP
ap-2128	193	14	a	a	DET
ap-2128	193	15	distance	distance	NOUN
ap-2128	193	16	of	of	ADP
ap-2128	193	17	10	10	NUM
ap-2128	193	18	cm	cm	NOUN
ap-2128	193	19	(	(	PUNCT
ap-2128	193	20	object	object	NOUN
ap-2128	193	21	c	c	NOUN
ap-2128	193	22	)	)	PUNCT
ap-2128	193	23	.	.	PUNCT
ap-2128	194	1	the	the	DET
ap-2128	194	2	last	last	ADJ
ap-2128	194	3	cone	cone	NOUN
ap-2128	194	4	(	(	PUNCT
ap-2128	194	5	heading	head	VERB
ap-2128	194	6	down	down	ADV
ap-2128	194	7	)	)	PUNCT
ap-2128	194	8	arises	arise	VERB
ap-2128	194	9	from	from	ADP
ap-2128	194	10	a	a	DET
ap-2128	194	11	sensor	sensor	NOUN
ap-2128	194	12	that	that	PRON
ap-2128	194	13	was	be	AUX
ap-2128	194	14	heading	head	VERB
ap-2128	194	15	towards	towards	ADP
ap-2128	194	16	an	an	DET
ap-2128	194	17	object	object	NOUN
ap-2128	194	18	with	with	ADP
ap-2128	194	19	a	a	DET
ap-2128	194	20	rugged	rugged	ADJ
ap-2128	194	21	surface	surface	NOUN
ap-2128	194	22	(	(	PUNCT
ap-2128	194	23	object	object	NOUN
ap-2128	194	24	d	d	NOUN
ap-2128	194	25	)	)	PUNCT
ap-2128	194	26	at	at	ADP
ap-2128	194	27	a	a	DET
ap-2128	194	28	distance	distance	NOUN
ap-2128	194	29	of	of	ADP
ap-2128	194	30	approximately	approximately	ADV
ap-2128	194	31	50	50	NUM
ap-2128	194	32	cm	cm	NOUN
ap-2128	194	33	.	.	PUNCT
ap-2128	195	1	there	there	PRON
ap-2128	195	2	are	be	VERB
ap-2128	195	3	noticeable	noticeable	ADJ
ap-2128	195	4	errors	error	NOUN
ap-2128	195	5	from	from	ADP
ap-2128	195	6	the	the	DET
ap-2128	195	7	figure	figure	NOUN
ap-2128	195	8	6	6	NUM
ap-2128	195	9	.	.	NOUN
ap-2128	195	10	example	example	NOUN
ap-2128	195	11	of	of	ADP
ap-2128	195	12	the	the	DET
ap-2128	195	13	2	2	NUM
ap-2128	195	14	-	-	PUNCT
ap-2128	195	15	d	d	NOUN
ap-2128	195	16	plot	plot	NOUN
ap-2128	195	17	of	of	ADP
ap-2128	195	18	one	one	NUM
ap-2128	195	19	input	input	NOUN
ap-2128	195	20	(	(	PUNCT
ap-2128	195	21	distance	distance	NOUN
ap-2128	195	22	of	of	ADP
ap-2128	195	23	an	an	DET
ap-2128	195	24	object	object	NOUN
ap-2128	195	25	from	from	ADP
ap-2128	195	26	the	the	DET
ap-2128	195	27	ra	ra	NOUN
ap-2128	195	28	)	)	PUNCT
ap-2128	195	29	and	and	CCONJ
ap-2128	195	30	one	one	NUM
ap-2128	195	31	output	output	NOUN
ap-2128	195	32	(	(	PUNCT
ap-2128	195	33	potentially	potentially	ADV
ap-2128	195	34	dangerous	dangerous	ADJ
ap-2128	195	35	situation	situation	NOUN
ap-2128	195	36	)	)	PUNCT
ap-2128	195	37	of	of	ADP
ap-2128	195	38	fes	fes	NOUN
ap-2128	195	39	.	.	PUNCT
ap-2128	195	40	rugged	rugged	ADJ
ap-2128	195	41	surface	surface	NOUN
ap-2128	195	42	.	.	PUNCT
ap-2128	196	1	in	in	ADP
ap-2128	196	2	this	this	DET
ap-2128	196	3	particular	particular	ADJ
ap-2128	196	4	case	case	NOUN
ap-2128	196	5	,	,	PUNCT
ap-2128	196	6	the	the	DET
ap-2128	196	7	detection	detection	NOUN
ap-2128	196	8	of	of	ADP
ap-2128	196	9	the	the	DET
ap-2128	196	10	distance	distance	NOUN
ap-2128	196	11	of	of	ADP
ap-2128	196	12	an	an	DET
ap-2128	196	13	object	object	NOUN
ap-2128	196	14	with	with	ADP
ap-2128	196	15	a	a	DET
ap-2128	196	16	rugged	rugged	ADJ
ap-2128	196	17	surface	surface	NOUN
ap-2128	196	18	is	be	AUX
ap-2128	196	19	not	not	PART
ap-2128	196	20	very	very	ADV
ap-2128	196	21	accurate	accurate	ADJ
ap-2128	196	22	.	.	PUNCT
ap-2128	197	1	in	in	ADP
ap-2128	197	2	the	the	DET
ap-2128	197	3	other	other	ADJ
ap-2128	197	4	cases	case	NOUN
ap-2128	197	5	,	,	PUNCT
ap-2128	197	6	with	with	ADP
ap-2128	197	7	each	each	DET
ap-2128	197	8	sensory	sensory	ADJ
ap-2128	197	9	reading	reading	NOUN
ap-2128	197	10	(	(	PUNCT
ap-2128	197	11	i.e.	i.e.	X
ap-2128	197	12	,	,	PUNCT
ap-2128	197	13	each	each	DET
ap-2128	197	14	time	time	NOUN
ap-2128	197	15	step	step	NOUN
ap-2128	197	16	)	)	PUNCT
ap-2128	197	17	,	,	PUNCT
ap-2128	197	18	the	the	DET
ap-2128	197	19	accuracy	accuracy	NOUN
ap-2128	197	20	of	of	ADP
ap-2128	197	21	the	the	DET
ap-2128	197	22	detected	detect	VERB
ap-2128	197	23	position	position	NOUN
ap-2128	197	24	is	be	AUX
ap-2128	197	25	improved	improve	VERB
ap-2128	197	26	.	.	PUNCT
ap-2128	198	1	information	information	NOUN
ap-2128	198	2	about	about	ADP
ap-2128	198	3	the	the	DET
ap-2128	198	4	distances	distance	NOUN
ap-2128	198	5	of	of	ADP
ap-2128	198	6	the	the	DET
ap-2128	198	7	objects	object	NOUN
ap-2128	198	8	is	be	AUX
ap-2128	198	9	used	use	VERB
ap-2128	198	10	to	to	PART
ap-2128	198	11	identify	identify	VERB
ap-2128	198	12	the	the	DET
ap-2128	198	13	pds	pds	NOUN
ap-2128	198	14	.	.	PUNCT
ap-2128	199	1	thus	thus	ADV
ap-2128	199	2	,	,	PUNCT
ap-2128	199	3	the	the	DET
ap-2128	199	4	information	information	NOUN
ap-2128	199	5	from	from	ADP
ap-2128	199	6	the	the	DET
ap-2128	199	7	3d	3d	NOUN
ap-2128	199	8	map	map	NOUN
ap-2128	199	9	is	be	AUX
ap-2128	199	10	an	an	DET
ap-2128	199	11	input	input	NOUN
ap-2128	199	12	value	value	NOUN
ap-2128	199	13	for	for	ADP
ap-2128	199	14	the	the	DET
ap-2128	199	15	fes	fes	NOUN
ap-2128	199	16	.	.	PUNCT
ap-2128	200	1	based	base	VERB
ap-2128	200	2	on	on	ADP
ap-2128	200	3	the	the	DET
ap-2128	200	4	above	above	NOUN
ap-2128	200	5	,	,	PUNCT
ap-2128	200	6	fes	fes	NOUN
ap-2128	200	7	is	be	AUX
ap-2128	200	8	used	use	VERB
ap-2128	200	9	to	to	PART
ap-2128	200	10	identify	identify	VERB
ap-2128	200	11	the	the	DET
ap-2128	200	12	pds	pds	NOUN
ap-2128	200	13	.	.	PUNCT
ap-2128	201	1	if	if	SCONJ
ap-2128	201	2	the	the	DET
ap-2128	201	3	pds	pds	NOUN
ap-2128	201	4	(	(	PUNCT
ap-2128	201	5	greater	great	ADJ
ap-2128	201	6	than	than	ADP
ap-2128	201	7	0.8	0.8	NUM
ap-2128	201	8	)	)	PUNCT
ap-2128	201	9	is	be	AUX
ap-2128	201	10	identified	identify	VERB
ap-2128	201	11	by	by	ADP
ap-2128	201	12	the	the	DET
ap-2128	201	13	fes	fes	NOUN
ap-2128	201	14	,	,	PUNCT
ap-2128	201	15	the	the	DET
ap-2128	201	16	sensor	sensor	NOUN
ap-2128	201	17	-	-	PUNCT
ap-2128	201	18	actuator	actuator	NOUN
ap-2128	201	19	loop	loop	NOUN
ap-2128	201	20	of	of	ADP
ap-2128	201	21	the	the	DET
ap-2128	201	22	myoelectric	myoelectric	ADJ
ap-2128	201	23	ra	ra	PROPN
ap-2128	201	24	with	with	ADP
ap-2128	201	25	the	the	DET
ap-2128	201	26	control	control	NOUN
ap-2128	201	27	system	system	NOUN
ap-2128	201	28	stops	stop	VERB
ap-2128	201	29	the	the	DET
ap-2128	201	30	motion	motion	NOUN
ap-2128	201	31	of	of	ADP
ap-2128	201	32	the	the	DET
ap-2128	201	33	ra	ra	PROPN
ap-2128	201	34	or	or	CCONJ
ap-2128	201	35	of	of	ADP
ap-2128	201	36	a	a	DET
ap-2128	201	37	specific	specific	ADJ
ap-2128	201	38	segment	segment	NOUN
ap-2128	201	39	.	.	PUNCT
ap-2128	202	1	the	the	DET
ap-2128	202	2	designed	design	VERB
ap-2128	202	3	fes	fes	NOUN
ap-2128	202	4	is	be	AUX
ap-2128	202	5	sufficient	sufficient	ADJ
ap-2128	202	6	to	to	PART
ap-2128	202	7	identify	identify	VERB
ap-2128	202	8	the	the	DET
ap-2128	202	9	possibility	possibility	NOUN
ap-2128	202	10	of	of	ADP
ap-2128	202	11	the	the	DET
ap-2128	202	12	pds	pds	NOUN
ap-2128	202	13	.	.	PUNCT
ap-2128	203	1	the	the	DET
ap-2128	203	2	one	one	NUM
ap-2128	203	3	-	-	PUNCT
ap-2128	203	4	input	input	NOUN
ap-2128	203	5	and	and	CCONJ
ap-2128	203	6	one	one	NUM
ap-2128	203	7	-	-	PUNCT
ap-2128	203	8	output	output	NOUN
ap-2128	203	9	of	of	ADP
ap-2128	203	10	fes	fes	NOUN
ap-2128	203	11	can	can	AUX
ap-2128	203	12	be	be	AUX
ap-2128	203	13	depicted	depict	VERB
ap-2128	203	14	in	in	ADP
ap-2128	203	15	a	a	DET
ap-2128	203	16	2	2	NUM
ap-2128	203	17	-	-	PUNCT
ap-2128	203	18	d	d	NOUN
ap-2128	203	19	plot	plot	NOUN
ap-2128	203	20	.	.	PUNCT
ap-2128	204	1	the	the	DET
ap-2128	204	2	plot	plot	NOUN
ap-2128	204	3	in	in	ADP
ap-2128	204	4	fig	fig	NOUN
ap-2128	204	5	.	.	PUNCT
ap-2128	204	6	6	6	NUM
ap-2128	204	7	represents	represent	VERB
ap-2128	204	8	the	the	DET
ap-2128	204	9	identification	identification	NOUN
ap-2128	204	10	of	of	ADP
ap-2128	204	11	the	the	DET
ap-2128	204	12	pds	pds	NOUN
ap-2128	204	13	by	by	ADP
ap-2128	204	14	one	one	NUM
ap-2128	204	15	-	-	PUNCT
ap-2128	204	16	input	input	NOUN
ap-2128	204	17	(	(	PUNCT
ap-2128	204	18	distance	distance	NOUN
ap-2128	204	19	of	of	ADP
ap-2128	204	20	an	an	DET
ap-2128	204	21	object	object	NOUN
ap-2128	204	22	from	from	ADP
ap-2128	204	23	the	the	DET
ap-2128	204	24	ra	ra	NOUN
ap-2128	204	25	)	)	PUNCT
ap-2128	204	26	.	.	PUNCT
ap-2128	205	1	4	4	X
ap-2128	205	2	.	.	X
ap-2128	205	3	discussion	discussion	NOUN
ap-2128	205	4	the	the	DET
ap-2128	205	5	results	result	NOUN
ap-2128	205	6	of	of	ADP
ap-2128	205	7	first	first	ADJ
ap-2128	205	8	experiments	experiment	NOUN
ap-2128	205	9	using	use	VERB
ap-2128	205	10	the	the	DET
ap-2128	205	11	new	new	ADJ
ap-2128	205	12	methods	method	NOUN
ap-2128	205	13	and	and	CCONJ
ap-2128	205	14	systems	system	NOUN
ap-2128	205	15	of	of	ADP
ap-2128	205	16	the	the	DET
ap-2128	205	17	myoelectric	myoelectric	PROPN
ap-2128	205	18	ra	ra	PROPN
ap-2128	205	19	based	base	VERB
ap-2128	205	20	on	on	ADP
ap-2128	205	21	a	a	DET
ap-2128	205	22	sensoractuator	sensoractuator	NOUN
ap-2128	205	23	loop	loop	NOUN
ap-2128	205	24	seem	seem	VERB
ap-2128	205	25	to	to	PART
ap-2128	205	26	be	be	AUX
ap-2128	205	27	promising	promise	VERB
ap-2128	205	28	.	.	PUNCT
ap-2128	206	1	the	the	DET
ap-2128	206	2	methods	method	NOUN
ap-2128	206	3	allow	allow	VERB
ap-2128	206	4	control	control	NOUN
ap-2128	206	5	of	of	ADP
ap-2128	206	6	the	the	DET
ap-2128	206	7	angular	angular	ADJ
ap-2128	206	8	velocity	velocity	NOUN
ap-2128	206	9	and	and	CCONJ
ap-2128	206	10	the	the	DET
ap-2128	206	11	direction	direction	NOUN
ap-2128	206	12	of	of	ADP
ap-2128	206	13	rotation	rotation	NOUN
ap-2128	206	14	of	of	ADP
ap-2128	206	15	the	the	DET
ap-2128	206	16	actuators	actuator	NOUN
ap-2128	206	17	by	by	ADP
ap-2128	206	18	the	the	DET
ap-2128	206	19	emg	emg	NOUN
ap-2128	206	20	signal	signal	NOUN
ap-2128	206	21	.	.	PUNCT
ap-2128	207	1	the	the	DET
ap-2128	207	2	sensor	sensor	NOUN
ap-2128	207	3	system	system	NOUN
ap-2128	207	4	can	can	AUX
ap-2128	207	5	identify	identify	VERB
ap-2128	207	6	objects	object	NOUN
ap-2128	207	7	in	in	ADP
ap-2128	207	8	3d	3d	NUM
ap-2128	207	9	space	space	NOUN
ap-2128	207	10	and	and	CCONJ
ap-2128	207	11	their	their	PRON
ap-2128	207	12	basic	basic	ADJ
ap-2128	207	13	characteristics	characteristic	NOUN
ap-2128	207	14	.	.	PUNCT
ap-2128	208	1	the	the	DET
ap-2128	208	2	sensor	sensor	NOUN
ap-2128	208	3	system	system	NOUN
ap-2128	208	4	also	also	ADV
ap-2128	208	5	provides	provide	VERB
ap-2128	208	6	information	information	NOUN
ap-2128	208	7	for	for	ADP
ap-2128	208	8	the	the	DET
ap-2128	208	9	mcb	mcb	PROPN
ap-2128	208	10	with	with	ADP
ap-2128	208	11	the	the	DET
ap-2128	208	12	3d	3d	NUM
ap-2128	208	13	map	map	NOUN
ap-2128	208	14	for	for	ADP
ap-2128	208	15	real	real	ADJ
ap-2128	208	16	-	-	PUNCT
ap-2128	208	17	time	time	NOUN
ap-2128	208	18	mapping	mapping	NOUN
ap-2128	208	19	of	of	ADP
ap-2128	208	20	the	the	DET
ap-2128	208	21	environment	environment	NOUN
ap-2128	208	22	of	of	ADP
ap-2128	208	23	ra	ra	PROPN
ap-2128	208	24	.	.	PUNCT
ap-2128	209	1	this	this	DET
ap-2128	209	2	map	map	NOUN
ap-2128	209	3	is	be	AUX
ap-2128	209	4	used	use	VERB
ap-2128	209	5	for	for	ADP
ap-2128	209	6	identifying	identify	VERB
ap-2128	209	7	proximate	proximate	NOUN
ap-2128	209	8	objects	object	NOUN
ap-2128	209	9	.	.	PUNCT
ap-2128	210	1	thus	thus	ADV
ap-2128	210	2	,	,	PUNCT
ap-2128	210	3	the	the	DET
ap-2128	210	4	map	map	NOUN
ap-2128	210	5	provides	provide	VERB
ap-2128	210	6	basic	basic	ADJ
ap-2128	210	7	information	information	NOUN
ap-2128	210	8	about	about	ADP
ap-2128	210	9	the	the	DET
ap-2128	210	10	objects	object	NOUN
ap-2128	210	11	near	near	ADP
ap-2128	210	12	the	the	DET
ap-2128	210	13	ra	ra	PROPN
ap-2128	210	14	,	,	PUNCT
ap-2128	210	15	and	and	CCONJ
ap-2128	210	16	this	this	PRON
ap-2128	210	17	is	be	AUX
ap-2128	210	18	used	use	VERB
ap-2128	210	19	to	to	PART
ap-2128	210	20	avoid	avoid	VERB
ap-2128	210	21	collisions	collision	NOUN
ap-2128	210	22	with	with	ADP
ap-2128	210	23	the	the	DET
ap-2128	210	24	objects	object	NOUN
ap-2128	210	25	.	.	PUNCT
ap-2128	211	1	the	the	DET
ap-2128	211	2	fes	fes	NOUN
ap-2128	211	3	interprets	interpret	VERB
ap-2128	211	4	an	an	DET
ap-2128	211	5	input	input	NOUN
ap-2128	211	6	,	,	PUNCT
ap-2128	211	7	and	and	CCONJ
ap-2128	211	8	on	on	ADP
ap-2128	211	9	the	the	DET
ap-2128	211	10	basis	basis	NOUN
ap-2128	211	11	of	of	ADP
ap-2128	211	12	sets	set	NOUN
ap-2128	211	13	of	of	ADP
ap-2128	211	14	if	if	SCONJ
ap-2128	211	15	-	-	PUNCT
ap-2128	211	16	then	then	ADV
ap-2128	211	17	rules	rule	VERB
ap-2128	211	18	it	it	PRON
ap-2128	211	19	infers	infer	VERB
ap-2128	211	20	an	an	DET
ap-2128	211	21	output	output	NOUN
ap-2128	211	22	,	,	PUNCT
ap-2128	211	23	i.e.	i.e.	X
ap-2128	211	24	,	,	PUNCT
ap-2128	211	25	pds	pds	NOUN
ap-2128	211	26	.	.	PUNCT
ap-2128	212	1	the	the	DET
ap-2128	212	2	ssb	ssb	PROPN
ap-2128	212	3	uses	use	VERB
ap-2128	212	4	twenty	twenty	NUM
ap-2128	212	5	-	-	PUNCT
ap-2128	212	6	one	one	NUM
ap-2128	212	7	sensors	sensor	NOUN
ap-2128	212	8	with	with	ADP
ap-2128	212	9	a	a	DET
ap-2128	212	10	sample	sample	NOUN
ap-2128	212	11	time	time	NOUN
ap-2128	212	12	of	of	ADP
ap-2128	212	13	1	1	NUM
ap-2128	212	14	second	second	ADJ
ap-2128	212	15	and	and	CCONJ
ap-2128	212	16	less	less	ADJ
ap-2128	212	17	.	.	PUNCT
ap-2128	213	1	this	this	PRON
ap-2128	213	2	means	mean	VERB
ap-2128	213	3	that	that	SCONJ
ap-2128	213	4	the	the	DET
ap-2128	213	5	software	software	NOUN
ap-2128	213	6	must	must	AUX
ap-2128	213	7	work	work	VERB
ap-2128	213	8	with	with	ADP
ap-2128	213	9	more	more	ADJ
ap-2128	213	10	than	than	ADP
ap-2128	213	11	1	1	NUM
ap-2128	213	12	kb	kb	PROPN
ap-2128	213	13	of	of	ADP
ap-2128	213	14	data	datum	NOUN
ap-2128	213	15	from	from	ADP
ap-2128	213	16	the	the	DET
ap-2128	213	17	sensors	sensor	NOUN
ap-2128	213	18	.	.	PUNCT
ap-2128	214	1	one	one	NUM
ap-2128	214	2	second	second	NOUN
ap-2128	214	3	is	be	AUX
ap-2128	214	4	a	a	DET
ap-2128	214	5	very	very	ADV
ap-2128	214	6	long	long	ADJ
ap-2128	214	7	period	period	NOUN
ap-2128	214	8	for	for	ADP
ap-2128	214	9	real	real	ADJ
ap-2128	214	10	-	-	PUNCT
ap-2128	214	11	time	time	NOUN
ap-2128	214	12	202	202	NUM
ap-2128	214	13	vol	vol	NOUN
ap-2128	214	14	.	.	PUNCT
ap-2128	215	1	54	54	NUM
ap-2128	215	2	no	no	NOUN
ap-2128	215	3	.	.	PUNCT
ap-2128	216	1	3/2014	3/2014	NUM
ap-2128	216	2	a	a	DET
ap-2128	216	3	myoelectric	myoelectric	ADJ
ap-2128	216	4	prosthetic	prosthetic	ADJ
ap-2128	216	5	arm	arm	NOUN
ap-2128	216	6	controlled	control	VERB
ap-2128	216	7	by	by	ADP
ap-2128	216	8	a	a	DET
ap-2128	216	9	sensor	sensor	NOUN
ap-2128	216	10	-	-	PUNCT
ap-2128	216	11	actuator	actuator	NOUN
ap-2128	216	12	loop	loop	NOUN
ap-2128	216	13	working	working	NOUN
ap-2128	216	14	and	and	CCONJ
ap-2128	216	15	for	for	ADP
ap-2128	216	16	a	a	DET
ap-2128	216	17	quick	quick	ADJ
ap-2128	216	18	reaction	reaction	NOUN
ap-2128	216	19	from	from	ADP
ap-2128	216	20	the	the	DET
ap-2128	216	21	controlled	control	VERB
ap-2128	216	22	the	the	DET
ap-2128	216	23	myoelectric	myoelectric	PROPN
ap-2128	216	24	ra	ra	PROPN
ap-2128	216	25	.	.	PUNCT
ap-2128	217	1	a	a	DET
ap-2128	217	2	suitable	suitable	ADJ
ap-2128	217	3	sample	sample	NOUN
ap-2128	217	4	period	period	NOUN
ap-2128	217	5	is	be	AUX
ap-2128	217	6	between	between	ADP
ap-2128	217	7	50–200	50–200	PROPN
ap-2128	217	8	µs	µs	NOUN
ap-2128	217	9	.	.	PUNCT
ap-2128	218	1	when	when	SCONJ
ap-2128	218	2	the	the	DET
ap-2128	218	3	system	system	NOUN
ap-2128	218	4	uses	use	VERB
ap-2128	218	5	sample	sample	NOUN
ap-2128	218	6	time	time	NOUN
ap-2128	218	7	50µs	50µs	ADJ
ap-2128	218	8	,	,	PUNCT
ap-2128	218	9	the	the	DET
ap-2128	218	10	computer	computer	NOUN
ap-2128	218	11	must	must	AUX
ap-2128	218	12	work	work	VERB
ap-2128	218	13	with	with	ADP
ap-2128	218	14	250	250	NUM
ap-2128	218	15	kb	kb	PROPN
ap-2128	218	16	data	datum	NOUN
ap-2128	218	17	per	per	ADP
ap-2128	218	18	second	second	NOUN
ap-2128	218	19	.	.	PUNCT
ap-2128	219	1	the	the	DET
ap-2128	219	2	functionality	functionality	NOUN
ap-2128	219	3	of	of	ADP
ap-2128	219	4	the	the	DET
ap-2128	219	5	real	real	ADJ
ap-2128	219	6	-	-	PUNCT
ap-2128	219	7	time	time	NOUN
ap-2128	219	8	mapping	mapping	NOUN
ap-2128	219	9	of	of	ADP
ap-2128	219	10	the	the	DET
ap-2128	219	11	environment	environment	NOUN
ap-2128	219	12	has	have	AUX
ap-2128	219	13	also	also	ADV
ap-2128	219	14	been	be	AUX
ap-2128	219	15	verified	verify	VERB
ap-2128	219	16	.	.	PUNCT
ap-2128	220	1	a	a	DET
ap-2128	220	2	disadvantage	disadvantage	NOUN
ap-2128	220	3	of	of	ADP
ap-2128	220	4	the	the	DET
ap-2128	220	5	mapping	mapping	NOUN
ap-2128	220	6	method	method	NOUN
ap-2128	220	7	used	use	VERB
ap-2128	220	8	here	here	ADV
ap-2128	220	9	is	be	AUX
ap-2128	220	10	its	its	PRON
ap-2128	220	11	computational	computational	ADJ
ap-2128	220	12	complexity	complexity	NOUN
ap-2128	220	13	.	.	PUNCT
ap-2128	221	1	within	within	ADP
ap-2128	221	2	each	each	DET
ap-2128	221	3	time	time	NOUN
ap-2128	221	4	step	step	NOUN
ap-2128	221	5	,	,	PUNCT
ap-2128	221	6	the	the	DET
ap-2128	221	7	program	program	NOUN
ap-2128	221	8	has	have	VERB
ap-2128	221	9	to	to	PART
ap-2128	221	10	go	go	VERB
ap-2128	221	11	through	through	ADP
ap-2128	221	12	the	the	DET
ap-2128	221	13	3d	3d	PROPN
ap-2128	221	14	array	array	NOUN
ap-2128	221	15	and	and	CCONJ
ap-2128	221	16	update	update	VERB
ap-2128	221	17	each	each	DET
ap-2128	221	18	cell	cell	NOUN
ap-2128	221	19	in	in	ADP
ap-2128	221	20	the	the	DET
ap-2128	221	21	cones	cone	NOUN
ap-2128	221	22	of	of	ADP
ap-2128	221	23	the	the	DET
ap-2128	221	24	urss	urss	NOUN
ap-2128	221	25	.	.	PUNCT
ap-2128	222	1	thus	thus	ADV
ap-2128	222	2	,	,	PUNCT
ap-2128	222	3	this	this	DET
ap-2128	222	4	action	action	NOUN
ap-2128	222	5	may	may	AUX
ap-2128	222	6	take	take	VERB
ap-2128	222	7	several	several	ADJ
ap-2128	222	8	hundreds	hundred	NOUN
ap-2128	222	9	of	of	ADP
ap-2128	222	10	milliseconds	millisecond	NOUN
ap-2128	222	11	,	,	PUNCT
ap-2128	222	12	or	or	CCONJ
ap-2128	222	13	even	even	ADV
ap-2128	222	14	seconds	second	NOUN
ap-2128	222	15	,	,	PUNCT
ap-2128	222	16	depending	depend	VERB
ap-2128	222	17	on	on	ADP
ap-2128	222	18	the	the	DET
ap-2128	222	19	number	number	NOUN
ap-2128	222	20	of	of	ADP
ap-2128	222	21	cells	cell	NOUN
ap-2128	222	22	in	in	ADP
ap-2128	222	23	the	the	DET
ap-2128	222	24	3d	3d	NUM
ap-2128	222	25	map	map	NOUN
ap-2128	222	26	.	.	PUNCT
ap-2128	223	1	if	if	SCONJ
ap-2128	223	2	the	the	DET
ap-2128	223	3	multisensor	multisensor	NOUN
ap-2128	223	4	system	system	NOUN
ap-2128	223	5	is	be	AUX
ap-2128	223	6	to	to	PART
ap-2128	223	7	be	be	AUX
ap-2128	223	8	able	able	ADJ
ap-2128	223	9	to	to	PART
ap-2128	223	10	identify	identify	VERB
ap-2128	223	11	the	the	DET
ap-2128	223	12	possible	possible	ADJ
ap-2128	223	13	collisions	collision	NOUN
ap-2128	223	14	of	of	ADP
ap-2128	223	15	ra	ra	PROPN
ap-2128	223	16	with	with	ADP
ap-2128	223	17	objects	object	NOUN
ap-2128	223	18	in	in	ADP
ap-2128	223	19	the	the	DET
ap-2128	223	20	surroundings	surrounding	NOUN
ap-2128	223	21	,	,	PUNCT
ap-2128	223	22	the	the	DET
ap-2128	223	23	time	time	NOUN
ap-2128	223	24	needed	need	VERB
ap-2128	223	25	for	for	ADP
ap-2128	223	26	the	the	DET
ap-2128	223	27	computations	computation	NOUN
ap-2128	223	28	has	have	VERB
ap-2128	223	29	to	to	PART
ap-2128	223	30	be	be	AUX
ap-2128	223	31	reduced	reduce	VERB
ap-2128	223	32	at	at	ADP
ap-2128	223	33	least	least	ADJ
ap-2128	223	34	to	to	ADP
ap-2128	223	35	the	the	DET
ap-2128	223	36	order	order	NOUN
ap-2128	223	37	of	of	ADP
ap-2128	223	38	tens	ten	NOUN
ap-2128	223	39	of	of	ADP
ap-2128	223	40	milliseconds	millisecond	NOUN
ap-2128	223	41	for	for	ADP
ap-2128	223	42	one	one	NUM
ap-2128	223	43	time	time	NOUN
ap-2128	223	44	step	step	NOUN
ap-2128	223	45	.	.	PUNCT
ap-2128	224	1	this	this	PRON
ap-2128	224	2	may	may	AUX
ap-2128	224	3	be	be	AUX
ap-2128	224	4	done	do	VERB
ap-2128	224	5	simply	simply	ADV
ap-2128	224	6	by	by	ADP
ap-2128	224	7	reducing	reduce	VERB
ap-2128	224	8	the	the	DET
ap-2128	224	9	number	number	NOUN
ap-2128	224	10	of	of	ADP
ap-2128	224	11	cells	cell	NOUN
ap-2128	224	12	in	in	ADP
ap-2128	224	13	the	the	DET
ap-2128	224	14	map	map	NOUN
ap-2128	224	15	.	.	PUNCT
ap-2128	225	1	one	one	NUM
ap-2128	225	2	option	option	NOUN
ap-2128	225	3	is	be	AUX
ap-2128	225	4	to	to	PART
ap-2128	225	5	choose	choose	VERB
ap-2128	225	6	an	an	DET
ap-2128	225	7	optimal	optimal	ADJ
ap-2128	225	8	maximum	maximum	ADJ
ap-2128	225	9	distance	distance	NOUN
ap-2128	225	10	that	that	PRON
ap-2128	225	11	will	will	AUX
ap-2128	225	12	be	be	AUX
ap-2128	225	13	mapped	map	VERB
ap-2128	225	14	.	.	PUNCT
ap-2128	226	1	this	this	DET
ap-2128	226	2	distance	distance	NOUN
ap-2128	226	3	should	should	AUX
ap-2128	226	4	be	be	AUX
ap-2128	226	5	long	long	ADV
ap-2128	226	6	enough	enough	ADV
ap-2128	226	7	to	to	PART
ap-2128	226	8	see	see	VERB
ap-2128	226	9	objects	object	NOUN
ap-2128	226	10	with	with	ADP
ap-2128	226	11	which	which	PRON
ap-2128	226	12	the	the	DET
ap-2128	226	13	ra	ra	PROPN
ap-2128	226	14	may	may	AUX
ap-2128	226	15	potentially	potentially	ADV
ap-2128	226	16	collide	collide	VERB
ap-2128	226	17	.	.	PUNCT
ap-2128	227	1	our	our	PRON
ap-2128	227	2	estimate	estimate	NOUN
ap-2128	227	3	is	be	AUX
ap-2128	227	4	that	that	SCONJ
ap-2128	227	5	a	a	DET
ap-2128	227	6	distance	distance	NOUN
ap-2128	227	7	of	of	ADP
ap-2128	227	8	60	60	NUM
ap-2128	227	9	cm	cm	NOUN
ap-2128	227	10	may	may	AUX
ap-2128	227	11	be	be	AUX
ap-2128	227	12	enough	enough	ADJ
ap-2128	227	13	to	to	PART
ap-2128	227	14	predict	predict	VERB
ap-2128	227	15	dangerous	dangerous	ADJ
ap-2128	227	16	situations	situation	NOUN
ap-2128	227	17	.	.	PUNCT
ap-2128	228	1	this	this	DET
ap-2128	228	2	distance	distance	NOUN
ap-2128	228	3	is	be	AUX
ap-2128	228	4	also	also	ADV
ap-2128	228	5	taken	take	VERB
ap-2128	228	6	into	into	ADP
ap-2128	228	7	account	account	NOUN
ap-2128	228	8	in	in	ADP
ap-2128	228	9	the	the	DET
ap-2128	228	10	design	design	NOUN
ap-2128	228	11	of	of	ADP
ap-2128	228	12	the	the	DET
ap-2128	228	13	fes	fes	NOUN
ap-2128	228	14	.	.	PUNCT
ap-2128	229	1	a	a	DET
ap-2128	229	2	second	second	ADJ
ap-2128	229	3	option	option	NOUN
ap-2128	229	4	is	be	AUX
ap-2128	229	5	to	to	PART
ap-2128	229	6	choose	choose	VERB
ap-2128	229	7	an	an	DET
ap-2128	229	8	optimal	optimal	ADJ
ap-2128	229	9	resolution	resolution	NOUN
ap-2128	229	10	.	.	PUNCT
ap-2128	230	1	we	we	PRON
ap-2128	230	2	used	use	VERB
ap-2128	230	3	a	a	DET
ap-2128	230	4	1×	1×	NUM
ap-2128	230	5	1×	1×	NUM
ap-2128	230	6	1	1	NUM
ap-2128	230	7	cm	cm	NOUN
ap-2128	230	8	cell	cell	NOUN
ap-2128	230	9	.	.	PUNCT
ap-2128	231	1	5	5	X
ap-2128	231	2	.	.	X
ap-2128	231	3	conclusion	conclusion	VERB
ap-2128	231	4	the	the	DET
ap-2128	231	5	methods	method	NOUN
ap-2128	231	6	and	and	CCONJ
ap-2128	231	7	systems	system	NOUN
ap-2128	231	8	presented	present	VERB
ap-2128	231	9	here	here	ADV
ap-2128	231	10	are	be	AUX
ap-2128	231	11	original	original	ADJ
ap-2128	231	12	contributions	contribution	NOUN
ap-2128	231	13	to	to	ADP
ap-2128	231	14	the	the	DET
ap-2128	231	15	investigation	investigation	NOUN
ap-2128	231	16	of	of	ADP
ap-2128	231	17	new	new	ADJ
ap-2128	231	18	prosthesis	prosthesis	NOUN
ap-2128	231	19	control	control	NOUN
ap-2128	231	20	methods	method	NOUN
ap-2128	231	21	.	.	PUNCT
ap-2128	232	1	the	the	DET
ap-2128	232	2	myoelectric	myoelectric	PROPN
ap-2128	232	3	ra	ra	PROPN
ap-2128	232	4	based	base	VERB
ap-2128	232	5	on	on	ADP
ap-2128	232	6	a	a	DET
ap-2128	232	7	sensor	sensor	NOUN
ap-2128	232	8	-	-	PUNCT
ap-2128	232	9	actuator	actuator	NOUN
ap-2128	232	10	loop	loop	NOUN
ap-2128	232	11	uses	use	VERB
ap-2128	232	12	methods	method	NOUN
ap-2128	232	13	to	to	PART
ap-2128	232	14	control	control	VERB
ap-2128	232	15	the	the	DET
ap-2128	232	16	angular	angular	ADJ
ap-2128	232	17	velocity	velocity	NOUN
ap-2128	232	18	and	and	CCONJ
ap-2128	232	19	the	the	DET
ap-2128	232	20	direction	direction	NOUN
ap-2128	232	21	of	of	ADP
ap-2128	232	22	rotation	rotation	NOUN
ap-2128	232	23	of	of	ADP
ap-2128	232	24	the	the	DET
ap-2128	232	25	actuators	actuator	NOUN
ap-2128	232	26	and	and	CCONJ
ap-2128	232	27	to	to	PART
ap-2128	232	28	prevent	prevent	VERB
ap-2128	232	29	pdss	pdss	NOUN
ap-2128	232	30	that	that	PRON
ap-2128	232	31	could	could	AUX
ap-2128	232	32	damage	damage	VERB
ap-2128	232	33	the	the	DET
ap-2128	232	34	prosthesis	prosthesis	NOUN
ap-2128	232	35	or	or	CCONJ
ap-2128	232	36	harm	harm	VERB
ap-2128	232	37	the	the	DET
ap-2128	232	38	user	user	NOUN
ap-2128	232	39	.	.	PUNCT
ap-2128	233	1	the	the	DET
ap-2128	233	2	designed	design	VERB
ap-2128	233	3	ssb	ssb	PROPN
ap-2128	233	4	can	can	AUX
ap-2128	233	5	identify	identify	VERB
ap-2128	233	6	objects	object	NOUN
ap-2128	233	7	in	in	ADP
ap-2128	233	8	3d	3d	NUM
ap-2128	233	9	space	space	NOUN
ap-2128	233	10	and	and	CCONJ
ap-2128	233	11	their	their	PRON
ap-2128	233	12	basic	basic	ADJ
ap-2128	233	13	characteristics	characteristic	NOUN
ap-2128	233	14	.	.	PUNCT
ap-2128	234	1	the	the	DET
ap-2128	234	2	system	system	NOUN
ap-2128	234	3	proposed	propose	VERB
ap-2128	234	4	in	in	ADP
ap-2128	234	5	this	this	DET
ap-2128	234	6	paper	paper	NOUN
ap-2128	234	7	also	also	ADV
ap-2128	234	8	provides	provide	VERB
ap-2128	234	9	a	a	DET
ap-2128	234	10	3d	3d	NUM
ap-2128	234	11	map	map	NOUN
ap-2128	234	12	of	of	ADP
ap-2128	234	13	the	the	DET
ap-2128	234	14	environment	environment	NOUN
ap-2128	234	15	of	of	ADP
ap-2128	234	16	ra	ra	PROPN
ap-2128	234	17	,	,	PUNCT
ap-2128	234	18	based	base	VERB
ap-2128	234	19	on	on	ADP
ap-2128	234	20	real	real	ADJ
ap-2128	234	21	-	-	PUNCT
ap-2128	234	22	time	time	NOUN
ap-2128	234	23	mapping	mapping	NOUN
ap-2128	234	24	of	of	ADP
ap-2128	234	25	the	the	DET
ap-2128	234	26	environment	environment	NOUN
ap-2128	234	27	by	by	ADP
ap-2128	234	28	ssb	ssb	PROPN
ap-2128	234	29	.	.	PUNCT
ap-2128	235	1	this	this	DET
ap-2128	235	2	map	map	NOUN
ap-2128	235	3	can	can	AUX
ap-2128	235	4	be	be	AUX
ap-2128	235	5	used	use	VERB
ap-2128	235	6	for	for	ADP
ap-2128	235	7	identifying	identify	VERB
ap-2128	235	8	proximate	proximate	NOUN
ap-2128	235	9	objects	object	NOUN
ap-2128	235	10	and	and	CCONJ
ap-2128	235	11	the	the	DET
ap-2128	235	12	position	position	NOUN
ap-2128	235	13	of	of	ADP
ap-2128	235	14	the	the	DET
ap-2128	235	15	arm	arm	NOUN
ap-2128	235	16	in	in	ADP
ap-2128	235	17	relation	relation	NOUN
ap-2128	235	18	to	to	ADP
ap-2128	235	19	these	these	DET
ap-2128	235	20	objects	object	NOUN
ap-2128	235	21	.	.	PUNCT
ap-2128	236	1	the	the	DET
ap-2128	236	2	map	map	NOUN
ap-2128	236	3	provides	provide	VERB
ap-2128	236	4	basic	basic	ADJ
ap-2128	236	5	information	information	NOUN
ap-2128	236	6	about	about	ADP
ap-2128	236	7	obstacles	obstacle	NOUN
ap-2128	236	8	near	near	ADP
ap-2128	236	9	the	the	DET
ap-2128	236	10	ra	ra	PROPN
ap-2128	236	11	.	.	PUNCT
ap-2128	237	1	in	in	ADP
ap-2128	237	2	the	the	DET
ap-2128	237	3	case	case	NOUN
ap-2128	237	4	of	of	ADP
ap-2128	237	5	the	the	DET
ap-2128	237	6	expert	expert	NOUN
ap-2128	237	7	system	system	NOUN
ap-2128	237	8	,	,	PUNCT
ap-2128	237	9	we	we	PRON
ap-2128	237	10	used	use	VERB
ap-2128	237	11	fuzzy	fuzzy	ADJ
ap-2128	237	12	logic	logic	NOUN
ap-2128	237	13	because	because	SCONJ
ap-2128	237	14	the	the	DET
ap-2128	237	15	methods	method	NOUN
ap-2128	237	16	of	of	ADP
ap-2128	237	17	artificial	artificial	ADJ
ap-2128	237	18	intelligence	intelligence	NOUN
ap-2128	237	19	implemented	implement	VERB
ap-2128	237	20	in	in	ADP
ap-2128	237	21	matlab	matlab	PROPN
ap-2128	237	22	offer	offer	VERB
ap-2128	237	23	great	great	ADJ
ap-2128	237	24	potential	potential	NOUN
ap-2128	237	25	in	in	ADP
ap-2128	237	26	control	control	NOUN
ap-2128	237	27	and	and	CCONJ
ap-2128	237	28	signal	signal	NOUN
ap-2128	237	29	processing	processing	NOUN
ap-2128	237	30	.	.	PUNCT
ap-2128	238	1	the	the	DET
ap-2128	238	2	fes	fes	NOUN
ap-2128	238	3	is	be	AUX
ap-2128	238	4	used	use	VERB
ap-2128	238	5	to	to	PART
ap-2128	238	6	avoid	avoid	VERB
ap-2128	238	7	pdss	pdss	NOUN
ap-2128	238	8	,	,	PUNCT
ap-2128	238	9	especially	especially	ADV
ap-2128	238	10	collisions	collision	NOUN
ap-2128	238	11	with	with	ADP
ap-2128	238	12	objects	object	NOUN
ap-2128	238	13	in	in	ADP
ap-2128	238	14	the	the	DET
ap-2128	238	15	surroundings	surrounding	NOUN
ap-2128	238	16	.	.	PUNCT
ap-2128	239	1	so	so	ADV
ap-2128	239	2	far	far	ADV
ap-2128	239	3	,	,	PUNCT
ap-2128	239	4	the	the	DET
ap-2128	239	5	mapping	mapping	NOUN
ap-2128	239	6	algorithm	algorithm	NOUN
ap-2128	239	7	uses	use	VERB
ap-2128	239	8	only	only	ADV
ap-2128	239	9	data	datum	NOUN
ap-2128	239	10	from	from	ADP
ap-2128	239	11	urs	urs	PROPN
ap-2128	239	12	sensors	sensor	NOUN
ap-2128	239	13	.	.	PUNCT
ap-2128	240	1	future	future	ADJ
ap-2128	240	2	work	work	NOUN
ap-2128	240	3	can	can	AUX
ap-2128	240	4	involve	involve	VERB
ap-2128	240	5	integrating	integrate	VERB
ap-2128	240	6	data	datum	NOUN
ap-2128	240	7	from	from	ADP
ap-2128	240	8	tpass	tpass	NOUN
ap-2128	240	9	.	.	PUNCT
ap-2128	241	1	then	then	ADV
ap-2128	241	2	,	,	PUNCT
ap-2128	241	3	the	the	DET
ap-2128	241	4	cells	cell	NOUN
ap-2128	241	5	in	in	ADP
ap-2128	241	6	the	the	DET
ap-2128	241	7	occupancy	occupancy	NOUN
ap-2128	241	8	grid	grid	NOUN
ap-2128	241	9	will	will	AUX
ap-2128	241	10	be	be	AUX
ap-2128	241	11	able	able	ADJ
ap-2128	241	12	to	to	PART
ap-2128	241	13	hold	hold	VERB
ap-2128	241	14	two	two	NUM
ap-2128	241	15	values	value	NOUN
ap-2128	241	16	occupancy	occupancy	NOUN
ap-2128	241	17	probability	probability	NOUN
ap-2128	241	18	and	and	CCONJ
ap-2128	241	19	temperature	temperature	NOUN
ap-2128	241	20	.	.	PUNCT
ap-2128	242	1	it	it	PRON
ap-2128	242	2	may	may	AUX
ap-2128	242	3	be	be	AUX
ap-2128	242	4	useful	useful	ADJ
ap-2128	242	5	to	to	PART
ap-2128	242	6	predict	predict	VERB
ap-2128	242	7	the	the	DET
ap-2128	242	8	pds	pds	NOUN
ap-2128	242	9	of	of	ADP
ap-2128	242	10	touching	touch	VERB
ap-2128	242	11	very	very	ADV
ap-2128	242	12	hot	hot	ADJ
ap-2128	242	13	objects	object	NOUN
ap-2128	242	14	that	that	PRON
ap-2128	242	15	could	could	AUX
ap-2128	242	16	harm	harm	VERB
ap-2128	242	17	the	the	DET
ap-2128	242	18	person	person	NOUN
ap-2128	242	19	or	or	CCONJ
ap-2128	242	20	damage	damage	VERB
ap-2128	242	21	the	the	DET
ap-2128	242	22	prosthesis	prosthesis	NOUN
ap-2128	242	23	.	.	PUNCT
ap-2128	243	1	the	the	DET
ap-2128	243	2	semiautomatic	semiautomatic	ADJ
ap-2128	243	3	myoelectric	myoelectric	PROPN
ap-2128	243	4	ra	ra	PROPN
ap-2128	243	5	should	should	AUX
ap-2128	243	6	be	be	AUX
ap-2128	243	7	able	able	ADJ
ap-2128	243	8	to	to	PART
ap-2128	243	9	retain	retain	VERB
ap-2128	243	10	a	a	DET
ap-2128	243	11	safe	safe	ADJ
ap-2128	243	12	distance	distance	NOUN
ap-2128	243	13	from	from	ADP
ap-2128	243	14	hot	hot	ADJ
ap-2128	243	15	objects	object	NOUN
ap-2128	243	16	in	in	ADP
ap-2128	243	17	order	order	NOUN
ap-2128	243	18	to	to	PART
ap-2128	243	19	prevent	prevent	VERB
ap-2128	243	20	such	such	ADJ
ap-2128	243	21	situations	situation	NOUN
ap-2128	243	22	.	.	PUNCT
ap-2128	244	1	the	the	DET
ap-2128	244	2	next	next	ADJ
ap-2128	244	3	step	step	NOUN
ap-2128	244	4	in	in	ADP
ap-2128	244	5	our	our	PRON
ap-2128	244	6	work	work	NOUN
ap-2128	244	7	will	will	AUX
ap-2128	244	8	be	be	AUX
ap-2128	244	9	to	to	PART
ap-2128	244	10	test	test	VERB
ap-2128	244	11	and	and	CCONJ
ap-2128	244	12	adjust	adjust	VERB
ap-2128	244	13	the	the	DET
ap-2128	244	14	fes	fes	NOUN
ap-2128	244	15	by	by	ADP
ap-2128	244	16	using	use	VERB
ap-2128	244	17	new	new	ADJ
ap-2128	244	18	expert	expert	ADJ
ap-2128	244	19	knowledge	knowledge	NOUN
ap-2128	244	20	.	.	PUNCT
ap-2128	245	1	we	we	PRON
ap-2128	245	2	have	have	AUX
ap-2128	245	3	described	describe	VERB
ap-2128	245	4	methods	method	NOUN
ap-2128	245	5	for	for	ADP
ap-2128	245	6	solving	solve	VERB
ap-2128	245	7	problems	problem	NOUN
ap-2128	245	8	in	in	ADP
ap-2128	245	9	the	the	DET
ap-2128	245	10	control	control	NOUN
ap-2128	245	11	of	of	ADP
ap-2128	245	12	a	a	DET
ap-2128	245	13	myoelectric	myoelectric	ADJ
ap-2128	245	14	ra	ra	NOUN
ap-2128	245	15	or	or	CCONJ
ap-2128	245	16	a	a	DET
ap-2128	245	17	myoelectric	myoelectric	ADJ
ap-2128	245	18	prosthesis	prosthesis	NOUN
ap-2128	245	19	.	.	PUNCT
ap-2128	246	1	all	all	DET
ap-2128	246	2	computational	computational	ADJ
ap-2128	246	3	methods	method	NOUN
ap-2128	246	4	are	be	AUX
ap-2128	246	5	implemented	implement	VERB
ap-2128	246	6	in	in	ADP
ap-2128	246	7	matlab	matlab	PROPN
ap-2128	246	8	software	software	NOUN
ap-2128	246	9	,	,	PUNCT
ap-2128	246	10	and	and	CCONJ
ap-2128	246	11	the	the	DET
ap-2128	246	12	data	datum	NOUN
ap-2128	246	13	from	from	ADP
ap-2128	246	14	the	the	DET
ap-2128	246	15	sensors	sensor	NOUN
ap-2128	246	16	is	be	AUX
ap-2128	246	17	also	also	ADV
ap-2128	246	18	processed	process	VERB
ap-2128	246	19	in	in	ADP
ap-2128	246	20	matlab	matlab	PROPN
ap-2128	246	21	software	software	NOUN
ap-2128	246	22	.	.	PUNCT
ap-2128	247	1	the	the	DET
ap-2128	247	2	proposed	propose	VERB
ap-2128	247	3	methods	method	NOUN
ap-2128	247	4	and	and	CCONJ
ap-2128	247	5	systems	system	NOUN
ap-2128	247	6	are	be	AUX
ap-2128	247	7	designed	design	VERB
ap-2128	247	8	as	as	ADP
ap-2128	247	9	an	an	DET
ap-2128	247	10	assistive	assistive	ADJ
ap-2128	247	11	technology	technology	NOUN
ap-2128	247	12	for	for	ADP
ap-2128	247	13	disabled	disabled	ADJ
ap-2128	247	14	people	people	NOUN
ap-2128	247	15	,	,	PUNCT
ap-2128	247	16	and	and	CCONJ
ap-2128	247	17	are	be	AUX
ap-2128	247	18	to	to	PART
ap-2128	247	19	be	be	AUX
ap-2128	247	20	understood	understand	VERB
ap-2128	247	21	as	as	ADP
ap-2128	247	22	a	a	DET
ap-2128	247	23	contribution	contribution	NOUN
ap-2128	247	24	to	to	ADP
ap-2128	247	25	the	the	DET
ap-2128	247	26	international	international	ADJ
ap-2128	247	27	debate	debate	NOUN
ap-2128	247	28	on	on	ADP
ap-2128	247	29	the	the	DET
ap-2128	247	30	design	design	NOUN
ap-2128	247	31	of	of	ADP
ap-2128	247	32	new	new	ADJ
ap-2128	247	33	myoelectric	myoelectric	ADJ
ap-2128	247	34	prostheses	prosthesis	NOUN
ap-2128	247	35	and	and	CCONJ
ap-2128	247	36	myoelectric	myoelectric	ADJ
ap-2128	247	37	ras	ras	PROPN
ap-2128	247	38	.	.	PROPN
ap-2128	247	39	list	list	NOUN
ap-2128	247	40	of	of	ADP
ap-2128	247	41	abbreviations	abbreviation	NOUN
ap-2128	247	42	dof	dof	NOUN
ap-2128	247	43	degrees	degree	NOUN
ap-2128	247	44	of	of	ADP
ap-2128	247	45	freedom	freedom	NOUN
ap-2128	247	46	emg	emg	NOUN
ap-2128	247	47	electromyography	electromyography	NOUN
ap-2128	247	48	fes	fes	VERB
ap-2128	247	49	fuzzy	fuzzy	ADJ
ap-2128	247	50	expert	expert	NOUN
ap-2128	247	51	system	system	NOUN
ap-2128	247	52	fk	fk	X
ap-2128	247	53	forward	forward	ADV
ap-2128	247	54	kinematics	kinematic	NOUN
ap-2128	247	55	ik	ik	PROPN
ap-2128	247	56	inverse	inverse	PROPN
ap-2128	247	57	kinematics	kinematics	PROPN
ap-2128	247	58	mcb	mcb	PROPN
ap-2128	247	59	map	map	PROPN
ap-2128	247	60	constructor	constructor	NOUN
ap-2128	247	61	block	block	NOUN
ap-2128	247	62	occ	occ	X
ap-2128	247	63	occupied	occupy	VERB
ap-2128	247	64	pds	pds	NOUN
ap-2128	247	65	potentially	potentially	ADV
ap-2128	247	66	dangerous	dangerous	ADJ
ap-2128	247	67	situation	situation	NOUN
ap-2128	247	68	pid	pid	NOUN
ap-2128	247	69	proportional	proportional	ADJ
ap-2128	247	70	integral	integral	ADJ
ap-2128	247	71	derivative	derivative	ADJ
ap-2128	247	72	ra	ra	PROPN
ap-2128	247	73	robotic	robotic	ADJ
ap-2128	247	74	arm	arm	NOUN
ap-2128	247	75	ssb	ssb	VERB
ap-2128	247	76	sensory	sensory	ADJ
ap-2128	247	77	subsystem	subsystem	NOUN
ap-2128	247	78	block	block	NOUN
ap-2128	247	79	tpas	tpas	NOUN
ap-2128	247	80	thermophile	thermophile	NOUN
ap-2128	247	81	array	array	NOUN
ap-2128	247	82	sensor	sensor	NOUN
ap-2128	247	83	urs	urs	PROPN
ap-2128	247	84	ultrasonic	ultrasonic	ADJ
ap-2128	247	85	range	range	NOUN
ap-2128	247	86	sensor	sensor	NOUN
ap-2128	247	87	acknowledgements	acknowledgement	NOUN
ap-2128	247	88	this	this	DET
ap-2128	247	89	research	research	NOUN
ap-2128	247	90	has	have	AUX
ap-2128	247	91	been	be	AUX
ap-2128	247	92	supported	support	VERB
ap-2128	247	93	by	by	ADP
ap-2128	247	94	program	program	NOUN
ap-2128	247	95	no	no	PROPN
ap-2128	247	96	.	.	PUNCT
ap-2128	248	1	vg20102015002	vg20102015002	NOUN
ap-2128	248	2	(	(	PUNCT
ap-2128	248	3	2010	2010	NUM
ap-2128	248	4	-	-	SYM
ap-2128	248	5	2015	2015	NUM
ap-2128	248	6	,	,	PUNCT
ap-2128	248	7	mv0	mv0	NOUN
ap-2128	248	8	/	/	SYM
ap-2128	248	9	vg	vg	NOUN
ap-2128	248	10	)	)	PUNCT
ap-2128	248	11	,	,	PUNCT
ap-2128	248	12	sponsored	sponsor	VERB
ap-2128	248	13	by	by	ADP
ap-2128	248	14	the	the	DET
ap-2128	248	15	ministry	ministry	PROPN
ap-2128	248	16	of	of	ADP
ap-2128	248	17	the	the	DET
ap-2128	248	18	interior	interior	NOUN
ap-2128	248	19	of	of	ADP
ap-2128	248	20	the	the	DET
ap-2128	248	21	czech	czech	PROPN
ap-2128	248	22	republic	republic	NOUN
ap-2128	248	23	,	,	PUNCT
ap-2128	248	24	and	and	CCONJ
ap-2128	248	25	by	by	ADP
ap-2128	248	26	project	project	NOUN
ap-2128	248	27	sgs14/094	sgs14/094	NOUN
ap-2128	248	28	/	/	SYM
ap-2128	248	29	ohk4/1t/17	ohk4/1t/17	NUM
ap-2128	248	30	ctu	ctu	ADJ
ap-2128	248	31	prague	prague	NOUN
ap-2128	248	32	.	.	PUNCT
ap-2128	249	1	references	reference	NOUN
ap-2128	249	2	[	[	X
ap-2128	249	3	1	1	NUM
ap-2128	249	4	]	]	X
ap-2128	249	5	kelly	kelly	PROPN
ap-2128	249	6	,	,	PUNCT
ap-2128	249	7	r.	r.	PROPN
ap-2128	249	8	,	,	PUNCT
ap-2128	249	9	santibáñez	santibáñez	PROPN
ap-2128	249	10	,	,	PUNCT
ap-2128	249	11	v.	v.	PROPN
ap-2128	249	12	,	,	PUNCT
ap-2128	249	13	loria	loria	PROPN
ap-2128	249	14	,	,	PUNCT
ap-2128	249	15	a.	a.	NOUN
ap-2128	249	16	:	:	PUNCT
ap-2128	249	17	control	control	NOUN
ap-2128	249	18	of	of	ADP
ap-2128	249	19	robot	robot	NOUN
ap-2128	249	20	manipulators	manipulator	NOUN
ap-2128	249	21	in	in	ADP
ap-2128	249	22	joint	joint	ADJ
ap-2128	249	23	space	space	NOUN
ap-2128	249	24	.	.	PUNCT
ap-2128	250	1	london	london	PROPN
ap-2128	250	2	:	:	PUNCT
ap-2128	250	3	springer	springer	NOUN
ap-2128	250	4	,	,	PUNCT
ap-2128	250	5	2005	2005	NUM
ap-2128	250	6	.	.	PUNCT
ap-2128	251	1	doi	doi	NOUN
ap-2128	251	2	:	:	PUNCT
ap-2128	251	3	10.1002	10.1002	NUM
ap-2128	251	4	/	/	SYM
ap-2128	251	5	rnc.1114	rnc.1114	X
ap-2128	251	6	[	[	X
ap-2128	251	7	2	2	NUM
ap-2128	251	8	]	]	PUNCT
ap-2128	251	9	dede	dede	NOUN
ap-2128	251	10	,	,	PUNCT
ap-2128	251	11	m.	m.	NOUN
ap-2128	251	12	i.	i.	PROPN
ap-2128	251	13	c.	c.	PROPN
ap-2128	251	14	,	,	PUNCT
ap-2128	251	15	nasser	nasser	PROPN
ap-2128	251	16	,	,	PUNCT
ap-2128	251	17	s.	s.	PROPN
ap-2128	251	18	,	,	PUNCT
ap-2128	251	19	ye	ye	PROPN
ap-2128	251	20	,	,	PUNCT
ap-2128	251	21	s.	s.	PROPN
ap-2128	251	22	,	,	PUNCT
ap-2128	251	23	tosunoglu	tosunoglu	NOUN
ap-2128	251	24	,	,	PUNCT
ap-2128	251	25	s.	s.	PROPN
ap-2128	251	26	:	:	PUNCT
ap-2128	251	27	cerberus	cerberus	PROPN
ap-2128	251	28	:	:	PUNCT
ap-2128	251	29	development	development	NOUN
ap-2128	251	30	of	of	ADP
ap-2128	251	31	a	a	DET
ap-2128	251	32	humanoid	humanoid	NOUN
ap-2128	251	33	robot	robot	NOUN
ap-2128	251	34	.	.	PUNCT
ap-2128	252	1	asme	asme	PROPN
ap-2128	252	2	early	early	PROPN
ap-2128	252	3	career	career	NOUN
ap-2128	252	4	technical	technical	ADJ
ap-2128	252	5	journal	journal	NOUN
ap-2128	252	6	,	,	PUNCT
ap-2128	252	7	5(1	5(1	NUM
ap-2128	252	8	)	)	PUNCT
ap-2128	252	9	,	,	PUNCT
ap-2128	252	10	2006	2006	NUM
ap-2128	252	11	,	,	PUNCT
ap-2128	252	12	p.	p.	NOUN
ap-2128	252	13	8.1–8.8	8.1–8.8	NOUN
ap-2128	252	14	.	.	PUNCT
ap-2128	253	1	[	[	X
ap-2128	253	2	3	3	NUM
ap-2128	253	3	]	]	SYM
ap-2128	253	4	tura	tura	ADJ
ap-2128	253	5	,	,	PUNCT
ap-2128	253	6	a.	a.	NOUN
ap-2128	253	7	,	,	PUNCT
ap-2128	253	8	lamberti	lamberti	PROPN
ap-2128	253	9	,	,	PUNCT
ap-2128	253	10	c.	c.	NOUN
ap-2128	253	11	,	,	PUNCT
ap-2128	253	12	davalli	davalli	PROPN
ap-2128	253	13	,	,	PUNCT
ap-2128	253	14	a.	a.	NOUN
ap-2128	253	15	,	,	PUNCT
ap-2128	253	16	sacchetti	sacchetti	VERB
ap-2128	253	17	,	,	PUNCT
ap-2128	253	18	r.	r.	PROPN
ap-2128	253	19	:	:	PUNCT
ap-2128	253	20	experimental	experimental	ADJ
ap-2128	253	21	development	development	NOUN
ap-2128	253	22	of	of	ADP
ap-2128	253	23	a	a	DET
ap-2128	253	24	sensory	sensory	ADJ
ap-2128	253	25	control	control	NOUN
ap-2128	253	26	system	system	NOUN
ap-2128	253	27	for	for	ADP
ap-2128	253	28	an	an	DET
ap-2128	253	29	upper	upper	ADJ
ap-2128	253	30	limb	limb	NOUN
ap-2128	253	31	myoelectric	myoelectric	ADJ
ap-2128	253	32	prosthesis	prosthesis	NOUN
ap-2128	253	33	with	with	ADP
ap-2128	253	34	cosmetic	cosmetic	ADJ
ap-2128	253	35	covering	covering	NOUN
ap-2128	253	36	.	.	PUNCT
ap-2128	254	1	j.	j.	PROPN
ap-2128	254	2	rehabil	rehabil	PROPN
ap-2128	254	3	.	.	PUNCT
ap-2128	255	1	res	re	NOUN
ap-2128	255	2	.	.	PUNCT
ap-2128	256	1	dev	dev	PROPN
ap-2128	256	2	.	.	PROPN
ap-2128	256	3	,	,	PUNCT
ap-2128	256	4	35(1	35(1	NUM
ap-2128	256	5	)	)	PUNCT
ap-2128	256	6	,	,	PUNCT
ap-2128	256	7	1998	1998	NUM
ap-2128	256	8	,	,	PUNCT
ap-2128	256	9	p.	p.	NOUN
ap-2128	256	10	14–26	14–26	NUM
ap-2128	256	11	.	.	PUNCT
ap-2128	257	1	[	[	X
ap-2128	257	2	4	4	NUM
ap-2128	257	3	]	]	SYM
ap-2128	257	4	herle	herle	NOUN
ap-2128	257	5	,	,	PUNCT
ap-2128	257	6	s.	s.	PROPN
ap-2128	257	7	,	,	PUNCT
ap-2128	257	8	man	man	NOUN
ap-2128	257	9	,	,	PUNCT
ap-2128	257	10	s.	s.	PROPN
ap-2128	257	11	,	,	PUNCT
ap-2128	257	12	lazea	lazea	PROPN
ap-2128	257	13	,	,	PUNCT
ap-2128	257	14	g.	g.	PROPN
ap-2128	257	15	,	,	PUNCT
ap-2128	257	16	raica	raica	PROPN
ap-2128	257	17	,	,	PUNCT
ap-2128	257	18	p.	p.	NOUN
ap-2128	257	19	:	:	PUNCT
ap-2128	257	20	myoelectric	myoelectric	ADJ
ap-2128	257	21	control	control	NOUN
ap-2128	257	22	strategies	strategy	NOUN
ap-2128	257	23	for	for	ADP
ap-2128	257	24	a	a	DET
ap-2128	257	25	human	human	ADJ
ap-2128	257	26	upper	upper	ADJ
ap-2128	257	27	limb	limb	NOUN
ap-2128	257	28	prosthesis	prosthesis	NOUN
ap-2128	257	29	,	,	PUNCT
ap-2128	257	30	journal	journal	NOUN
ap-2128	257	31	of	of	ADP
ap-2128	257	32	control	control	PROPN
ap-2128	257	33	engineering	engineering	NOUN
ap-2128	257	34	and	and	CCONJ
ap-2128	257	35	applied	apply	VERB
ap-2128	257	36	informatics	informatic	NOUN
ap-2128	257	37	.	.	PUNCT
ap-2128	257	38	14(1	14(1	NUM
ap-2128	257	39	)	)	PUNCT
ap-2128	257	40	,	,	PUNCT
ap-2128	257	41	2012	2012	NUM
ap-2128	257	42	,	,	PUNCT
ap-2128	257	43	p.	p.	NOUN
ap-2128	257	44	58–66	58–66	NUM
ap-2128	257	45	.	.	PUNCT
ap-2128	258	1	[	[	X
ap-2128	258	2	5	5	NUM
ap-2128	258	3	]	]	X
ap-2128	258	4	cronje	cronje	PROPN
ap-2128	258	5	,	,	PUNCT
ap-2128	258	6	h.	h.	PROPN
ap-2128	258	7	a.	a.	PROPN
ap-2128	258	8	,	,	PUNCT
ap-2128	258	9	gouws	gouws	PROPN
ap-2128	258	10	,	,	PUNCT
ap-2128	258	11	j.	j.	PROPN
ap-2128	258	12	:	:	PUNCT
ap-2128	258	13	inertial	inertial	ADJ
ap-2128	258	14	measurement	measurement	NOUN
ap-2128	258	15	system	system	NOUN
ap-2128	258	16	for	for	ADP
ap-2128	258	17	the	the	DET
ap-2128	258	18	position	position	NOUN
ap-2128	258	19	control	control	NOUN
ap-2128	258	20	of	of	ADP
ap-2128	258	21	a	a	DET
ap-2128	258	22	flexible	flexible	ADJ
ap-2128	258	23	robot	robot	NOUN
ap-2128	258	24	arm	arm	NOUN
ap-2128	258	25	.	.	PUNCT
ap-2128	259	1	proc	proc	NOUN
ap-2128	259	2	.	.	PUNCT
ap-2128	260	1	8th	8th	ADJ
ap-2128	260	2	mediterranean	mediterranean	PROPN
ap-2128	260	3	electrotechnical	electrotechnical	ADJ
ap-2128	260	4	conference	conference	NOUN
ap-2128	260	5	,	,	PUNCT
ap-2128	260	6	may	may	PROPN
ap-2128	260	7	1996	1996	NUM
ap-2128	260	8	,	,	PUNCT
ap-2128	260	9	p.	p.	NOUN
ap-2128	260	10	1141–1144	1141–1144	NUM
ap-2128	260	11	.	.	PUNCT
ap-2128	261	1	[	[	X
ap-2128	261	2	6	6	NUM
ap-2128	261	3	]	]	X
ap-2128	261	4	zecca	zecca	NOUN
ap-2128	261	5	,	,	PUNCT
ap-2128	261	6	m.	m.	NOUN
ap-2128	261	7	,	,	PUNCT
ap-2128	261	8	micera	micera	NOUN
ap-2128	261	9	,	,	PUNCT
ap-2128	261	10	s.	s.	PROPN
ap-2128	261	11	,	,	PUNCT
ap-2128	261	12	carrozza	carrozza	NOUN
ap-2128	261	13	,	,	PUNCT
ap-2128	261	14	m.	m.	PROPN
ap-2128	261	15	c.	c.	PROPN
ap-2128	261	16	,	,	PUNCT
ap-2128	261	17	dario	dario	PROPN
ap-2128	261	18	,	,	PUNCT
ap-2128	261	19	p.	p.	NOUN
ap-2128	261	20	:	:	PUNCT
ap-2128	261	21	control	control	NOUN
ap-2128	261	22	of	of	ADP
ap-2128	261	23	multifunctional	multifunctional	ADJ
ap-2128	261	24	prosthetic	prosthetic	ADJ
ap-2128	261	25	hands	hand	NOUN
ap-2128	261	26	by	by	ADP
ap-2128	261	27	processing	process	VERB
ap-2128	261	28	the	the	DET
ap-2128	261	29	electromyogram	electromyogram	NOUN
ap-2128	261	30	signal	signal	NOUN
ap-2128	261	31	.	.	PUNCT
ap-2128	261	32	biomed	biome	VERB
ap-2128	261	33	.	.	PUNCT
ap-2128	262	1	eng	eng	PROPN
ap-2128	262	2	.	.	PROPN
ap-2128	262	3	,	,	PUNCT
ap-2128	262	4	30(4–6	30(4–6	PROPN
ap-2128	262	5	)	)	PUNCT
ap-2128	262	6	,	,	PUNCT
ap-2128	262	7	2002	2002	NUM
ap-2128	262	8	,	,	PUNCT
ap-2128	262	9	p.	p.	NOUN
ap-2128	262	10	459–485	459–485	NUM
ap-2128	262	11	.	.	PUNCT
ap-2128	263	1	203	203	NUM
ap-2128	263	2	http://dx.doi.org/10.1002/rnc.1114	http://dx.doi.org/10.1002/rnc.1114	PROPN
ap-2128	263	3	p.	p.	PROPN
ap-2128	263	4	kutílek	kutílek	PROPN
ap-2128	263	5	,	,	PUNCT
ap-2128	263	6	j.	j.	PROPN
ap-2128	263	7	hýbl	hýbl	PROPN
ap-2128	263	8	,	,	PUNCT
ap-2128	263	9	j.	j.	PROPN
ap-2128	263	10	mareš	mareš	PROPN
ap-2128	263	11	et	et	PROPN
ap-2128	263	12	al	al	PROPN
ap-2128	263	13	.	.	PROPN
ap-2128	264	1	acta	acta	PROPN
ap-2128	264	2	polytechnica	polytechnica	PROPN
ap-2128	265	1	[	[	X
ap-2128	265	2	7	7	NUM
ap-2128	265	3	]	]	X
ap-2128	265	4	miller	miller	PROPN
ap-2128	265	5	,	,	PUNCT
ap-2128	265	6	l.	l.	PROPN
ap-2128	265	7	a.	a.	PROPN
ap-2128	265	8	,	,	PUNCT
ap-2128	265	9	lipschutz	lipschutz	PROPN
ap-2128	265	10	,	,	PUNCT
ap-2128	265	11	r.	r.	PROPN
ap-2128	265	12	d.	d.	PROPN
ap-2128	265	13	,	,	PUNCT
ap-2128	265	14	weir	weir	PROPN
ap-2128	265	15	,	,	PUNCT
ap-2128	265	16	r.	r.	PROPN
ap-2128	265	17	w.	w.	PROPN
ap-2128	265	18	,	,	PUNCT
ap-2128	265	19	williams	williams	PROPN
ap-2128	265	20	,	,	PUNCT
ap-2128	265	21	t.	t.	PROPN
ap-2128	265	22	w.	w.	PROPN
ap-2128	265	23	,	,	PUNCT
ap-2128	265	24	stubblefield	stubblefield	PROPN
ap-2128	265	25	,	,	PUNCT
ap-2128	265	26	k.	k.	PROPN
ap-2128	265	27	a.	a.	PROPN
ap-2128	265	28	,	,	PUNCT
ap-2128	265	29	heckathorne	heckathorne	NOUN
ap-2128	265	30	,	,	PUNCT
ap-2128	265	31	c.	c.	PROPN
ap-2128	265	32	w.	w.	PROPN
ap-2128	265	33	,	,	PUNCT
ap-2128	265	34	kuiken	kuiken	VERB
ap-2128	265	35	,	,	PUNCT
ap-2128	265	36	t.	t.	PROPN
ap-2128	265	37	a.	a.	NOUN
ap-2128	265	38	:	:	PUNCT
ap-2128	265	39	shoulder	shoulder	NOUN
ap-2128	265	40	disarticulation	disarticulation	NOUN
ap-2128	265	41	fitting	fit	VERB
ap-2128	265	42	with	with	ADP
ap-2128	265	43	6	6	NUM
ap-2128	265	44	independently	independently	ADV
ap-2128	265	45	controlled	control	VERB
ap-2128	265	46	motors	motor	NOUN
ap-2128	265	47	after	after	ADP
ap-2128	265	48	targeted	target	VERB
ap-2128	265	49	hyper	hyper	ADJ
ap-2128	265	50	-	-	ADJ
ap-2128	265	51	reinnervation	reinnervation	NOUN
ap-2128	265	52	nerve	nerve	NOUN
ap-2128	265	53	transfer	transfer	NOUN
ap-2128	265	54	surgery	surgery	NOUN
ap-2128	265	55	.	.	PUNCT
ap-2128	266	1	proc	proc	NOUN
ap-2128	266	2	.	.	PUNCT
ap-2128	267	1	myoelectric	myoelectric	PROPN
ap-2128	267	2	control	control	PROPN
ap-2128	267	3	symposium	symposium	NOUN
ap-2128	267	4	,	,	PUNCT
ap-2128	267	5	august	august	PROPN
ap-2128	267	6	2005	2005	NUM
ap-2128	267	7	,	,	PUNCT
ap-2128	267	8	p.	p.	NOUN
ap-2128	267	9	21–24	21–24	NUM
ap-2128	267	10	.	.	PUNCT
ap-2128	268	1	[	[	X
ap-2128	268	2	8	8	NUM
ap-2128	268	3	]	]	SYM
ap-2128	268	4	artemiadis	artemiadi	NOUN
ap-2128	268	5	,	,	PUNCT
ap-2128	268	6	p.	p.	PROPN
ap-2128	268	7	k.	k.	PROPN
ap-2128	268	8	,	,	PUNCT
ap-2128	268	9	kyriakopoulos	kyriakopoulos	PROPN
ap-2128	268	10	,	,	PUNCT
ap-2128	268	11	k.	k.	PROPN
ap-2128	268	12	j.	j.	PROPN
ap-2128	268	13	:	:	PUNCT
ap-2128	268	14	emg	emg	NOUN
ap-2128	268	15	-	-	PUNCT
ap-2128	268	16	based	base	VERB
ap-2128	268	17	control	control	NOUN
ap-2128	268	18	of	of	ADP
ap-2128	268	19	a	a	DET
ap-2128	268	20	robot	robot	NOUN
ap-2128	268	21	arm	arm	NOUN
ap-2128	268	22	using	use	VERB
ap-2128	268	23	low	low	ADJ
ap-2128	268	24	-	-	PUNCT
ap-2128	268	25	dimensional	dimensional	ADJ
ap-2128	268	26	embeddings	embedding	NOUN
ap-2128	268	27	.	.	PUNCT
ap-2128	269	1	ieee	ieee	NOUN
ap-2128	269	2	transactions	transaction	NOUN
ap-2128	269	3	on	on	ADP
ap-2128	269	4	robotics	robotic	NOUN
ap-2128	269	5	,	,	PUNCT
ap-2128	269	6	26(2	26(2	NUM
ap-2128	269	7	)	)	PUNCT
ap-2128	269	8	,	,	PUNCT
ap-2128	269	9	2012	2012	NUM
ap-2128	269	10	,	,	PUNCT
ap-2128	269	11	p.	p.	NOUN
ap-2128	269	12	393–398	393–398	NUM
ap-2128	269	13	.	.	PUNCT
ap-2128	270	1	doi	doi	NOUN
ap-2128	270	2	:	:	PUNCT
ap-2128	270	3	10.1109	10.1109	NUM
ap-2128	270	4	/	/	SYM
ap-2128	270	5	tro.2009.2039378	tro.2009.2039378	NUM
ap-2128	270	6	[	[	SYM
ap-2128	270	7	9	9	NUM
ap-2128	270	8	]	]	PUNCT
ap-2128	270	9	fukuda	fukuda	NOUN
ap-2128	270	10	,	,	PUNCT
ap-2128	270	11	o.	o.	PROPN
ap-2128	270	12	,	,	PUNCT
ap-2128	270	13	tsuji	tsuji	PROPN
ap-2128	270	14	,	,	PUNCT
ap-2128	270	15	t.	t.	PROPN
ap-2128	270	16	,	,	PUNCT
ap-2128	270	17	kaneko	kaneko	PROPN
ap-2128	270	18	,	,	PUNCT
ap-2128	270	19	m.	m.	NOUN
ap-2128	270	20	,	,	PUNCT
ap-2128	270	21	otsuka	otsuka	PROPN
ap-2128	270	22	,	,	PUNCT
ap-2128	270	23	a	a	PRON
ap-2128	270	24	:	:	PUNCT
ap-2128	270	25	a	a	DET
ap-2128	270	26	human	human	NOUN
ap-2128	270	27	-	-	PUNCT
ap-2128	270	28	assisting	assist	VERB
ap-2128	270	29	manipulator	manipulator	NOUN
ap-2128	270	30	teleoperated	teleoperate	VERB
ap-2128	270	31	by	by	ADP
ap-2128	270	32	emg	emg	NOUN
ap-2128	270	33	signals	signal	NOUN
ap-2128	270	34	and	and	CCONJ
ap-2128	270	35	arm	arm	NOUN
ap-2128	270	36	motions	motion	NOUN
ap-2128	270	37	.	.	PUNCT
ap-2128	271	1	ieee	ieee	PROPN
ap-2128	271	2	trans	trans	PROPN
ap-2128	271	3	.	.	PUNCT
ap-2128	272	1	robot	robot	PROPN
ap-2128	272	2	.	.	PUNCT
ap-2128	273	1	autom	autom	PROPN
ap-2128	273	2	.	.	PUNCT
ap-2128	273	3	,	,	PUNCT
ap-2128	273	4	19(2	19(2	NUM
ap-2128	273	5	)	)	PUNCT
ap-2128	273	6	,	,	PUNCT
ap-2128	273	7	2003	2003	NUM
ap-2128	273	8	,	,	PUNCT
ap-2128	274	1	p.	p.	NOUN
ap-2128	274	2	210–222	210–222	NUM
ap-2128	274	3	.	.	PUNCT
ap-2128	275	1	doi	doi	NOUN
ap-2128	275	2	:	:	PUNCT
ap-2128	275	3	10.1109	10.1109	NUM
ap-2128	275	4	/	/	SYM
ap-2128	275	5	tra.2003.808873	tra.2003.808873	NOUN
ap-2128	275	6	[	[	PUNCT
ap-2128	275	7	10	10	NUM
ap-2128	275	8	]	]	PUNCT
ap-2128	275	9	pilarski	pilarski	ADJ
ap-2128	275	10	,	,	PUNCT
ap-2128	275	11	p.	p.	NOUN
ap-2128	275	12	m.	m.	NOUN
ap-2128	275	13	,	,	PUNCT
ap-2128	275	14	dawson	dawson	PROPN
ap-2128	275	15	,	,	PUNCT
ap-2128	275	16	m.	m.	PROPN
ap-2128	275	17	r.	r.	PROPN
ap-2128	275	18	,	,	PUNCT
ap-2128	275	19	degris	degris	PROPN
ap-2128	275	20	,	,	PUNCT
ap-2128	275	21	t.	t.	PROPN
ap-2128	275	22	,	,	PUNCT
ap-2128	275	23	fahimi	fahimi	PROPN
ap-2128	275	24	,	,	PUNCT
ap-2128	275	25	f.	f.	PROPN
ap-2128	275	26	,	,	PUNCT
ap-2128	275	27	carey	carey	PROPN
ap-2128	275	28	,	,	PUNCT
ap-2128	275	29	j.	j.	PROPN
ap-2128	275	30	p.	p.	PROPN
ap-2128	275	31	,	,	PUNCT
ap-2128	275	32	sutton	sutton	PROPN
ap-2128	275	33	,	,	PUNCT
ap-2128	275	34	r.	r.	PROPN
ap-2128	275	35	s.	s.	PROPN
ap-2128	275	36	:	:	PUNCT
ap-2128	276	1	online	online	ADJ
ap-2128	276	2	human	human	ADJ
ap-2128	276	3	training	training	NOUN
ap-2128	276	4	of	of	ADP
ap-2128	276	5	a	a	DET
ap-2128	276	6	myoelectric	myoelectric	ADJ
ap-2128	276	7	prosthesis	prosthesis	NOUN
ap-2128	276	8	controller	controller	NOUN
ap-2128	276	9	via	via	ADP
ap-2128	276	10	actor	actor	NOUN
ap-2128	276	11	-	-	PUNCT
ap-2128	276	12	critic	critic	NOUN
ap-2128	276	13	reinforcement	reinforcement	NOUN
ap-2128	276	14	learning	learning	NOUN
ap-2128	276	15	.	.	PUNCT
ap-2128	277	1	proc	proc	NOUN
ap-2128	277	2	.	.	PUNCT
ap-2128	278	1	ieee	ieee	PROPN
ap-2128	278	2	international	international	PROPN
ap-2128	278	3	conference	conference	NOUN
ap-2128	278	4	on	on	ADP
ap-2128	278	5	rehabilitation	rehabilitation	NOUN
ap-2128	278	6	robotics	robotic	NOUN
ap-2128	278	7	(	(	PUNCT
ap-2128	278	8	icorr	icorr	NOUN
ap-2128	278	9	)	)	PUNCT
ap-2128	278	10	,	,	PUNCT
ap-2128	278	11	july	july	PROPN
ap-2128	278	12	2011	2011	NUM
ap-2128	278	13	,	,	PUNCT
ap-2128	278	14	p.	p.	NOUN
ap-2128	279	1	134–140	134–140	NUM
ap-2128	279	2	.	.	PUNCT
ap-2128	280	1	doi	doi	NOUN
ap-2128	280	2	:	:	PUNCT
ap-2128	280	3	10.1109	10.1109	NUM
ap-2128	280	4	/	/	SYM
ap-2128	280	5	icorr.2011.5975338	icorr.2011.5975338	NOUN
ap-2128	280	6	[	[	PUNCT
ap-2128	280	7	11	11	NUM
ap-2128	280	8	]	]	X
ap-2128	280	9	dawson	dawson	PROPN
ap-2128	280	10	,	,	PUNCT
ap-2128	280	11	m.	m.	PROPN
ap-2128	280	12	r.	r.	PROPN
ap-2128	280	13	,	,	PUNCT
ap-2128	280	14	fahimi	fahimi	PROPN
ap-2128	280	15	,	,	PUNCT
ap-2128	280	16	f.	f.	PROPN
ap-2128	280	17	,	,	PUNCT
ap-2128	280	18	carey	carey	PROPN
ap-2128	280	19	,	,	PUNCT
ap-2128	280	20	j.	j.	PROPN
ap-2128	280	21	p.	p.	PROPN
ap-2128	280	22	:	:	PUNCT
ap-2128	281	1	the	the	DET
ap-2128	281	2	development	development	NOUN
ap-2128	281	3	of	of	ADP
ap-2128	281	4	a	a	DET
ap-2128	281	5	myoelectric	myoelectric	ADJ
ap-2128	281	6	training	training	NOUN
ap-2128	281	7	tool	tool	NOUN
ap-2128	281	8	for	for	ADP
ap-2128	281	9	above	above	ADP
ap-2128	281	10	-	-	PUNCT
ap-2128	281	11	elbow	elbow	NOUN
ap-2128	281	12	amputees	amputee	NOUN
ap-2128	281	13	.	.	PUNCT
ap-2128	282	1	open	open	PROPN
ap-2128	282	2	biomed	biome	VERB
ap-2128	282	3	eng	eng	PROPN
ap-2128	282	4	j.	j.	PROPN
ap-2128	282	5	,	,	PUNCT
ap-2128	282	6	6	6	NUM
ap-2128	282	7	,	,	PUNCT
ap-2128	282	8	2012	2012	NUM
ap-2128	282	9	,	,	PUNCT
ap-2128	282	10	p.	p.	PROPN
ap-2128	282	11	5–15	5–15	PROPN
ap-2128	282	12	.	.	PUNCT
ap-2128	283	1	doi	doi	NOUN
ap-2128	283	2	:	:	PUNCT
ap-2128	284	1	10.2174/1874230001206010005	10.2174/1874230001206010005	NUM
ap-2128	284	2	[	[	X
ap-2128	284	3	12	12	NUM
ap-2128	284	4	]	]	X
ap-2128	284	5	bhadra	bhadra	PROPN
ap-2128	284	6	,	,	PUNCT
ap-2128	284	7	n.	n.	NOUN
ap-2128	284	8	,	,	PUNCT
ap-2128	284	9	peckham	peckham	PROPN
ap-2128	284	10	,	,	PUNCT
ap-2128	284	11	p.	p.	PROPN
ap-2128	284	12	h.	h.	PROPN
ap-2128	284	13	,	,	PUNCT
ap-2128	284	14	keith	keith	PROPN
ap-2128	284	15	,	,	PUNCT
ap-2128	284	16	m.	m.	PROPN
ap-2128	284	17	w.	w.	PROPN
ap-2128	284	18	,	,	PUNCT
ap-2128	284	19	kilgore	kilgore	PROPN
ap-2128	284	20	,	,	PUNCT
ap-2128	284	21	l.	l.	PROPN
ap-2128	284	22	,	,	PUNCT
ap-2128	284	23	montague	montague	PROPN
ap-2128	284	24	,	,	PUNCT
ap-2128	284	25	f.	f.	PROPN
ap-2128	284	26	,	,	PUNCT
ap-2128	284	27	gazdik	gazdik	ADJ
ap-2128	284	28	,	,	PUNCT
ap-2128	284	29	m.	m.	NOUN
ap-2128	284	30	,	,	PUNCT
ap-2128	284	31	stage	stage	NOUN
ap-2128	284	32	,	,	PUNCT
ap-2128	284	33	t.	t.	NOUN
ap-2128	284	34	:	:	PUNCT
ap-2128	284	35	implementation	implementation	NOUN
ap-2128	284	36	of	of	ADP
ap-2128	284	37	an	an	DET
ap-2128	284	38	implantable	implantable	ADJ
ap-2128	284	39	joint	joint	ADJ
ap-2128	284	40	-	-	PUNCT
ap-2128	284	41	angle	angle	NOUN
ap-2128	284	42	transducer	transducer	NOUN
ap-2128	284	43	.	.	PUNCT
ap-2128	285	1	j.	j.	PROPN
ap-2128	285	2	rehabil	rehabil	PROPN
ap-2128	285	3	.	.	PUNCT
ap-2128	286	1	res	re	NOUN
ap-2128	286	2	.	.	PUNCT
ap-2128	287	1	dev	dev	PROPN
ap-2128	287	2	.	.	PROPN
ap-2128	287	3	,	,	PUNCT
ap-2128	287	4	39(3	39(3	NUM
ap-2128	287	5	)	)	PUNCT
ap-2128	287	6	,	,	PUNCT
ap-2128	287	7	2002	2002	NUM
ap-2128	287	8	,	,	PUNCT
ap-2128	287	9	p.	p.	NOUN
ap-2128	287	10	1331–1352	1331–1352	NUM
ap-2128	287	11	.	.	PUNCT
ap-2128	288	1	[	[	X
ap-2128	288	2	13	13	NUM
ap-2128	288	3	]	]	X
ap-2128	288	4	wang	wang	PROPN
ap-2128	288	5	,	,	PUNCT
ap-2128	288	6	l.	l.	PROPN
ap-2128	288	7	,	,	PUNCT
ap-2128	288	8	delpreto	delpreto	VERB
ap-2128	288	9	,	,	PUNCT
ap-2128	288	10	j.	j.	PROPN
ap-2128	288	11	,	,	PUNCT
ap-2128	288	12	bhattacharyya	bhattacharyya	ADJ
ap-2128	288	13	,	,	PUNCT
ap-2128	288	14	s.	s.	PROPN
ap-2128	288	15	,	,	PUNCT
ap-2128	288	16	weisz	weisz	PROPN
ap-2128	288	17	,	,	PUNCT
ap-2128	288	18	j.	j.	PROPN
ap-2128	288	19	,	,	PUNCT
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ap-2128	289	12	angle	angle	NOUN
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ap-2128	291	6	on	on	ADP
ap-2128	291	7	intelligent	intelligent	ADJ
ap-2128	291	8	robots	robot	NOUN
ap-2128	291	9	and	and	CCONJ
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ap-2128	291	11	,	,	PUNCT
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ap-2128	291	13	2011	2011	NUM
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ap-2128	291	15	p.	p.	NOUN
ap-2128	291	16	1380–1385	1380–1385	NUM
ap-2128	291	17	.	.	PUNCT
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ap-2128	292	7	14	14	NUM
ap-2128	292	8	]	]	X
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ap-2128	293	2	.	.	PUNCT
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ap-2128	294	2	.	.	PUNCT
ap-2128	295	1	symposium	symposium	NOUN
ap-2128	295	2	on	on	ADP
ap-2128	295	3	computer	computer	NOUN
ap-2128	295	4	-	-	PUNCT
ap-2128	295	5	based	base	VERB
ap-2128	295	6	medical	medical	ADJ
ap-2128	295	7	systems	system	NOUN
ap-2128	295	8	,	,	PUNCT
ap-2128	295	9	june	june	PROPN
ap-2128	295	10	2011	2011	NUM
ap-2128	295	11	,	,	PUNCT
ap-2128	295	12	p.1–6	p.1–6	PROPN
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ap-2128	295	14	doi	doi	NOUN
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ap-2128	295	16	10.1109	10.1109	NUM
ap-2128	295	17	/	/	SYM
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ap-2128	296	2	15	15	NUM
ap-2128	296	3	]	]	X
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ap-2128	296	10	j.	j.	PROPN
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ap-2128	296	13	,	,	PUNCT
ap-2128	296	14	j.	j.	PROPN
ap-2128	296	15	,	,	PUNCT
ap-2128	296	16	viteckova	viteckova	PROPN
ap-2128	296	17	,	,	PUNCT
ap-2128	296	18	s.	s.	PROPN
ap-2128	296	19	:	:	PUNCT
ap-2128	296	20	prosthetic	prosthetic	ADJ
ap-2128	296	21	6	6	NUM
ap-2128	296	22	-	-	PUNCT
ap-2128	296	23	dof	dof	NOUN
ap-2128	296	24	arm	arm	NOUN
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ap-2128	296	26	by	by	ADP
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ap-2128	296	28	signals	signal	NOUN
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ap-2128	296	30	multi	multi	ADJ
ap-2128	296	31	-	-	ADJ
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ap-2128	296	33	system	system	NOUN
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ap-2128	297	1	proc	proc	NOUN
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ap-2128	299	3	]	]	X
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ap-2128	301	4	13(2	13(2	PROPN
ap-2128	301	5	)	)	PUNCT
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ap-2128	301	8	,	,	PUNCT
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ap-2128	302	3	]	]	PUNCT
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ap-2128	302	11	,	,	PUNCT
ap-2128	302	12	s.	s.	PROPN
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ap-2128	302	17	,	,	PUNCT
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ap-2128	304	6	,	,	PUNCT
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ap-2128	304	11	.	.	PUNCT
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ap-2128	307	2	.	.	PUNCT
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ap-2128	308	1	,	,	PUNCT
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ap-2128	308	3	)	)	PUNCT
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ap-2128	309	7	19	19	NUM
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ap-2128	311	4	)	)	PUNCT
ap-2128	311	5	,	,	PUNCT
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ap-2128	312	2	:	:	PUNCT
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ap-2128	312	5	a:1008969830273	a:1008969830273	PROPN
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ap-2128	326	2	:	:	PUNCT
ap-2128	326	3	exploring	explore	VERB
ap-2128	326	4	artificial	artificial	ADJ
ap-2128	326	5	intelligence	intelligence	NOUN
ap-2128	326	6	in	in	ADP
ap-2128	326	7	the	the	DET
ap-2128	326	8	new	new	ADJ
ap-2128	326	9	millenium	millenium	NOUN
ap-2128	326	10	,	,	PUNCT
ap-2128	326	11	edited	edit	VERB
ap-2128	326	12	by	by	ADP
ap-2128	326	13	g.	g.	PROPN
ap-2128	326	14	lakemeyer	lakemeyer	PROPN
ap-2128	326	15	and	and	CCONJ
ap-2128	326	16	b.	b.	PROPN
ap-2128	326	17	nebel	nebel	PROPN
ap-2128	326	18	,	,	PUNCT
ap-2128	326	19	san	san	PROPN
ap-2128	326	20	francisco	francisco	PROPN
ap-2128	326	21	:	:	PUNCT
ap-2128	326	22	morgan	morgan	PROPN
ap-2128	326	23	kaufmann	kaufmann	PROPN
ap-2128	326	24	,	,	PUNCT
ap-2128	326	25	2002	2002	NUM
ap-2128	326	26	.	.	PUNCT
ap-2128	327	1	[	[	X
ap-2128	327	2	24	24	NUM
ap-2128	327	3	]	]	PUNCT
ap-2128	327	4	elfes	elfe	NOUN
ap-2128	327	5	,	,	PUNCT
ap-2128	327	6	a.	a.	NOUN
ap-2128	327	7	:	:	PUNCT
ap-2128	327	8	sonar	sonar	NOUN
ap-2128	327	9	-	-	PUNCT
ap-2128	327	10	based	base	VERB
ap-2128	327	11	real	real	ADJ
ap-2128	327	12	-	-	PUNCT
ap-2128	327	13	world	world	NOUN
ap-2128	327	14	mapping	mapping	NOUN
ap-2128	327	15	and	and	CCONJ
ap-2128	327	16	navigation	navigation	NOUN
ap-2128	327	17	.	.	PUNCT
ap-2128	328	1	ieee	ieee	PROPN
ap-2128	328	2	j.	j.	PROPN
ap-2128	328	3	robot	robot	PROPN
ap-2128	328	4	.	.	PUNCT
ap-2128	329	1	autom	autom	PROPN
ap-2128	329	2	.	.	PUNCT
ap-2128	329	3	,	,	PUNCT
ap-2128	330	1	3(3),1987	3(3),1987	NUM
ap-2128	330	2	,	,	PUNCT
ap-2128	330	3	p.	p.	NOUN
ap-2128	330	4	249–265	249–265	NUM
ap-2128	330	5	.	.	PUNCT
ap-2128	331	1	doi	doi	NOUN
ap-2128	331	2	:	:	PUNCT
ap-2128	331	3	10.1109	10.1109	NUM
ap-2128	331	4	/	/	SYM
ap-2128	331	5	jra.1987.1087096	jra.1987.1087096	NOUN
ap-2128	332	1	[	[	X
ap-2128	332	2	25	25	NUM
ap-2128	332	3	]	]	PUNCT
ap-2128	332	4	elfes	elfe	NOUN
ap-2128	332	5	,	,	PUNCT
ap-2128	332	6	a.	a.	NOUN
ap-2128	332	7	:	:	PUNCT
ap-2128	332	8	using	use	VERB
ap-2128	332	9	occupancy	occupancy	NOUN
ap-2128	332	10	grids	grid	NOUN
ap-2128	332	11	for	for	ADP
ap-2128	332	12	mobile	mobile	ADJ
ap-2128	332	13	robot	robot	NOUN
ap-2128	332	14	perception	perception	NOUN
ap-2128	332	15	and	and	CCONJ
ap-2128	332	16	navigation	navigation	NOUN
ap-2128	332	17	.	.	PUNCT
ap-2128	333	1	ieee	ieee	PROPN
ap-2128	333	2	comp	comp	PROPN
ap-2128	333	3	.	.	PUNCT
ap-2128	334	1	mag	mag	PROPN
ap-2128	334	2	.	.	PROPN
ap-2128	334	3	,	,	PUNCT
ap-2128	334	4	22(6	22(6	NUM
ap-2128	334	5	)	)	PUNCT
ap-2128	334	6	,	,	PUNCT
ap-2128	334	7	1989	1989	NUM
ap-2128	334	8	,	,	PUNCT
ap-2128	334	9	p.	p.	NOUN
ap-2128	334	10	46–57	46–57	NUM
ap-2128	334	11	.	.	PUNCT
ap-2128	335	1	doi	doi	NOUN
ap-2128	335	2	:	:	PUNCT
ap-2128	335	3	10.1109/2.30720	10.1109/2.30720	NUM
ap-2128	335	4	[	[	X
ap-2128	335	5	26	26	NUM
ap-2128	335	6	]	]	PUNCT
ap-2128	335	7	matthies	matthie	NOUN
ap-2128	335	8	,	,	PUNCT
ap-2128	335	9	l.	l.	PROPN
ap-2128	335	10	,	,	PUNCT
ap-2128	335	11	elfes	elfes	PROPN
ap-2128	335	12	,	,	PUNCT
ap-2128	335	13	a.	a.	NOUN
ap-2128	335	14	:	:	PUNCT
ap-2128	335	15	integration	integration	NOUN
ap-2128	335	16	of	of	ADP
ap-2128	335	17	sonar	sonar	NOUN
ap-2128	335	18	and	and	CCONJ
ap-2128	335	19	stereo	stereo	ADJ
ap-2128	335	20	range	range	NOUN
ap-2128	335	21	data	datum	NOUN
ap-2128	335	22	using	use	VERB
ap-2128	335	23	a	a	DET
ap-2128	335	24	grid	grid	NOUN
ap-2128	335	25	-	-	PUNCT
ap-2128	335	26	based	base	VERB
ap-2128	335	27	representation	representation	NOUN
ap-2128	335	28	.	.	PUNCT
ap-2128	336	1	proc	proc	NOUN
ap-2128	336	2	.	.	PUNCT
ap-2128	337	1	ieee	ieee	PROPN
ap-2128	337	2	int	int	PROPN
ap-2128	337	3	.	.	PUNCT
ap-2128	337	4	conf	conf	PROPN
ap-2128	337	5	.	.	PUNCT
ap-2128	338	1	on	on	ADP
ap-2128	338	2	robot	robot	NOUN
ap-2128	338	3	.	.	PUNCT
ap-2128	339	1	autom	autom	PROPN
ap-2128	339	2	.	.	PUNCT
ap-2128	339	3	,	,	PUNCT
ap-2128	339	4	apr	apr	PROPN
ap-2128	339	5	1988	1988	NUM
ap-2128	339	6	,	,	PUNCT
ap-2128	339	7	p.	p.	NOUN
ap-2128	339	8	727–733	727–733	NUM
ap-2128	339	9	.	.	PUNCT
ap-2128	340	1	doi	doi	NOUN
ap-2128	340	2	:	:	PUNCT
ap-2128	340	3	10.1109	10.1109	NUM
ap-2128	340	4	/	/	SYM
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ap-2128	341	1	[	[	X
ap-2128	341	2	27	27	NUM
ap-2128	341	3	]	]	PUNCT
ap-2128	341	4	collins	collin	NOUN
ap-2128	341	5	,	,	PUNCT
ap-2128	341	6	t.	t.	PROPN
ap-2128	341	7	,	,	PUNCT
ap-2128	341	8	collins	collins	PROPN
ap-2128	341	9	,	,	PUNCT
ap-2128	341	10	j.j	j.j	PROPN
ap-2128	341	11	.	.	PROPN
ap-2128	341	12	,	,	PUNCT
ap-2128	341	13	ryan	ryan	PROPN
ap-2128	341	14	,	,	PUNCT
ap-2128	341	15	c.	c.	NOUN
ap-2128	341	16	:	:	PUNCT
ap-2128	341	17	occupancy	occupancy	NOUN
ap-2128	341	18	grid	grid	NOUN
ap-2128	341	19	mapping	mapping	NOUN
ap-2128	341	20	:	:	PUNCT
ap-2128	341	21	an	an	DET
ap-2128	341	22	empirical	empirical	ADJ
ap-2128	341	23	evaluation	evaluation	NOUN
ap-2128	341	24	.	.	PUNCT
ap-2128	342	1	proc	proc	NOUN
ap-2128	342	2	.	.	PUNCT
ap-2128	343	1	mediterranean	mediterranean	PROPN
ap-2128	343	2	conference	conference	PROPN
ap-2128	343	3	on	on	ADP
ap-2128	343	4	control	control	NOUN
ap-2128	343	5	and	and	CCONJ
ap-2128	343	6	automation	automation	NOUN
ap-2128	343	7	,	,	PUNCT
ap-2128	343	8	june	june	PROPN
ap-2128	343	9	2007	2007	NUM
ap-2128	343	10	,	,	PUNCT
ap-2128	343	11	p.	p.	NOUN
ap-2128	343	12	1–6	1–6	NUM
ap-2128	343	13	.	.	PUNCT
ap-2128	344	1	doi	doi	NOUN
ap-2128	344	2	:	:	PUNCT
ap-2128	344	3	10.1109	10.1109	NUM
ap-2128	344	4	/	/	SYM
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ap-2128	344	6	[	[	X
ap-2128	344	7	28	28	NUM
ap-2128	344	8	]	]	PUNCT
ap-2128	344	9	sivanandam	sivanandam	NOUN
ap-2128	344	10	,	,	PUNCT
ap-2128	344	11	s.	s.	PROPN
ap-2128	344	12	,	,	PUNCT
ap-2128	344	13	sumathi	sumathi	PROPN
ap-2128	344	14	,	,	PUNCT
ap-2128	344	15	s.	s.	PROPN
ap-2128	344	16	,	,	PUNCT
ap-2128	344	17	deepa	deepa	PROPN
ap-2128	344	18	,	,	PUNCT
ap-2128	344	19	s.	s.	PROPN
ap-2128	344	20	:	:	PUNCT
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ap-2128	344	22	to	to	ADP
ap-2128	344	23	fuzzy	fuzzy	ADJ
ap-2128	344	24	logic	logic	NOUN
ap-2128	344	25	using	use	VERB
ap-2128	344	26	matlab	matlab	PROPN
ap-2128	344	27	.	.	PUNCT
ap-2128	345	1	berlin	berlin	PROPN
ap-2128	345	2	:	:	PUNCT
ap-2128	345	3	springer	springer	NOUN
ap-2128	345	4	,	,	PUNCT
ap-2128	345	5	2012	2012	NUM
ap-2128	345	6	.	.	PUNCT
ap-2128	346	1	[	[	X
ap-2128	346	2	29	29	NUM
ap-2128	346	3	]	]	X
ap-2128	346	4	zadeh	zadeh	PROPN
ap-2128	346	5	,	,	PUNCT
ap-2128	346	6	l.	l.	PROPN
ap-2128	346	7	:	:	PUNCT
ap-2128	346	8	fuzzy	fuzzy	ADJ
ap-2128	346	9	sets	set	NOUN
ap-2128	346	10	.	.	PUNCT
ap-2128	347	1	information	information	NOUN
ap-2128	347	2	control	control	NOUN
ap-2128	347	3	.	.	PUNCT
ap-2128	348	1	inform	inform	NOUN
ap-2128	348	2	.	.	PUNCT
ap-2128	349	1	control	control	NOUN
ap-2128	349	2	,	,	PUNCT
ap-2128	349	3	8(3	8(3	NUM
ap-2128	349	4	)	)	PUNCT
ap-2128	349	5	,	,	PUNCT
ap-2128	349	6	1965	1965	NUM
ap-2128	349	7	,	,	PUNCT
ap-2128	349	8	p.	p.	NOUN
ap-2128	349	9	338–353	338–353	NUM
ap-2128	349	10	.	.	PUNCT
ap-2128	350	1	204	204	NUM
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ap-2128	350	3	http://dx.doi.org/10.1109/tra.2003.808873	http://dx.doi.org/10.1109/tra.2003.808873	NOUN
ap-2128	350	4	http://dx.doi.org/10.1109/icorr.2011.5975338	http://dx.doi.org/10.1109/icorr.2011.5975338	NOUN
ap-2128	350	5	http://dx.doi.org/10.2174/1874230001206010005	http://dx.doi.org/10.2174/1874230001206010005	NOUN
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ap-2128	350	7	http://dx.doi.org/10.1109/cbms.2011.5999153	http://dx.doi.org/10.1109/cbms.2011.5999153	VERB
ap-2128	350	8	http://dx.doi.org/10.1251/bpo115	http://dx.doi.org/10.1251/bpo115	PROPN
ap-2128	350	9	http://dx.doi.org/10.1006/gmod.2000.0528	http://dx.doi.org/10.1006/gmod.2000.0528	PROPN
ap-2128	350	10	http://dx.doi.org/10.1023/a:1008969830273	http://dx.doi.org/10.1023/a:1008969830273	PROPN
ap-2128	350	11	http://dx.doi.org/10.1109/iros.2009.5354247	http://dx.doi.org/10.1109/iros.2009.5354247	NOUN
ap-2128	350	12	http://dx.doi.org/10.1109/jra.1987.1087096	http://dx.doi.org/10.1109/jra.1987.1087096	NOUN
ap-2128	350	13	http://dx.doi.org/10.1109/2.30720	http://dx.doi.org/10.1109/2.30720	PROPN
ap-2128	350	14	http://dx.doi.org/10.1109/robot.1988.12145	http://dx.doi.org/10.1109/robot.1988.12145	VERB
ap-2128	350	15	http://dx.doi.org/10.1109/med.2007.4433772	http://dx.doi.org/10.1109/med.2007.4433772	PROPN
ap-2128	350	16	acta	acta	PROPN
ap-2128	350	17	polytechnica	polytechnica	PROPN
ap-2128	350	18	54(3):197–204	54(3):197–204	PROPN
ap-2128	350	19	,	,	PUNCT
ap-2128	350	20	2014	2014	NUM
ap-2128	350	21	1	1	NUM
ap-2128	350	22	introduction	introduction	NOUN
ap-2128	350	23	2	2	NUM
ap-2128	350	24	methods	method	NOUN
ap-2128	350	25	2.1	2.1	NUM
ap-2128	350	26	preprocessing	preprocesse	VERB
ap-2128	350	27	the	the	DET
ap-2128	350	28	emg	emg	NOUN
ap-2128	350	29	signal	signal	VERB
ap-2128	350	30	2.2	2.2	NUM
ap-2128	350	31	sensory	sensory	ADJ
ap-2128	350	32	subsystem	subsystem	NOUN
ap-2128	350	33	2.3	2.3	NUM
ap-2128	350	34	real	real	ADJ
ap-2128	350	35	-	-	PUNCT
ap-2128	350	36	time	time	NOUN
ap-2128	350	37	mapping	mapping	NOUN
ap-2128	350	38	of	of	ADP
ap-2128	350	39	the	the	DET
ap-2128	350	40	environment	environment	NOUN
ap-2128	350	41	2.4	2.4	NUM
ap-2128	350	42	fuzzy	fuzzy	ADJ
ap-2128	350	43	expert	expert	NOUN
ap-2128	350	44	system	system	NOUN
ap-2128	350	45	3	3	NUM
ap-2128	350	46	results	result	VERB
ap-2128	350	47	4	4	NUM
ap-2128	350	48	discussion	discussion	NOUN
ap-2128	350	49	5	5	NUM
ap-2128	350	50	conclusion	conclusion	NOUN
ap-2128	350	51	list	list	NOUN
ap-2128	350	52	of	of	ADP
ap-2128	350	53	symbols	symbol	NOUN
ap-2128	350	54	acknowledgements	acknowledgement	NOUN
ap-2128	350	55	references	reference	NOUN