id	sid	tid	token	lemma	pos
ap-8079	1	1	acta	acta	PROPN
ap-8079	1	2	polytechnica	polytechnica	PROPN
ap-8079	1	3	https://doi.org/10.14311/ap.2023.63.0179	https://doi.org/10.14311/ap.2023.63.0179	PROPN
ap-8079	1	4	acta	acta	PROPN
ap-8079	1	5	polytechnica	polytechnica	PROPN
ap-8079	1	6	63(3):179–187	63(3):179–187	PROPN
ap-8079	1	7	,	,	PUNCT
ap-8079	1	8	2023	2023	NUM
ap-8079	1	9	©	©	ADP
ap-8079	1	10	2023	2023	NUM
ap-8079	1	11	the	the	DET
ap-8079	1	12	author(s	author(s	NOUN
ap-8079	1	13	)	)	PUNCT
ap-8079	1	14	.	.	PUNCT
ap-8079	2	1	licensed	license	VERB
ap-8079	2	2	under	under	ADP
ap-8079	2	3	a	a	DET
ap-8079	2	4	cc	cc	NOUN
ap-8079	2	5	-	-	PUNCT
ap-8079	2	6	by	by	ADP
ap-8079	2	7	4.0	4.0	NUM
ap-8079	2	8	licence	licence	NOUN
ap-8079	2	9	published	publish	VERB
ap-8079	2	10	by	by	ADP
ap-8079	2	11	the	the	DET
ap-8079	2	12	czech	czech	PROPN
ap-8079	2	13	technical	technical	PROPN
ap-8079	2	14	university	university	PROPN
ap-8079	2	15	in	in	ADP
ap-8079	2	16	prague	prague	PROPN
ap-8079	2	17	neural	neural	ADJ
ap-8079	2	18	network	network	NOUN
ap-8079	2	19	based	base	VERB
ap-8079	2	20	patient	patient	NOUN
ap-8079	2	21	recovery	recovery	NOUN
ap-8079	2	22	estimation	estimation	NOUN
ap-8079	2	23	of	of	ADP
ap-8079	2	24	a	a	DET
ap-8079	2	25	pam	pam	NOUN
ap-8079	2	26	-	-	PUNCT
ap-8079	2	27	based	base	VERB
ap-8079	2	28	rehabilitation	rehabilitation	NOUN
ap-8079	2	29	robot	robot	NOUN
ap-8079	2	30	van	van	PROPN
ap-8079	2	31	-	-	PUNCT
ap-8079	2	32	vuong	vuong	PROPN
ap-8079	2	33	dinh	dinh	PROPN
ap-8079	2	34	,	,	PUNCT
ap-8079	2	35	minh	minh	PROPN
ap-8079	2	36	-	-	PUNCT
ap-8079	2	37	chien	chien	PROPN
ap-8079	2	38	trinh	trinh	PROPN
ap-8079	2	39	,	,	PUNCT
ap-8079	2	40	tien	tien	PROPN
ap-8079	2	41	-	-	PUNCT
ap-8079	2	42	dat	dat	NOUN
ap-8079	2	43	bui	bui	NOUN
ap-8079	2	44	,	,	PUNCT
ap-8079	2	45	minh	minh	PROPN
ap-8079	2	46	-	-	PUNCT
ap-8079	2	47	duc	duc	PROPN
ap-8079	2	48	duong	duong	PROPN
ap-8079	2	49	,	,	PUNCT
ap-8079	2	50	quy	quy	NOUN
ap-8079	2	51	-	-	PUNCT
ap-8079	2	52	thinh	thinh	PROPN
ap-8079	2	53	dao∗	dao∗	PROPN
ap-8079	2	54	hanoi	hanoi	PROPN
ap-8079	2	55	university	university	PROPN
ap-8079	2	56	of	of	ADP
ap-8079	2	57	science	science	NOUN
ap-8079	2	58	and	and	CCONJ
ap-8079	2	59	technology	technology	NOUN
ap-8079	2	60	,	,	PUNCT
ap-8079	2	61	school	school	NOUN
ap-8079	2	62	of	of	ADP
ap-8079	2	63	electrical	electrical	ADJ
ap-8079	2	64	and	and	CCONJ
ap-8079	2	65	electronic	electronic	ADJ
ap-8079	2	66	engineering	engineering	NOUN
ap-8079	2	67	,	,	PUNCT
ap-8079	2	68	11615	11615	NUM
ap-8079	2	69	hanoi	hanoi	NOUN
ap-8079	2	70	,	,	PUNCT
ap-8079	2	71	vietnam	vietnam	PROPN
ap-8079	2	72	∗	∗	NOUN
ap-8079	2	73	corresponding	correspond	VERB
ap-8079	2	74	author	author	NOUN
ap-8079	2	75	:	:	PUNCT
ap-8079	2	76	thinh.daoquy@hust.edu.vn	thinh.daoquy@hust.edu.vn	PROPN
ap-8079	2	77	abstract	abstract	NOUN
ap-8079	2	78	.	.	PUNCT
ap-8079	3	1	rehabilitation	rehabilitation	NOUN
ap-8079	3	2	robots	robot	NOUN
ap-8079	3	3	have	have	AUX
ap-8079	3	4	shown	show	VERB
ap-8079	3	5	a	a	DET
ap-8079	3	6	promise	promise	NOUN
ap-8079	3	7	in	in	ADP
ap-8079	3	8	aiding	aid	VERB
ap-8079	3	9	patient	patient	ADJ
ap-8079	3	10	recovery	recovery	NOUN
ap-8079	3	11	by	by	ADP
ap-8079	3	12	supporting	support	VERB
ap-8079	3	13	them	they	PRON
ap-8079	3	14	in	in	ADP
ap-8079	3	15	repetitive	repetitive	ADJ
ap-8079	3	16	,	,	PUNCT
ap-8079	3	17	systematic	systematic	ADJ
ap-8079	3	18	training	training	NOUN
ap-8079	3	19	sessions	session	NOUN
ap-8079	3	20	.	.	PUNCT
ap-8079	4	1	a	a	DET
ap-8079	4	2	critical	critical	ADJ
ap-8079	4	3	factor	factor	NOUN
ap-8079	4	4	in	in	ADP
ap-8079	4	5	the	the	DET
ap-8079	4	6	success	success	NOUN
ap-8079	4	7	of	of	ADP
ap-8079	4	8	such	such	ADJ
ap-8079	4	9	training	training	NOUN
ap-8079	4	10	is	be	AUX
ap-8079	4	11	the	the	DET
ap-8079	4	12	patient	patient	NOUN
ap-8079	4	13	’s	’s	PART
ap-8079	4	14	recovery	recovery	NOUN
ap-8079	4	15	progress	progress	NOUN
ap-8079	4	16	,	,	PUNCT
ap-8079	4	17	which	which	PRON
ap-8079	4	18	can	can	AUX
ap-8079	4	19	guide	guide	VERB
ap-8079	4	20	suitable	suitable	ADJ
ap-8079	4	21	treatment	treatment	NOUN
ap-8079	4	22	plans	plan	NOUN
ap-8079	4	23	and	and	CCONJ
ap-8079	4	24	reduce	reduce	VERB
ap-8079	4	25	recovery	recovery	NOUN
ap-8079	4	26	time	time	NOUN
ap-8079	4	27	.	.	PUNCT
ap-8079	5	1	in	in	ADP
ap-8079	5	2	this	this	DET
ap-8079	5	3	study	study	NOUN
ap-8079	5	4	,	,	PUNCT
ap-8079	5	5	a	a	DET
ap-8079	5	6	neural	neural	ADJ
ap-8079	5	7	network	network	NOUN
ap-8079	5	8	-	-	PUNCT
ap-8079	5	9	based	base	VERB
ap-8079	5	10	approach	approach	NOUN
ap-8079	5	11	is	be	AUX
ap-8079	5	12	proposed	propose	VERB
ap-8079	5	13	to	to	PART
ap-8079	5	14	estimate	estimate	VERB
ap-8079	5	15	the	the	DET
ap-8079	5	16	patient	patient	NOUN
ap-8079	5	17	’s	’s	PART
ap-8079	5	18	recovery	recovery	NOUN
ap-8079	5	19	,	,	PUNCT
ap-8079	5	20	which	which	PRON
ap-8079	5	21	can	can	AUX
ap-8079	5	22	aid	aid	VERB
ap-8079	5	23	in	in	ADP
ap-8079	5	24	the	the	DET
ap-8079	5	25	development	development	NOUN
ap-8079	5	26	of	of	ADP
ap-8079	5	27	an	an	DET
ap-8079	5	28	assist	assist	NOUN
ap-8079	5	29	-	-	PUNCT
ap-8079	5	30	as	as	ADP
ap-8079	5	31	-	-	PUNCT
ap-8079	5	32	needed	need	VERB
ap-8079	5	33	training	training	NOUN
ap-8079	5	34	strategy	strategy	NOUN
ap-8079	5	35	for	for	ADP
ap-8079	5	36	the	the	DET
ap-8079	5	37	gait	gait	ADJ
ap-8079	5	38	training	training	NOUN
ap-8079	5	39	system	system	NOUN
ap-8079	5	40	.	.	PUNCT
ap-8079	6	1	experimental	experimental	ADJ
ap-8079	6	2	results	result	NOUN
ap-8079	6	3	show	show	VERB
ap-8079	6	4	that	that	SCONJ
ap-8079	6	5	the	the	DET
ap-8079	6	6	proposed	propose	VERB
ap-8079	6	7	method	method	NOUN
ap-8079	6	8	can	can	AUX
ap-8079	6	9	accurately	accurately	ADV
ap-8079	6	10	estimate	estimate	VERB
ap-8079	6	11	the	the	DET
ap-8079	6	12	external	external	ADJ
ap-8079	6	13	torques	torque	NOUN
ap-8079	6	14	generated	generate	VERB
ap-8079	6	15	by	by	ADP
ap-8079	6	16	the	the	DET
ap-8079	6	17	patient	patient	NOUN
ap-8079	6	18	to	to	PART
ap-8079	6	19	determine	determine	VERB
ap-8079	6	20	their	their	PRON
ap-8079	6	21	recovery	recovery	NOUN
ap-8079	6	22	.	.	PUNCT
ap-8079	7	1	the	the	DET
ap-8079	7	2	estimated	estimate	VERB
ap-8079	7	3	patient	patient	NOUN
ap-8079	7	4	recovery	recovery	NOUN
ap-8079	7	5	is	be	AUX
ap-8079	7	6	used	use	VERB
ap-8079	7	7	for	for	ADP
ap-8079	7	8	an	an	DET
ap-8079	7	9	impedance	impedance	NOUN
ap-8079	7	10	control	control	NOUN
ap-8079	7	11	of	of	ADP
ap-8079	7	12	a	a	DET
ap-8079	7	13	2	2	NUM
ap-8079	7	14	-	-	PUNCT
ap-8079	7	15	dof	dof	NOUN
ap-8079	7	16	robotic	robotic	ADJ
ap-8079	7	17	orthosis	orthosis	NOUN
ap-8079	7	18	powered	power	VERB
ap-8079	7	19	by	by	ADP
ap-8079	7	20	pneumatic	pneumatic	ADJ
ap-8079	7	21	artificial	artificial	ADJ
ap-8079	7	22	muscles	muscle	NOUN
ap-8079	7	23	,	,	PUNCT
ap-8079	7	24	which	which	PRON
ap-8079	7	25	improves	improve	VERB
ap-8079	7	26	the	the	DET
ap-8079	7	27	robot	robot	NOUN
ap-8079	7	28	joint	joint	ADJ
ap-8079	7	29	compliance	compliance	NOUN
ap-8079	7	30	coefficients	coefficient	NOUN
ap-8079	7	31	and	and	CCONJ
ap-8079	7	32	makes	make	VERB
ap-8079	7	33	the	the	DET
ap-8079	7	34	patient	patient	NOUN
ap-8079	7	35	more	more	ADV
ap-8079	7	36	comfortable	comfortable	ADJ
ap-8079	7	37	and	and	CCONJ
ap-8079	7	38	confident	confident	ADJ
ap-8079	7	39	during	during	ADP
ap-8079	7	40	rehabilitation	rehabilitation	NOUN
ap-8079	7	41	exercises	exercise	NOUN
ap-8079	7	42	.	.	PUNCT
ap-8079	8	1	keywords	keyword	NOUN
ap-8079	8	2	:	:	PUNCT
ap-8079	8	3	pneumatic	pneumatic	ADJ
ap-8079	8	4	artificial	artificial	ADJ
ap-8079	8	5	muscle	muscle	NOUN
ap-8079	8	6	,	,	PUNCT
ap-8079	8	7	rehabilitation	rehabilitation	NOUN
ap-8079	8	8	robot	robot	NOUN
ap-8079	8	9	,	,	PUNCT
ap-8079	8	10	neural	neural	ADJ
ap-8079	8	11	network	network	NOUN
ap-8079	8	12	,	,	PUNCT
ap-8079	8	13	patient	patient	NOUN
ap-8079	8	14	recovery	recovery	NOUN
ap-8079	8	15	.	.	PUNCT
ap-8079	9	1	1	1	X
ap-8079	9	2	.	.	X
ap-8079	9	3	introduction	introduction	NOUN
ap-8079	9	4	nowadays	nowadays	ADV
ap-8079	9	5	,	,	PUNCT
ap-8079	9	6	robots	robot	NOUN
ap-8079	9	7	appear	appear	VERB
ap-8079	9	8	everywhere	everywhere	ADV
ap-8079	9	9	and	and	CCONJ
ap-8079	9	10	play	play	VERB
ap-8079	9	11	an	an	DET
ap-8079	9	12	essential	essential	ADJ
ap-8079	9	13	role	role	NOUN
ap-8079	9	14	in	in	ADP
ap-8079	9	15	many	many	ADJ
ap-8079	9	16	fields	field	NOUN
ap-8079	9	17	,	,	PUNCT
ap-8079	9	18	such	such	ADJ
ap-8079	9	19	as	as	ADP
ap-8079	9	20	industry	industry	NOUN
ap-8079	9	21	,	,	PUNCT
ap-8079	9	22	military	military	NOUN
ap-8079	9	23	,	,	PUNCT
ap-8079	9	24	transportation	transportation	NOUN
ap-8079	9	25	and	and	CCONJ
ap-8079	9	26	rescue	rescue	NOUN
ap-8079	9	27	service	service	NOUN
ap-8079	9	28	areas	area	NOUN
ap-8079	9	29	.	.	PUNCT
ap-8079	10	1	with	with	ADP
ap-8079	10	2	the	the	DET
ap-8079	10	3	increasing	increase	VERB
ap-8079	10	4	number	number	NOUN
ap-8079	10	5	of	of	ADP
ap-8079	10	6	older	old	ADJ
ap-8079	10	7	people	people	NOUN
ap-8079	10	8	and	and	CCONJ
ap-8079	10	9	the	the	DET
ap-8079	10	10	lack	lack	NOUN
ap-8079	10	11	of	of	ADP
ap-8079	10	12	physicians	physician	NOUN
ap-8079	10	13	and	and	CCONJ
ap-8079	10	14	nurses	nurse	NOUN
ap-8079	10	15	,	,	PUNCT
ap-8079	10	16	robots	robot	NOUN
ap-8079	10	17	are	be	AUX
ap-8079	10	18	expected	expect	VERB
ap-8079	10	19	to	to	PART
ap-8079	10	20	assist	assist	VERB
ap-8079	10	21	and	and	CCONJ
ap-8079	10	22	replace	replace	VERB
ap-8079	10	23	humans	human	NOUN
ap-8079	10	24	in	in	ADP
ap-8079	10	25	healthcare	healthcare	NOUN
ap-8079	10	26	and	and	CCONJ
ap-8079	10	27	daily	daily	ADJ
ap-8079	10	28	life	life	NOUN
ap-8079	10	29	.	.	PUNCT
ap-8079	11	1	healthcare	healthcare	NOUN
ap-8079	11	2	and	and	CCONJ
ap-8079	11	3	service	service	NOUN
ap-8079	11	4	robot	robot	NOUN
ap-8079	11	5	systems	system	NOUN
ap-8079	11	6	have	have	AUX
ap-8079	11	7	been	be	AUX
ap-8079	11	8	the	the	DET
ap-8079	11	9	subject	subject	NOUN
ap-8079	11	10	of	of	ADP
ap-8079	11	11	extensive	extensive	ADJ
ap-8079	11	12	research	research	NOUN
ap-8079	11	13	in	in	ADP
ap-8079	11	14	recent	recent	ADJ
ap-8079	11	15	years	year	NOUN
ap-8079	12	1	[	[	X
ap-8079	12	2	1	1	NUM
ap-8079	12	3	,	,	PUNCT
ap-8079	12	4	2	2	NUM
ap-8079	12	5	]	]	PUNCT
ap-8079	12	6	.	.	PUNCT
ap-8079	13	1	currently	currently	ADV
ap-8079	13	2	,	,	PUNCT
ap-8079	13	3	the	the	DET
ap-8079	13	4	majority	majority	NOUN
ap-8079	13	5	of	of	ADP
ap-8079	13	6	gait	gait	NOUN
ap-8079	13	7	training	training	NOUN
ap-8079	13	8	systems	system	NOUN
ap-8079	13	9	commercially	commercially	ADV
ap-8079	13	10	available	available	ADJ
ap-8079	13	11	utilise	utilise	PROPN
ap-8079	13	12	electric	electric	ADJ
ap-8079	13	13	motors	motor	NOUN
ap-8079	13	14	as	as	ADP
ap-8079	13	15	actuators	actuator	NOUN
ap-8079	13	16	.	.	PUNCT
ap-8079	14	1	however	however	ADV
ap-8079	14	2	,	,	PUNCT
ap-8079	14	3	these	these	DET
ap-8079	14	4	systems	system	NOUN
ap-8079	14	5	are	be	AUX
ap-8079	14	6	associated	associate	VERB
ap-8079	14	7	with	with	ADP
ap-8079	14	8	significant	significant	ADJ
ap-8079	14	9	concerns	concern	NOUN
ap-8079	14	10	,	,	PUNCT
ap-8079	14	11	such	such	ADJ
ap-8079	14	12	as	as	ADP
ap-8079	14	13	high	high	ADJ
ap-8079	14	14	costs	cost	NOUN
ap-8079	14	15	and	and	CCONJ
ap-8079	14	16	a	a	DET
ap-8079	14	17	low	low	ADJ
ap-8079	14	18	power	power	NOUN
ap-8079	14	19	/	/	SYM
ap-8079	14	20	weight	weight	NOUN
ap-8079	14	21	ratio	ratio	NOUN
ap-8079	14	22	of	of	ADP
ap-8079	14	23	the	the	DET
ap-8079	14	24	motorised	motorise	VERB
ap-8079	14	25	actuators	actuator	NOUN
ap-8079	14	26	.	.	PUNCT
ap-8079	15	1	as	as	ADP
ap-8079	15	2	an	an	DET
ap-8079	15	3	alternative	alternative	NOUN
ap-8079	15	4	,	,	PUNCT
ap-8079	15	5	the	the	DET
ap-8079	15	6	pneumatic	pneumatic	ADJ
ap-8079	15	7	artificial	artificial	ADJ
ap-8079	15	8	muscle	muscle	NOUN
ap-8079	15	9	(	(	PUNCT
ap-8079	15	10	pam	pam	NOUN
ap-8079	15	11	)	)	PUNCT
ap-8079	15	12	system	system	NOUN
ap-8079	15	13	has	have	AUX
ap-8079	15	14	been	be	AUX
ap-8079	15	15	proposed	propose	VERB
ap-8079	15	16	due	due	ADP
ap-8079	15	17	to	to	ADP
ap-8079	15	18	its	its	PRON
ap-8079	15	19	advantages	advantage	NOUN
ap-8079	15	20	,	,	PUNCT
ap-8079	15	21	including	include	VERB
ap-8079	15	22	a	a	DET
ap-8079	15	23	large	large	ADJ
ap-8079	15	24	power	power	NOUN
ap-8079	15	25	/	/	SYM
ap-8079	15	26	weight	weight	NOUN
ap-8079	15	27	ratio	ratio	NOUN
ap-8079	15	28	,	,	PUNCT
ap-8079	15	29	low	low	ADJ
ap-8079	15	30	cost	cost	NOUN
ap-8079	15	31	,	,	PUNCT
ap-8079	15	32	lightweight	lightweight	ADJ
ap-8079	15	33	,	,	PUNCT
ap-8079	15	34	and	and	CCONJ
ap-8079	15	35	similar	similar	ADJ
ap-8079	15	36	characteristics	characteristic	NOUN
ap-8079	15	37	to	to	ADP
ap-8079	15	38	human	human	ADJ
ap-8079	15	39	muscles	muscle	NOUN
ap-8079	15	40	,	,	PUNCT
ap-8079	15	41	as	as	SCONJ
ap-8079	15	42	reported	report	VERB
ap-8079	15	43	in	in	ADP
ap-8079	15	44	recent	recent	ADJ
ap-8079	15	45	studies	study	NOUN
ap-8079	15	46	[	[	X
ap-8079	15	47	3–8	3–8	NUM
ap-8079	15	48	]	]	X
ap-8079	15	49	.	.	PUNCT
ap-8079	16	1	for	for	ADP
ap-8079	16	2	this	this	DET
ap-8079	16	3	reason	reason	NOUN
ap-8079	16	4	,	,	PUNCT
ap-8079	16	5	a	a	DET
ap-8079	16	6	many	many	ADJ
ap-8079	16	7	pambased	pambase	VERB
ap-8079	16	8	gait	gait	NOUN
ap-8079	16	9	training	training	NOUN
ap-8079	16	10	systems	system	NOUN
ap-8079	16	11	have	have	AUX
ap-8079	16	12	been	be	AUX
ap-8079	16	13	developed	develop	VERB
ap-8079	16	14	in	in	ADP
ap-8079	16	15	the	the	DET
ap-8079	16	16	literature	literature	NOUN
ap-8079	16	17	[	[	X
ap-8079	16	18	8–16	8–16	PROPN
ap-8079	16	19	]	]	PUNCT
ap-8079	16	20	that	that	PRON
ap-8079	16	21	can	can	AUX
ap-8079	16	22	assist	assist	VERB
ap-8079	16	23	the	the	DET
ap-8079	16	24	patient	patient	NOUN
ap-8079	16	25	with	with	ADP
ap-8079	16	26	movement	movement	NOUN
ap-8079	16	27	according	accord	VERB
ap-8079	16	28	to	to	ADP
ap-8079	16	29	the	the	DET
ap-8079	16	30	exercises	exercise	NOUN
ap-8079	16	31	prescribed	prescribe	VERB
ap-8079	16	32	by	by	ADP
ap-8079	16	33	the	the	DET
ap-8079	16	34	physiotherapist	physiotherapist	NOUN
ap-8079	16	35	.	.	PUNCT
ap-8079	17	1	compared	compare	VERB
ap-8079	17	2	to	to	ADP
ap-8079	17	3	other	other	ADJ
ap-8079	17	4	robot	robot	NOUN
ap-8079	17	5	systems	system	NOUN
ap-8079	17	6	,	,	PUNCT
ap-8079	17	7	the	the	DET
ap-8079	17	8	main	main	ADJ
ap-8079	17	9	differences	difference	NOUN
ap-8079	17	10	of	of	ADP
ap-8079	17	11	rehabilitation	rehabilitation	NOUN
ap-8079	17	12	robots	robot	NOUN
ap-8079	17	13	are	be	AUX
ap-8079	17	14	the	the	DET
ap-8079	17	15	safety	safety	NOUN
ap-8079	17	16	and	and	CCONJ
ap-8079	17	17	the	the	DET
ap-8079	17	18	capability	capability	NOUN
ap-8079	17	19	to	to	PART
ap-8079	17	20	improve	improve	VERB
ap-8079	17	21	the	the	DET
ap-8079	17	22	patient	patient	NOUN
ap-8079	17	23	’s	’s	PART
ap-8079	17	24	recovery	recovery	NOUN
ap-8079	17	25	.	.	PUNCT
ap-8079	18	1	thus	thus	ADV
ap-8079	18	2	,	,	PUNCT
ap-8079	18	3	the	the	DET
ap-8079	18	4	interactive	interactive	ADJ
ap-8079	18	5	force	force	NOUN
ap-8079	18	6	/	/	SYM
ap-8079	18	7	moment	moment	NOUN
ap-8079	18	8	between	between	ADP
ap-8079	18	9	the	the	DET
ap-8079	18	10	robot	robot	NOUN
ap-8079	18	11	and	and	CCONJ
ap-8079	18	12	the	the	DET
ap-8079	18	13	human	human	NOUN
ap-8079	18	14	is	be	AUX
ap-8079	18	15	required	require	VERB
ap-8079	18	16	.	.	PUNCT
ap-8079	19	1	to	to	PART
ap-8079	19	2	obtain	obtain	VERB
ap-8079	19	3	force	force	NOUN
ap-8079	19	4	/	/	SYM
ap-8079	19	5	moment	moment	NOUN
ap-8079	19	6	information	information	NOUN
ap-8079	19	7	,	,	PUNCT
ap-8079	19	8	one	one	PRON
ap-8079	19	9	can	can	AUX
ap-8079	19	10	usually	usually	ADV
ap-8079	19	11	use	use	VERB
ap-8079	19	12	force	force	NOUN
ap-8079	19	13	/	/	SYM
ap-8079	19	14	torque	torque	NOUN
ap-8079	19	15	sensors	sensor	NOUN
ap-8079	19	16	,	,	PUNCT
ap-8079	19	17	mainly	mainly	ADV
ap-8079	19	18	used	use	VERB
ap-8079	19	19	in	in	ADP
ap-8079	19	20	rehabilitation	rehabilitation	NOUN
ap-8079	19	21	robot	robot	NOUN
ap-8079	19	22	systems	system	NOUN
ap-8079	19	23	.	.	PUNCT
ap-8079	20	1	however	however	ADV
ap-8079	20	2	,	,	PUNCT
ap-8079	20	3	the	the	DET
ap-8079	20	4	external	external	ADJ
ap-8079	20	5	force	force	NOUN
ap-8079	20	6	/	/	SYM
ap-8079	20	7	moment	moment	NOUN
ap-8079	20	8	estimation	estimation	NOUN
ap-8079	20	9	without	without	ADP
ap-8079	20	10	sensors	sensor	NOUN
ap-8079	20	11	is	be	AUX
ap-8079	20	12	considered	consider	VERB
ap-8079	20	13	due	due	ADJ
ap-8079	20	14	to	to	ADP
ap-8079	20	15	the	the	DET
ap-8079	20	16	cost	cost	NOUN
ap-8079	20	17	and	and	CCONJ
ap-8079	20	18	complicated	complicated	ADJ
ap-8079	20	19	assembly	assembly	NOUN
ap-8079	20	20	.	.	PUNCT
ap-8079	21	1	various	various	ADJ
ap-8079	21	2	studies	study	NOUN
ap-8079	21	3	have	have	AUX
ap-8079	21	4	been	be	AUX
ap-8079	21	5	conducted	conduct	VERB
ap-8079	21	6	to	to	PART
ap-8079	21	7	estimate	estimate	VERB
ap-8079	21	8	the	the	DET
ap-8079	21	9	external	external	ADJ
ap-8079	21	10	force	force	NOUN
ap-8079	21	11	acting	act	VERB
ap-8079	21	12	on	on	ADP
ap-8079	21	13	industrial	industrial	ADJ
ap-8079	21	14	robots	robot	NOUN
ap-8079	21	15	[	[	X
ap-8079	21	16	17–20	17–20	NUM
ap-8079	21	17	]	]	PUNCT
ap-8079	21	18	.	.	PUNCT
ap-8079	22	1	in	in	ADP
ap-8079	22	2	[	[	X
ap-8079	22	3	17	17	NUM
ap-8079	22	4	]	]	PUNCT
ap-8079	22	5	,	,	PUNCT
ap-8079	22	6	a	a	DET
ap-8079	22	7	task	task	NOUN
ap-8079	22	8	-	-	PUNCT
ap-8079	22	9	oriented	orient	VERB
ap-8079	22	10	dynamics	dynamic	NOUN
ap-8079	22	11	model	model	NOUN
ap-8079	22	12	learning	learning	NOUN
ap-8079	22	13	and	and	CCONJ
ap-8079	22	14	a	a	DET
ap-8079	22	15	robust	robust	ADJ
ap-8079	22	16	disturbance	disturbance	NOUN
ap-8079	22	17	state	state	NOUN
ap-8079	22	18	observer	observer	NOUN
ap-8079	22	19	are	be	AUX
ap-8079	22	20	proposed	propose	VERB
ap-8079	22	21	.	.	PUNCT
ap-8079	23	1	force	force	NOUN
ap-8079	23	2	estimation	estimation	NOUN
ap-8079	23	3	based	base	VERB
ap-8079	23	4	on	on	ADP
ap-8079	23	5	machine	machine	NOUN
ap-8079	23	6	learning	learning	NOUN
ap-8079	23	7	is	be	AUX
ap-8079	23	8	developed	develop	VERB
ap-8079	23	9	in	in	ADP
ap-8079	23	10	[	[	X
ap-8079	23	11	18	18	NUM
ap-8079	23	12	,	,	PUNCT
ap-8079	23	13	20	20	NUM
ap-8079	23	14	]	]	PUNCT
ap-8079	23	15	.	.	PUNCT
ap-8079	24	1	in	in	ADP
ap-8079	24	2	addition	addition	NOUN
ap-8079	24	3	,	,	PUNCT
ap-8079	24	4	cartesian	cartesian	ADJ
ap-8079	24	5	contact	contact	NOUN
ap-8079	24	6	force	force	NOUN
ap-8079	24	7	estimation	estimation	NOUN
ap-8079	24	8	for	for	ADP
ap-8079	24	9	robotic	robotic	ADJ
ap-8079	24	10	manipulators	manipulator	NOUN
ap-8079	24	11	using	use	VERB
ap-8079	24	12	kalman	kalman	NOUN
ap-8079	24	13	filter	filter	NOUN
ap-8079	24	14	and	and	CCONJ
ap-8079	24	15	the	the	DET
ap-8079	24	16	generalised	generalise	VERB
ap-8079	24	17	momentum	momentum	NOUN
ap-8079	24	18	is	be	AUX
ap-8079	24	19	reported	report	VERB
ap-8079	24	20	in	in	ADP
ap-8079	24	21	[	[	X
ap-8079	24	22	19	19	NUM
ap-8079	24	23	]	]	PUNCT
ap-8079	24	24	.	.	PUNCT
ap-8079	25	1	these	these	DET
ap-8079	25	2	methods	method	NOUN
ap-8079	25	3	are	be	AUX
ap-8079	25	4	all	all	PRON
ap-8079	25	5	for	for	ADP
ap-8079	25	6	industrial	industrial	ADJ
ap-8079	25	7	robots	robot	NOUN
ap-8079	25	8	and	and	CCONJ
ap-8079	25	9	give	give	VERB
ap-8079	25	10	good	good	ADJ
ap-8079	25	11	external	external	ADJ
ap-8079	25	12	force	force	NOUN
ap-8079	25	13	estimation	estimation	NOUN
ap-8079	25	14	results	result	NOUN
ap-8079	25	15	.	.	PUNCT
ap-8079	26	1	however	however	ADV
ap-8079	26	2	,	,	PUNCT
ap-8079	26	3	they	they	PRON
ap-8079	26	4	require	require	VERB
ap-8079	26	5	the	the	DET
ap-8079	26	6	robot	robot	NOUN
ap-8079	26	7	’s	’s	PART
ap-8079	26	8	dynamics	dynamic	NOUN
ap-8079	26	9	and	and	CCONJ
ap-8079	26	10	are	be	AUX
ap-8079	26	11	pretty	pretty	ADV
ap-8079	26	12	complicated	complicated	ADJ
ap-8079	26	13	,	,	PUNCT
ap-8079	26	14	resulting	result	VERB
ap-8079	26	15	in	in	ADP
ap-8079	26	16	a	a	DET
ap-8079	26	17	difficult	difficult	ADJ
ap-8079	26	18	implementation	implementation	NOUN
ap-8079	26	19	.	.	PUNCT
ap-8079	27	1	one	one	NUM
ap-8079	27	2	better	well	ADJ
ap-8079	27	3	solution	solution	NOUN
ap-8079	27	4	for	for	ADP
ap-8079	27	5	the	the	DET
ap-8079	27	6	estimation	estimation	NOUN
ap-8079	27	7	of	of	ADP
ap-8079	27	8	external	external	ADJ
ap-8079	27	9	contact	contact	NOUN
ap-8079	27	10	force	force	NOUN
ap-8079	27	11	is	be	AUX
ap-8079	27	12	to	to	PART
ap-8079	27	13	use	use	VERB
ap-8079	27	14	a	a	DET
ap-8079	27	15	neural	neural	ADJ
ap-8079	27	16	network	network	NOUN
ap-8079	27	17	[	[	X
ap-8079	27	18	21–24	21–24	NUM
ap-8079	27	19	]	]	PUNCT
ap-8079	27	20	.	.	PUNCT
ap-8079	28	1	these	these	DET
ap-8079	28	2	researches	research	NOUN
ap-8079	28	3	consider	consider	VERB
ap-8079	28	4	two	two	NUM
ap-8079	28	5	estimation	estimation	NOUN
ap-8079	28	6	approaches	approach	NOUN
ap-8079	28	7	.	.	PUNCT
ap-8079	29	1	the	the	DET
ap-8079	29	2	first	first	ADJ
ap-8079	29	3	approach	approach	NOUN
ap-8079	29	4	is	be	AUX
ap-8079	29	5	to	to	PART
ap-8079	29	6	estimate	estimate	VERB
ap-8079	29	7	the	the	DET
ap-8079	29	8	contact	contact	NOUN
ap-8079	29	9	force	force	NOUN
ap-8079	29	10	directly	directly	ADV
ap-8079	29	11	from	from	ADP
ap-8079	29	12	the	the	DET
ap-8079	29	13	robot	robot	NOUN
ap-8079	29	14	’s	’s	PART
ap-8079	29	15	motion	motion	NOUN
ap-8079	29	16	information	information	NOUN
ap-8079	29	17	using	use	VERB
ap-8079	29	18	a	a	DET
ap-8079	29	19	neural	neural	ADJ
ap-8079	29	20	network	network	NOUN
ap-8079	29	21	[	[	X
ap-8079	29	22	21	21	NUM
ap-8079	29	23	]	]	PUNCT
ap-8079	29	24	.	.	PUNCT
ap-8079	30	1	the	the	DET
ap-8079	30	2	second	second	ADJ
ap-8079	30	3	approach	approach	NOUN
ap-8079	30	4	is	be	AUX
ap-8079	30	5	to	to	PART
ap-8079	30	6	estimate	estimate	VERB
ap-8079	30	7	the	the	DET
ap-8079	30	8	robot	robot	NOUN
ap-8079	30	9	’s	’s	PART
ap-8079	30	10	inverse	inverse	ADJ
ap-8079	30	11	dynamic	dynamic	ADJ
ap-8079	30	12	model	model	NOUN
ap-8079	31	1	[	[	X
ap-8079	31	2	22–24	22–24	NUM
ap-8079	31	3	]	]	PUNCT
ap-8079	31	4	.	.	PUNCT
ap-8079	32	1	then	then	ADV
ap-8079	32	2	,	,	PUNCT
ap-8079	32	3	the	the	DET
ap-8079	32	4	contact	contact	NOUN
ap-8079	32	5	force	force	NOUN
ap-8079	32	6	is	be	AUX
ap-8079	32	7	calculated	calculate	VERB
ap-8079	32	8	by	by	ADP
ap-8079	32	9	the	the	DET
ap-8079	32	10	difference	difference	NOUN
ap-8079	32	11	between	between	ADP
ap-8079	32	12	the	the	DET
ap-8079	32	13	robot	robot	NOUN
ap-8079	32	14	actuator	actuator	NOUN
ap-8079	32	15	’s	’s	PART
ap-8079	32	16	torques	torque	NOUN
ap-8079	32	17	for	for	ADP
ap-8079	32	18	the	the	DET
ap-8079	32	19	case	case	NOUN
ap-8079	32	20	of	of	ADP
ap-8079	32	21	contact	contact	NOUN
ap-8079	32	22	force	force	NOUN
ap-8079	32	23	and	and	CCONJ
ap-8079	32	24	without	without	ADP
ap-8079	32	25	contact	contact	NOUN
ap-8079	32	26	force	force	NOUN
ap-8079	32	27	.	.	PUNCT
ap-8079	33	1	the	the	DET
ap-8079	33	2	disadvantage	disadvantage	NOUN
ap-8079	33	3	of	of	ADP
ap-8079	33	4	the	the	DET
ap-8079	33	5	first	first	ADJ
ap-8079	33	6	approach	approach	NOUN
ap-8079	33	7	is	be	AUX
ap-8079	33	8	that	that	SCONJ
ap-8079	33	9	the	the	DET
ap-8079	33	10	measurement	measurement	NOUN
ap-8079	33	11	of	of	ADP
ap-8079	33	12	contact	contact	NOUN
ap-8079	33	13	force	force	NOUN
ap-8079	33	14	is	be	AUX
ap-8079	33	15	required	require	VERB
ap-8079	33	16	for	for	ADP
ap-8079	33	17	offline	offline	ADJ
ap-8079	33	18	training	training	NOUN
ap-8079	33	19	of	of	ADP
ap-8079	33	20	neural	neural	ADJ
ap-8079	33	21	network	network	NOUN
ap-8079	33	22	.	.	PUNCT
ap-8079	34	1	in	in	ADP
ap-8079	34	2	contrast	contrast	NOUN
ap-8079	34	3	,	,	PUNCT
ap-8079	34	4	the	the	DET
ap-8079	34	5	contact	contact	NOUN
ap-8079	34	6	force	force	NOUN
ap-8079	34	7	measurement	measurement	NOUN
ap-8079	34	8	in	in	ADP
ap-8079	34	9	the	the	DET
ap-8079	34	10	second	second	ADJ
ap-8079	34	11	approach	approach	NOUN
ap-8079	34	12	is	be	AUX
ap-8079	34	13	not	not	PART
ap-8079	34	14	required	require	VERB
ap-8079	34	15	since	since	SCONJ
ap-8079	34	16	the	the	DET
ap-8079	34	17	inverse	inverse	ADJ
ap-8079	34	18	dynamic	dynamic	ADJ
ap-8079	34	19	model	model	NOUN
ap-8079	34	20	can	can	AUX
ap-8079	34	21	be	be	AUX
ap-8079	34	22	estimated	estimate	VERB
ap-8079	34	23	in	in	ADP
ap-8079	34	24	the	the	DET
ap-8079	34	25	free	free	ADJ
ap-8079	34	26	-	-	PUNCT
ap-8079	34	27	motion	motion	NOUN
ap-8079	34	28	condition	condition	NOUN
ap-8079	34	29	.	.	PUNCT
ap-8079	35	1	for	for	ADP
ap-8079	35	2	this	this	DET
ap-8079	35	3	reason	reason	NOUN
ap-8079	35	4	,	,	PUNCT
ap-8079	35	5	the	the	DET
ap-8079	35	6	second	second	ADJ
ap-8079	35	7	approach	approach	NOUN
ap-8079	35	8	is	be	AUX
ap-8079	35	9	promising	promise	VERB
ap-8079	35	10	to	to	PART
ap-8079	35	11	estimate	estimate	VERB
ap-8079	35	12	external	external	ADJ
ap-8079	35	13	force	force	NOUN
ap-8079	35	14	for	for	ADP
ap-8079	35	15	rehabilitation	rehabilitation	NOUN
ap-8079	35	16	robot	robot	NOUN
ap-8079	35	17	.	.	PUNCT
ap-8079	36	1	it	it	PRON
ap-8079	36	2	leads	lead	VERB
ap-8079	36	3	to	to	ADP
ap-8079	36	4	the	the	DET
ap-8079	36	5	estimation	estimation	NOUN
ap-8079	36	6	of	of	ADP
ap-8079	36	7	the	the	DET
ap-8079	36	8	patient	patient	NOUN
ap-8079	36	9	recovery	recovery	NOUN
ap-8079	36	10	in	in	ADP
ap-8079	36	11	a	a	DET
ap-8079	36	12	training	training	NOUN
ap-8079	36	13	process	process	NOUN
ap-8079	36	14	.	.	PUNCT
ap-8079	37	1	in	in	ADP
ap-8079	37	2	gait	gait	ADJ
ap-8079	37	3	training	training	NOUN
ap-8079	37	4	robot	robot	NOUN
ap-8079	37	5	systems	system	NOUN
ap-8079	37	6	,	,	PUNCT
ap-8079	37	7	the	the	DET
ap-8079	37	8	estimation	estimation	NOUN
ap-8079	37	9	of	of	ADP
ap-8079	37	10	patient	patient	ADJ
ap-8079	37	11	interaction	interaction	NOUN
ap-8079	37	12	forces	force	NOUN
ap-8079	37	13	can	can	AUX
ap-8079	37	14	bring	bring	VERB
ap-8079	37	15	many	many	ADJ
ap-8079	37	16	benefits	benefit	NOUN
ap-8079	37	17	.	.	PUNCT
ap-8079	38	1	at	at	ADP
ap-8079	38	2	first	first	ADV
ap-8079	38	3	,	,	PUNCT
ap-8079	38	4	this	this	DET
ap-8079	38	5	contact	contact	NOUN
ap-8079	38	6	force	force	NOUN
ap-8079	38	7	can	can	AUX
ap-8079	38	8	be	be	AUX
ap-8079	38	9	used	use	VERB
ap-8079	38	10	for	for	ADP
ap-8079	38	11	the	the	DET
ap-8079	38	12	compliant	compliant	ADJ
ap-8079	38	13	control	control	NOUN
ap-8079	38	14	,	,	PUNCT
ap-8079	38	15	patient	patient	ADJ
ap-8079	38	16	-	-	PUNCT
ap-8079	38	17	cooperative	cooperative	ADJ
ap-8079	38	18	control	control	NOUN
ap-8079	38	19	,	,	PUNCT
ap-8079	38	20	assist	assist	NOUN
ap-8079	38	21	-	-	PUNCT
ap-8079	38	22	as	as	ADP
ap-8079	38	23	-	-	PUNCT
ap-8079	38	24	needed	need	VERB
ap-8079	38	25	179	179	NUM
ap-8079	38	26	https://doi.org/10.14311/ap.2023.63.0179	https://doi.org/10.14311/ap.2023.63.0179	PROPN
ap-8079	38	27	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
ap-8079	38	28	https://www.cvut.cz/en	https://www.cvut.cz/en	PROPN
ap-8079	38	29	v	v	PROPN
ap-8079	38	30	-	-	PUNCT
ap-8079	38	31	v.	v.	NOUN
ap-8079	38	32	dinh	dinh	PROPN
ap-8079	38	33	,	,	PUNCT
ap-8079	38	34	m	m	PROPN
ap-8079	38	35	-	-	PROPN
ap-8079	38	36	c.	c.	PROPN
ap-8079	38	37	trinh	trinh	PROPN
ap-8079	38	38	,	,	PUNCT
ap-8079	38	39	t	t	PROPN
ap-8079	38	40	-	-	PUNCT
ap-8079	38	41	d.	d.	PROPN
ap-8079	38	42	bui	bui	PROPN
ap-8079	38	43	et	et	PROPN
ap-8079	38	44	al	al	PROPN
ap-8079	38	45	.	.	PROPN
ap-8079	38	46	acta	acta	PROPN
ap-8079	38	47	polytechnica	polytechnica	PROPN
ap-8079	38	48	(	(	PUNCT
ap-8079	38	49	aan	aan	PROPN
ap-8079	38	50	)	)	PUNCT
ap-8079	38	51	that	that	PRON
ap-8079	38	52	is	be	AUX
ap-8079	38	53	required	require	VERB
ap-8079	38	54	in	in	ADP
ap-8079	38	55	rehabilitation	rehabilitation	NOUN
ap-8079	38	56	exercises	exercise	NOUN
ap-8079	38	57	[	[	X
ap-8079	38	58	8	8	NUM
ap-8079	38	59	]	]	PUNCT
ap-8079	38	60	,	,	PUNCT
ap-8079	38	61	together	together	ADV
ap-8079	38	62	with	with	ADP
ap-8079	38	63	trajectory	trajectory	NOUN
ap-8079	38	64	tracking	tracking	NOUN
ap-8079	38	65	control	control	NOUN
ap-8079	38	66	.	.	PUNCT
ap-8079	39	1	in	in	ADP
ap-8079	39	2	addition	addition	NOUN
ap-8079	39	3	,	,	PUNCT
ap-8079	39	4	the	the	DET
ap-8079	39	5	contact	contact	NOUN
ap-8079	39	6	force	force	NOUN
ap-8079	39	7	information	information	NOUN
ap-8079	39	8	can	can	AUX
ap-8079	39	9	help	help	VERB
ap-8079	39	10	the	the	DET
ap-8079	39	11	physician	physician	NOUN
ap-8079	39	12	evaluate	evaluate	VERB
ap-8079	39	13	the	the	DET
ap-8079	39	14	patient	patient	NOUN
ap-8079	39	15	’s	’s	PART
ap-8079	39	16	recovery	recovery	NOUN
ap-8079	39	17	during	during	ADP
ap-8079	39	18	the	the	DET
ap-8079	39	19	treatment	treatment	NOUN
ap-8079	39	20	.	.	PUNCT
ap-8079	40	1	the	the	DET
ap-8079	40	2	patient	patient	NOUN
ap-8079	40	3	’s	’s	PART
ap-8079	40	4	interaction	interaction	NOUN
ap-8079	40	5	force	force	NOUN
ap-8079	40	6	can	can	AUX
ap-8079	40	7	be	be	AUX
ap-8079	40	8	measured	measure	VERB
ap-8079	40	9	directly	directly	ADV
ap-8079	40	10	,	,	PUNCT
ap-8079	40	11	using	use	VERB
ap-8079	40	12	force	force	NOUN
ap-8079	40	13	/	/	SYM
ap-8079	40	14	torque	torque	NOUN
ap-8079	40	15	sensors	sensor	NOUN
ap-8079	40	16	[	[	X
ap-8079	40	17	8	8	NUM
ap-8079	40	18	]	]	PUNCT
ap-8079	40	19	,	,	PUNCT
ap-8079	40	20	but	but	CCONJ
ap-8079	40	21	the	the	DET
ap-8079	40	22	installation	installation	NOUN
ap-8079	40	23	is	be	AUX
ap-8079	40	24	complicated	complicate	VERB
ap-8079	40	25	and	and	CCONJ
ap-8079	40	26	may	may	AUX
ap-8079	40	27	cause	cause	VERB
ap-8079	40	28	a	a	DET
ap-8079	40	29	physical	physical	ADJ
ap-8079	40	30	discomfort	discomfort	NOUN
ap-8079	40	31	the	the	DET
ap-8079	40	32	patients	patient	NOUN
ap-8079	40	33	.	.	PUNCT
ap-8079	41	1	another	another	DET
ap-8079	41	2	way	way	NOUN
ap-8079	41	3	to	to	PART
ap-8079	41	4	estimate	estimate	VERB
ap-8079	41	5	the	the	DET
ap-8079	41	6	interaction	interaction	NOUN
ap-8079	41	7	force	force	NOUN
ap-8079	41	8	is	be	AUX
ap-8079	41	9	to	to	PART
ap-8079	41	10	use	use	VERB
ap-8079	41	11	electromyography	electromyography	NOUN
ap-8079	41	12	(	(	PUNCT
ap-8079	41	13	emg	emg	NOUN
ap-8079	41	14	)	)	PUNCT
ap-8079	41	15	signals	signal	NOUN
ap-8079	41	16	of	of	ADP
ap-8079	41	17	the	the	DET
ap-8079	41	18	patient	patient	NOUN
ap-8079	41	19	’s	’s	PART
ap-8079	41	20	muscles	muscle	NOUN
ap-8079	42	1	[	[	X
ap-8079	42	2	25	25	NUM
ap-8079	42	3	]	]	PUNCT
ap-8079	42	4	.	.	PUNCT
ap-8079	43	1	emg	emg	NOUN
ap-8079	43	2	signals	signal	NOUN
ap-8079	43	3	can	can	AUX
ap-8079	43	4	be	be	AUX
ap-8079	43	5	used	use	VERB
ap-8079	43	6	to	to	PART
ap-8079	43	7	calculate	calculate	VERB
ap-8079	43	8	the	the	DET
ap-8079	43	9	muscle	muscle	NOUN
ap-8079	43	10	force	force	NOUN
ap-8079	43	11	and	and	CCONJ
ap-8079	43	12	supply	supply	VERB
ap-8079	43	13	the	the	DET
ap-8079	43	14	valuable	valuable	ADJ
ap-8079	43	15	muscle	muscle	NOUN
ap-8079	43	16	health	health	NOUN
ap-8079	43	17	information	information	NOUN
ap-8079	43	18	for	for	ADP
ap-8079	43	19	a	a	DET
ap-8079	43	20	diagnosis	diagnosis	NOUN
ap-8079	43	21	and	and	CCONJ
ap-8079	43	22	analysis	analysis	NOUN
ap-8079	43	23	of	of	ADP
ap-8079	43	24	the	the	DET
ap-8079	43	25	patient	patient	NOUN
ap-8079	43	26	’s	’s	PART
ap-8079	43	27	recovery	recovery	NOUN
ap-8079	43	28	.	.	PUNCT
ap-8079	44	1	nevertheless	nevertheless	ADV
ap-8079	44	2	,	,	PUNCT
ap-8079	44	3	the	the	DET
ap-8079	44	4	emg	emg	NOUN
ap-8079	44	5	measurement	measurement	NOUN
ap-8079	44	6	setup	setup	NOUN
ap-8079	44	7	is	be	AUX
ap-8079	44	8	complicated	complicate	VERB
ap-8079	44	9	,	,	PUNCT
ap-8079	44	10	and	and	CCONJ
ap-8079	44	11	emg	emg	NOUN
ap-8079	44	12	signals	signal	NOUN
ap-8079	44	13	vary	vary	VERB
ap-8079	44	14	with	with	ADP
ap-8079	44	15	the	the	DET
ap-8079	44	16	patient	patient	NOUN
ap-8079	44	17	’s	’s	PART
ap-8079	44	18	condition	condition	NOUN
ap-8079	44	19	and	and	CCONJ
ap-8079	44	20	time	time	NOUN
ap-8079	44	21	.	.	PUNCT
ap-8079	45	1	thus	thus	ADV
ap-8079	45	2	,	,	PUNCT
ap-8079	45	3	the	the	DET
ap-8079	45	4	use	use	NOUN
ap-8079	45	5	of	of	ADP
ap-8079	45	6	emg	emg	NOUN
ap-8079	45	7	signal	signal	NOUN
ap-8079	45	8	may	may	AUX
ap-8079	45	9	not	not	PART
ap-8079	45	10	be	be	AUX
ap-8079	45	11	appropriate	appropriate	ADJ
ap-8079	45	12	at	at	ADP
ap-8079	45	13	present	present	ADJ
ap-8079	45	14	.	.	PUNCT
ap-8079	46	1	to	to	PART
ap-8079	46	2	overcome	overcome	VERB
ap-8079	46	3	the	the	DET
ap-8079	46	4	limitation	limitation	NOUN
ap-8079	46	5	of	of	ADP
ap-8079	46	6	contact	contact	PROPN
ap-8079	46	7	forceand	forceand	PROPN
ap-8079	46	8	emg	emg	PROPN
ap-8079	46	9	-	-	PUNCT
ap-8079	46	10	based	base	VERB
ap-8079	46	11	approaches	approach	NOUN
ap-8079	46	12	and	and	CCONJ
ap-8079	46	13	fully	fully	ADV
ap-8079	46	14	utilise	utilise	VERB
ap-8079	46	15	the	the	DET
ap-8079	46	16	advantages	advantage	NOUN
ap-8079	46	17	of	of	ADP
ap-8079	46	18	the	the	DET
ap-8079	46	19	neural	neural	ADJ
ap-8079	46	20	network	network	NOUN
ap-8079	46	21	based	base	VERB
ap-8079	46	22	one	one	NUM
ap-8079	46	23	,	,	PUNCT
ap-8079	46	24	this	this	DET
ap-8079	46	25	research	research	NOUN
ap-8079	46	26	develops	develop	VERB
ap-8079	46	27	a	a	DET
ap-8079	46	28	simple	simple	ADJ
ap-8079	46	29	and	and	CCONJ
ap-8079	46	30	online	online	ADJ
ap-8079	46	31	method	method	NOUN
ap-8079	46	32	for	for	ADP
ap-8079	46	33	estimating	estimate	VERB
ap-8079	46	34	the	the	DET
ap-8079	46	35	external	external	ADJ
ap-8079	46	36	force	force	NOUN
ap-8079	46	37	of	of	ADP
ap-8079	46	38	the	the	DET
ap-8079	46	39	pam	pam	NOUN
ap-8079	46	40	-	-	PUNCT
ap-8079	46	41	based	base	VERB
ap-8079	46	42	gait	gait	NOUN
ap-8079	46	43	training	training	NOUN
ap-8079	46	44	robot	robot	NOUN
ap-8079	46	45	.	.	PUNCT
ap-8079	47	1	instead	instead	ADV
ap-8079	47	2	of	of	ADP
ap-8079	47	3	the	the	DET
ap-8079	47	4	force	force	NOUN
ap-8079	47	5	sensor	sensor	NOUN
ap-8079	47	6	as	as	ADP
ap-8079	47	7	most	most	ADJ
ap-8079	47	8	gait	gait	ADJ
ap-8079	47	9	training	training	NOUN
ap-8079	47	10	robots	robot	NOUN
ap-8079	47	11	,	,	PUNCT
ap-8079	47	12	this	this	DET
ap-8079	47	13	paper	paper	NOUN
ap-8079	47	14	calculates	calculate	VERB
ap-8079	47	15	the	the	DET
ap-8079	47	16	external	external	ADJ
ap-8079	47	17	force	force	NOUN
ap-8079	47	18	from	from	ADP
ap-8079	47	19	forces	force	NOUN
ap-8079	47	20	generated	generate	VERB
ap-8079	47	21	by	by	ADP
ap-8079	47	22	pam	pam	NOUN
ap-8079	47	23	actuators	actuator	NOUN
ap-8079	47	24	and	and	CCONJ
ap-8079	47	25	the	the	DET
ap-8079	47	26	robot	robot	NOUN
ap-8079	47	27	inverse	inverse	NOUN
ap-8079	47	28	dynamic	dynamic	NOUN
ap-8079	47	29	.	.	PUNCT
ap-8079	48	1	since	since	SCONJ
ap-8079	48	2	the	the	DET
ap-8079	48	3	rehabilitation	rehabilitation	NOUN
ap-8079	48	4	robot	robot	NOUN
ap-8079	48	5	has	have	VERB
ap-8079	48	6	a	a	DET
ap-8079	48	7	complex	complex	ADJ
ap-8079	48	8	structure	structure	NOUN
ap-8079	48	9	,	,	PUNCT
ap-8079	48	10	the	the	DET
ap-8079	48	11	determination	determination	NOUN
ap-8079	48	12	of	of	ADP
ap-8079	48	13	robot	robot	NOUN
ap-8079	48	14	parameters	parameter	NOUN
ap-8079	48	15	is	be	AUX
ap-8079	48	16	very	very	ADV
ap-8079	48	17	complicated	complicated	ADJ
ap-8079	48	18	and	and	CCONJ
ap-8079	48	19	inaccurate	inaccurate	ADJ
ap-8079	48	20	.	.	PUNCT
ap-8079	49	1	this	this	DET
ap-8079	49	2	paper	paper	NOUN
ap-8079	49	3	proposes	propose	VERB
ap-8079	49	4	a	a	DET
ap-8079	49	5	method	method	NOUN
ap-8079	49	6	for	for	ADP
ap-8079	49	7	estimating	estimate	VERB
ap-8079	49	8	joint	joint	ADJ
ap-8079	49	9	torques	torque	NOUN
ap-8079	49	10	using	use	VERB
ap-8079	49	11	a	a	DET
ap-8079	49	12	neural	neural	ADJ
ap-8079	49	13	network	network	NOUN
ap-8079	49	14	,	,	PUNCT
ap-8079	49	15	which	which	PRON
ap-8079	49	16	allows	allow	VERB
ap-8079	49	17	for	for	ADP
ap-8079	49	18	an	an	DET
ap-8079	49	19	easy	easy	ADJ
ap-8079	49	20	collection	collection	NOUN
ap-8079	49	21	of	of	ADP
ap-8079	49	22	training	training	NOUN
ap-8079	49	23	data	datum	NOUN
ap-8079	49	24	in	in	ADP
ap-8079	49	25	a	a	DET
ap-8079	49	26	robot	robot	NOUN
ap-8079	49	27	free	free	ADJ
ap-8079	49	28	-	-	PUNCT
ap-8079	49	29	motion	motion	NOUN
ap-8079	49	30	mode	mode	NOUN
ap-8079	49	31	.	.	PUNCT
ap-8079	50	1	the	the	DET
ap-8079	50	2	estimated	estimate	VERB
ap-8079	50	3	joint	joint	ADJ
ap-8079	50	4	torques	torque	NOUN
ap-8079	50	5	are	be	AUX
ap-8079	50	6	then	then	ADV
ap-8079	50	7	used	use	VERB
ap-8079	50	8	to	to	PART
ap-8079	50	9	obtain	obtain	VERB
ap-8079	50	10	the	the	DET
ap-8079	50	11	external	external	ADJ
ap-8079	50	12	force	force	NOUN
ap-8079	50	13	exerted	exert	VERB
ap-8079	50	14	by	by	ADP
ap-8079	50	15	the	the	DET
ap-8079	50	16	patient	patient	NOUN
ap-8079	50	17	,	,	PUNCT
ap-8079	50	18	which	which	PRON
ap-8079	50	19	is	be	AUX
ap-8079	50	20	subsequently	subsequently	ADV
ap-8079	50	21	used	use	VERB
ap-8079	50	22	for	for	ADP
ap-8079	50	23	the	the	DET
ap-8079	50	24	impedance	impedance	NOUN
ap-8079	50	25	control	control	NOUN
ap-8079	50	26	of	of	ADP
ap-8079	50	27	a	a	DET
ap-8079	50	28	pam	pam	NOUN
ap-8079	50	29	-	-	PUNCT
ap-8079	50	30	based	base	VERB
ap-8079	50	31	gait	gait	NOUN
ap-8079	50	32	training	training	NOUN
ap-8079	50	33	system	system	NOUN
ap-8079	50	34	.	.	PUNCT
ap-8079	51	1	in	in	ADP
ap-8079	51	2	summery	summery	ADJ
ap-8079	51	3	,	,	PUNCT
ap-8079	51	4	the	the	DET
ap-8079	51	5	main	main	ADJ
ap-8079	51	6	contributions	contribution	NOUN
ap-8079	51	7	of	of	ADP
ap-8079	51	8	the	the	DET
ap-8079	51	9	paper	paper	NOUN
ap-8079	51	10	are	be	AUX
ap-8079	51	11	:	:	PUNCT
ap-8079	51	12	•	•	ADV
ap-8079	51	13	using	use	VERB
ap-8079	51	14	a	a	DET
ap-8079	51	15	neural	neural	ADJ
ap-8079	51	16	network	network	NOUN
ap-8079	51	17	to	to	PART
ap-8079	51	18	estimate	estimate	VERB
ap-8079	51	19	both	both	CCONJ
ap-8079	51	20	the	the	DET
ap-8079	51	21	joint	joint	ADJ
ap-8079	51	22	torques	torque	NOUN
ap-8079	51	23	required	require	VERB
ap-8079	51	24	to	to	PART
ap-8079	51	25	guide	guide	VERB
ap-8079	51	26	the	the	DET
ap-8079	51	27	robot	robot	NOUN
ap-8079	51	28	during	during	ADP
ap-8079	51	29	gait	gait	ADJ
ap-8079	51	30	training	training	NOUN
ap-8079	51	31	and	and	CCONJ
ap-8079	51	32	the	the	DET
ap-8079	51	33	external	external	ADJ
ap-8079	51	34	force	force	NOUN
ap-8079	51	35	generated	generate	VERB
ap-8079	51	36	by	by	ADP
ap-8079	51	37	the	the	DET
ap-8079	51	38	patient	patient	NOUN
ap-8079	51	39	,	,	PUNCT
ap-8079	51	40	without	without	ADP
ap-8079	51	41	the	the	DET
ap-8079	51	42	need	need	NOUN
ap-8079	51	43	for	for	ADP
ap-8079	51	44	an	an	DET
ap-8079	51	45	external	external	ADJ
ap-8079	51	46	force	force	NOUN
ap-8079	51	47	measurement	measurement	NOUN
ap-8079	51	48	.	.	PUNCT
ap-8079	52	1	•	•	NUM
ap-8079	52	2	the	the	DET
ap-8079	52	3	estimated	estimate	VERB
ap-8079	52	4	patient	patient	NOUN
ap-8079	52	5	’s	’s	PART
ap-8079	52	6	recovery	recovery	NOUN
ap-8079	52	7	is	be	AUX
ap-8079	52	8	used	use	VERB
ap-8079	52	9	for	for	ADP
ap-8079	52	10	the	the	DET
ap-8079	52	11	impedance	impedance	NOUN
ap-8079	52	12	control	control	NOUN
ap-8079	52	13	of	of	ADP
ap-8079	52	14	the	the	DET
ap-8079	52	15	pam	pam	NOUN
ap-8079	52	16	-	-	PUNCT
ap-8079	52	17	based	base	VERB
ap-8079	52	18	gait	gait	NOUN
ap-8079	52	19	training	training	NOUN
ap-8079	52	20	system	system	NOUN
ap-8079	52	21	,	,	PUNCT
ap-8079	52	22	improving	improve	VERB
ap-8079	52	23	the	the	DET
ap-8079	52	24	robot	robot	NOUN
ap-8079	52	25	joint	joint	ADJ
ap-8079	52	26	compliance	compliance	NOUN
ap-8079	52	27	coefficients	coefficient	NOUN
ap-8079	52	28	and	and	CCONJ
ap-8079	52	29	making	make	VERB
ap-8079	52	30	the	the	DET
ap-8079	52	31	patient	patient	NOUN
ap-8079	52	32	more	more	ADV
ap-8079	52	33	comfortable	comfortable	ADJ
ap-8079	52	34	and	and	CCONJ
ap-8079	52	35	confident	confident	ADJ
ap-8079	52	36	in	in	ADP
ap-8079	52	37	their	their	PRON
ap-8079	52	38	rehabilitation	rehabilitation	NOUN
ap-8079	52	39	exercise	exercise	NOUN
ap-8079	52	40	.	.	PUNCT
ap-8079	53	1	•	•	NUM
ap-8079	53	2	the	the	DET
ap-8079	53	3	proposed	propose	VERB
ap-8079	53	4	method	method	NOUN
ap-8079	53	5	offers	offer	VERB
ap-8079	53	6	a	a	DET
ap-8079	53	7	simpler	simple	ADJ
ap-8079	53	8	and	and	CCONJ
ap-8079	53	9	more	more	ADV
ap-8079	53	10	practical	practical	ADJ
ap-8079	53	11	approach	approach	NOUN
ap-8079	53	12	to	to	ADP
ap-8079	53	13	estimating	estimate	VERB
ap-8079	53	14	the	the	DET
ap-8079	53	15	patient	patient	NOUN
ap-8079	53	16	’s	’s	PART
ap-8079	53	17	recovery	recovery	NOUN
ap-8079	53	18	as	as	SCONJ
ap-8079	53	19	compared	compare	VERB
ap-8079	53	20	to	to	ADP
ap-8079	53	21	previous	previous	ADJ
ap-8079	53	22	methods	method	NOUN
ap-8079	53	23	.	.	PUNCT
ap-8079	54	1	•	•	NUM
ap-8079	54	2	the	the	DET
ap-8079	54	3	experimental	experimental	ADJ
ap-8079	54	4	results	result	NOUN
ap-8079	54	5	demonstrate	demonstrate	VERB
ap-8079	54	6	the	the	DET
ap-8079	54	7	effectiveness	effectiveness	NOUN
ap-8079	54	8	of	of	ADP
ap-8079	54	9	the	the	DET
ap-8079	54	10	proposed	propose	VERB
ap-8079	54	11	method	method	NOUN
ap-8079	54	12	for	for	ADP
ap-8079	54	13	estimating	estimate	VERB
ap-8079	54	14	the	the	DET
ap-8079	54	15	patient	patient	NOUN
ap-8079	54	16	’s	’s	PART
ap-8079	54	17	recovery	recovery	NOUN
ap-8079	54	18	and	and	CCONJ
ap-8079	54	19	improving	improve	VERB
ap-8079	54	20	the	the	DET
ap-8079	54	21	gait	gait	ADJ
ap-8079	54	22	training	training	NOUN
ap-8079	54	23	robot	robot	NOUN
ap-8079	54	24	system	system	NOUN
ap-8079	54	25	.	.	PUNCT
ap-8079	55	1	the	the	DET
ap-8079	55	2	rest	rest	NOUN
ap-8079	55	3	of	of	ADP
ap-8079	55	4	the	the	DET
ap-8079	55	5	paper	paper	NOUN
ap-8079	55	6	is	be	AUX
ap-8079	55	7	organised	organise	VERB
ap-8079	55	8	as	as	SCONJ
ap-8079	55	9	follows	follow	VERB
ap-8079	55	10	.	.	PUNCT
ap-8079	56	1	section	section	NOUN
ap-8079	56	2	2	2	NUM
ap-8079	56	3	presents	present	VERB
ap-8079	56	4	the	the	DET
ap-8079	56	5	structure	structure	NOUN
ap-8079	56	6	of	of	ADP
ap-8079	56	7	the	the	DET
ap-8079	56	8	2	2	NUM
ap-8079	56	9	-	-	PUNCT
ap-8079	56	10	dof	dof	NOUN
ap-8079	56	11	prototype	prototype	NOUN
ap-8079	56	12	exoskeletal	exoskeletal	ADJ
ap-8079	56	13	robot	robot	NOUN
ap-8079	56	14	for	for	ADP
ap-8079	56	15	lower	low	ADJ
ap-8079	56	16	limb	limb	NOUN
ap-8079	56	17	rehabilitation	rehabilitation	NOUN
ap-8079	56	18	.	.	PUNCT
ap-8079	57	1	the	the	DET
ap-8079	57	2	force	force	NOUN
ap-8079	57	3	estimation	estimation	NOUN
ap-8079	57	4	is	be	AUX
ap-8079	57	5	demonstrated	demonstrate	VERB
ap-8079	57	6	in	in	ADP
ap-8079	57	7	section	section	NOUN
ap-8079	57	8	3	3	NUM
ap-8079	57	9	.	.	PUNCT
ap-8079	57	10	section	section	NOUN
ap-8079	57	11	4	4	NUM
ap-8079	57	12	presents	present	VERB
ap-8079	57	13	the	the	DET
ap-8079	57	14	compliant	compliant	ADJ
ap-8079	57	15	control	control	NOUN
ap-8079	57	16	for	for	ADP
ap-8079	57	17	the	the	DET
ap-8079	57	18	reha	reha	ADJ
ap-8079	57	19	𝜃2	𝜃2	PROPN
ap-8079	57	20	𝜃1	𝜃1	NOUN
ap-8079	58	1	𝑙𝑐2	𝑙𝑐2	NOUN
ap-8079	58	2	𝑙2	𝑙2	PROPN
ap-8079	58	3	𝑙𝑐1	𝑙𝑐1	PROPN
ap-8079	58	4	𝑙1	𝑙1	PROPN
ap-8079	58	5	com2	com2	PROPN
ap-8079	58	6	𝑦1	𝑦1	PROPN
ap-8079	58	7	𝑦2	𝑦2	PROPN
ap-8079	58	8	o1	o1	PROPN
ap-8079	58	9	o2	o2	PROPN
ap-8079	58	10	com1	com1	PROPN
ap-8079	58	11	(	(	PUNCT
ap-8079	58	12	a	a	NOUN
ap-8079	58	13	)	)	PUNCT
ap-8079	58	14	.	.	PUNCT
ap-8079	59	1	hip	hip	PROPN
ap-8079	59	2	pams	pams	PROPN
ap-8079	59	3	knee	knee	PROPN
ap-8079	59	4	pams	pams	PROPN
ap-8079	59	5	hip	hip	VERB
ap-8079	59	6	joint	joint	ADJ
ap-8079	59	7	knee	knee	NOUN
ap-8079	59	8	joint	joint	NOUN
ap-8079	59	9	(	(	PUNCT
ap-8079	59	10	b	b	NOUN
ap-8079	59	11	)	)	PUNCT
ap-8079	59	12	.	.	PUNCT
ap-8079	60	1	figure	figure	NOUN
ap-8079	60	2	1	1	NUM
ap-8079	60	3	.	.	PUNCT
ap-8079	61	1	the	the	DET
ap-8079	61	2	proposed	propose	VERB
ap-8079	61	3	method	method	NOUN
ap-8079	61	4	’s	’s	PART
ap-8079	61	5	experimental	experimental	ADJ
ap-8079	61	6	rig	rig	NOUN
ap-8079	61	7	,	,	PUNCT
ap-8079	61	8	with	with	ADP
ap-8079	61	9	a	a	DET
ap-8079	61	10	typical	typical	ADJ
ap-8079	61	11	2	2	NUM
ap-8079	61	12	-	-	PUNCT
ap-8079	61	13	dof	dof	NOUN
ap-8079	61	14	robot	robot	NOUN
ap-8079	61	15	(	(	PUNCT
ap-8079	61	16	a	a	NOUN
ap-8079	61	17	)	)	PUNCT
ap-8079	61	18	and	and	CCONJ
ap-8079	61	19	a	a	DET
ap-8079	61	20	bk	bk	NOUN
ap-8079	61	21	-	-	PUNCT
ap-8079	61	22	gait	gait	NOUN
ap-8079	61	23	pambased	pambase	VERB
ap-8079	61	24	lower	low	ADJ
ap-8079	61	25	limb	limb	NOUN
ap-8079	61	26	orthosis	orthosis	NOUN
ap-8079	61	27	(	(	PUNCT
ap-8079	61	28	b	b	NOUN
ap-8079	61	29	)	)	PUNCT
ap-8079	61	30	with	with	ADP
ap-8079	61	31	com	com	NOUN
ap-8079	61	32	representing	represent	VERB
ap-8079	61	33	the	the	DET
ap-8079	61	34	centre	centre	NOUN
ap-8079	61	35	of	of	ADP
ap-8079	61	36	mass	mass	PROPN
ap-8079	61	37	.	.	PUNCT
ap-8079	62	1	bilitation	bilitation	NOUN
ap-8079	62	2	robot	robot	NOUN
ap-8079	62	3	using	use	VERB
ap-8079	62	4	the	the	DET
ap-8079	62	5	estimated	estimate	VERB
ap-8079	62	6	patient	patient	NOUN
ap-8079	62	7	’s	’s	PART
ap-8079	62	8	force	force	NOUN
ap-8079	62	9	.	.	PUNCT
ap-8079	63	1	conclusion	conclusion	NOUN
ap-8079	63	2	and	and	CCONJ
ap-8079	63	3	further	further	ADJ
ap-8079	63	4	studies	study	NOUN
ap-8079	63	5	are	be	AUX
ap-8079	63	6	shown	show	VERB
ap-8079	63	7	in	in	ADP
ap-8079	63	8	section	section	NOUN
ap-8079	63	9	5	5	NUM
ap-8079	63	10	.	.	NOUN
ap-8079	63	11	2	2	NUM
ap-8079	63	12	.	.	X
ap-8079	63	13	lower	low	ADJ
ap-8079	63	14	limb	limb	PROPN
ap-8079	63	15	rehabilitation	rehabilitation	NOUN
ap-8079	63	16	robot	robot	NOUN
ap-8079	63	17	system	system	NOUN
ap-8079	63	18	this	this	DET
ap-8079	63	19	paper	paper	NOUN
ap-8079	63	20	considers	consider	VERB
ap-8079	63	21	a	a	DET
ap-8079	63	22	bk	bk	NOUN
ap-8079	63	23	-	-	PUNCT
ap-8079	63	24	gait	gait	NOUN
ap-8079	63	25	based	base	VERB
ap-8079	63	26	lower	low	ADJ
ap-8079	63	27	limb	limb	NOUN
ap-8079	63	28	rehabilitation	rehabilitation	NOUN
ap-8079	63	29	system	system	NOUN
ap-8079	63	30	for	for	ADP
ap-8079	63	31	the	the	DET
ap-8079	63	32	experimental	experimental	ADJ
ap-8079	63	33	works	work	NOUN
ap-8079	63	34	.	.	PUNCT
ap-8079	64	1	the	the	DET
ap-8079	64	2	system	system	NOUN
ap-8079	64	3	’s	’s	PART
ap-8079	64	4	main	main	ADJ
ap-8079	64	5	advantage	advantage	NOUN
ap-8079	64	6	is	be	AUX
ap-8079	64	7	the	the	DET
ap-8079	64	8	suspension	suspension	NOUN
ap-8079	64	9	frame	frame	NOUN
ap-8079	64	10	’s	’s	PART
ap-8079	64	11	direct	direct	ADJ
ap-8079	64	12	attachment	attachment	NOUN
ap-8079	64	13	to	to	ADP
ap-8079	64	14	the	the	DET
ap-8079	64	15	pre	pre	ADJ
ap-8079	64	16	-	-	ADJ
ap-8079	64	17	shaped	shaped	ADJ
ap-8079	64	18	aluminum	aluminum	NOUN
ap-8079	64	19	,	,	PUNCT
ap-8079	64	20	which	which	PRON
ap-8079	64	21	fixes	fix	VERB
ap-8079	64	22	the	the	DET
ap-8079	64	23	robot	robot	NOUN
ap-8079	64	24	and	and	CCONJ
ap-8079	64	25	lifts	lift	VERB
ap-8079	64	26	the	the	DET
ap-8079	64	27	patient	patient	NOUN
ap-8079	64	28	to	to	ADP
ap-8079	64	29	the	the	DET
ap-8079	64	30	desired	desire	VERB
ap-8079	64	31	height	height	NOUN
ap-8079	64	32	.	.	PUNCT
ap-8079	65	1	the	the	DET
ap-8079	65	2	prototype	prototype	NOUN
ap-8079	65	3	robot	robot	NOUN
ap-8079	65	4	is	be	AUX
ap-8079	65	5	a	a	DET
ap-8079	65	6	2	2	NUM
ap-8079	65	7	-	-	PUNCT
ap-8079	65	8	dof	dof	NOUN
ap-8079	65	9	robot	robot	NOUN
ap-8079	65	10	,	,	PUNCT
ap-8079	65	11	as	as	SCONJ
ap-8079	65	12	shown	show	VERB
ap-8079	65	13	in	in	ADP
ap-8079	65	14	figure	figure	NOUN
ap-8079	65	15	1a	1a	NOUN
ap-8079	65	16	,	,	PUNCT
ap-8079	65	17	which	which	PRON
ap-8079	65	18	drives	drive	VERB
ap-8079	65	19	the	the	DET
ap-8079	65	20	lower	low	ADJ
ap-8079	65	21	limb	limb	NOUN
ap-8079	65	22	of	of	ADP
ap-8079	65	23	the	the	DET
ap-8079	65	24	subject	subject	NOUN
ap-8079	65	25	with	with	ADP
ap-8079	65	26	the	the	DET
ap-8079	65	27	help	help	NOUN
ap-8079	65	28	of	of	ADP
ap-8079	65	29	two	two	NUM
ap-8079	65	30	aluminum	aluminum	NOUN
ap-8079	65	31	braces	brace	NOUN
ap-8079	65	32	attached	attach	VERB
ap-8079	65	33	to	to	ADP
ap-8079	65	34	the	the	DET
ap-8079	65	35	thigh	thigh	NOUN
ap-8079	65	36	and	and	CCONJ
ap-8079	65	37	shank	shank	ADJ
ap-8079	65	38	parts	part	NOUN
ap-8079	65	39	.	.	PUNCT
ap-8079	66	1	the	the	DET
ap-8079	66	2	length	length	NOUN
ap-8079	66	3	of	of	ADP
ap-8079	66	4	the	the	DET
ap-8079	66	5	robot	robot	NOUN
ap-8079	66	6	’s	’s	PART
ap-8079	66	7	links	link	NOUN
ap-8079	66	8	can	can	AUX
ap-8079	66	9	be	be	AUX
ap-8079	66	10	adjusted	adjust	VERB
ap-8079	66	11	based	base	VERB
ap-8079	66	12	on	on	ADP
ap-8079	66	13	the	the	DET
ap-8079	66	14	subjects	subject	NOUN
ap-8079	66	15	’	'	PUNCT
ap-8079	66	16	body	body	NOUN
ap-8079	66	17	using	use	VERB
ap-8079	66	18	the	the	DET
ap-8079	66	19	slider	slider	NOUN
ap-8079	66	20	located	locate	VERB
ap-8079	66	21	between	between	ADP
ap-8079	66	22	the	the	DET
ap-8079	66	23	hip	hip	NOUN
ap-8079	66	24	and	and	CCONJ
ap-8079	66	25	knee	knee	NOUN
ap-8079	66	26	joints	joint	NOUN
ap-8079	66	27	.	.	PUNCT
ap-8079	67	1	the	the	DET
ap-8079	67	2	hip	hip	NOUN
ap-8079	67	3	and	and	CCONJ
ap-8079	67	4	knee	knee	NOUN
ap-8079	67	5	joints	joint	NOUN
ap-8079	67	6	can	can	AUX
ap-8079	67	7	flex	flex	VERB
ap-8079	67	8	/	/	SYM
ap-8079	67	9	extend	extend	VERB
ap-8079	67	10	to	to	ADP
ap-8079	67	11	a	a	DET
ap-8079	67	12	maximum	maximum	ADJ
ap-8079	67	13	angle	angle	NOUN
ap-8079	67	14	of	of	ADP
ap-8079	67	15	−45	−45	ADP
ap-8079	67	16	◦	◦	NOUN
ap-8079	67	17	/+45	/+45	NOUN
ap-8079	67	18	◦	◦	NOUN
ap-8079	67	19	and	and	CCONJ
ap-8079	67	20	0	0	NUM
ap-8079	67	21	◦	◦	NOUN
ap-8079	67	22	/90	/90	SYM
ap-8079	67	23	◦	◦	NOUN
ap-8079	67	24	,	,	PUNCT
ap-8079	67	25	respectively	respectively	ADV
ap-8079	67	26	.	.	PUNCT
ap-8079	68	1	overall	overall	ADV
ap-8079	68	2	,	,	PUNCT
ap-8079	68	3	the	the	DET
ap-8079	68	4	system	system	NOUN
ap-8079	68	5	’s	’s	PART
ap-8079	68	6	design	design	NOUN
ap-8079	68	7	allows	allow	VERB
ap-8079	68	8	for	for	ADP
ap-8079	68	9	a	a	DET
ap-8079	68	10	customisable	customisable	ADJ
ap-8079	68	11	and	and	CCONJ
ap-8079	68	12	effective	effective	ADJ
ap-8079	68	13	rehabilitation	rehabilitation	NOUN
ap-8079	68	14	experience	experience	NOUN
ap-8079	68	15	for	for	ADP
ap-8079	68	16	lower	low	ADJ
ap-8079	68	17	limb	limb	NOUN
ap-8079	68	18	patients	patient	NOUN
ap-8079	68	19	.	.	PUNCT
ap-8079	69	1	the	the	DET
ap-8079	69	2	developed	develop	VERB
ap-8079	69	3	robotic	robotic	ADJ
ap-8079	69	4	exoskeleton	exoskeleton	NOUN
ap-8079	69	5	system	system	NOUN
ap-8079	69	6	is	be	AUX
ap-8079	69	7	depicted	depict	VERB
ap-8079	69	8	in	in	ADP
ap-8079	69	9	the	the	DET
ap-8079	69	10	actual	actual	ADJ
ap-8079	69	11	image	image	NOUN
ap-8079	69	12	shown	show	VERB
ap-8079	69	13	in	in	ADP
ap-8079	69	14	figure	figure	NOUN
ap-8079	69	15	1b	1b	NUM
ap-8079	69	16	.	.	PUNCT
ap-8079	70	1	the	the	DET
ap-8079	70	2	robot	robot	NOUN
ap-8079	70	3	system	system	NOUN
ap-8079	70	4	consists	consist	VERB
ap-8079	70	5	of	of	ADP
ap-8079	70	6	two	two	NUM
ap-8079	70	7	opposing	oppose	VERB
ap-8079	70	8	muscles	muscle	NOUN
ap-8079	70	9	and	and	CCONJ
ap-8079	70	10	joints	joint	NOUN
ap-8079	70	11	fixed	fix	VERB
ap-8079	70	12	on	on	ADP
ap-8079	70	13	a	a	DET
ap-8079	70	14	flat	flat	ADJ
ap-8079	70	15	surface	surface	NOUN
ap-8079	70	16	to	to	PART
ap-8079	70	17	enable	enable	VERB
ap-8079	70	18	the	the	DET
ap-8079	70	19	movement	movement	NOUN
ap-8079	70	20	.	.	PUNCT
ap-8079	71	1	the	the	DET
ap-8079	71	2	used	use	VERB
ap-8079	71	3	pam	pam	NOUN
ap-8079	71	4	type	type	NOUN
ap-8079	71	5	is	be	AUX
ap-8079	71	6	a	a	DET
ap-8079	71	7	mckibben	mckibben	PROPN
ap-8079	71	8	artificial	artificial	ADJ
ap-8079	71	9	muscle	muscle	NOUN
ap-8079	71	10	,	,	PUNCT
ap-8079	71	11	2.5	2.5	NUM
ap-8079	71	12	cm	cm	NOUN
ap-8079	71	13	in	in	ADP
ap-8079	71	14	diameter	diameter	NOUN
ap-8079	71	15	.	.	PUNCT
ap-8079	72	1	this	this	DET
ap-8079	72	2	pam	pam	NOUN
ap-8079	72	3	also	also	ADV
ap-8079	72	4	has	have	VERB
ap-8079	72	5	a	a	DET
ap-8079	72	6	maximum	maximum	ADJ
ap-8079	72	7	contraction	contraction	NOUN
ap-8079	72	8	rate	rate	NOUN
ap-8079	72	9	of	of	ADP
ap-8079	72	10	30	30	NUM
ap-8079	72	11	%	%	NOUN
ap-8079	72	12	compared	compare	VERB
ap-8079	72	13	to	to	ADP
ap-8079	72	14	muscle	muscle	NOUN
ap-8079	72	15	length	length	NOUN
ap-8079	72	16	similar	similar	ADJ
ap-8079	72	17	to	to	ADP
ap-8079	72	18	human	human	ADJ
ap-8079	72	19	muscles	muscle	NOUN
ap-8079	72	20	.	.	PUNCT
ap-8079	73	1	we	we	PRON
ap-8079	73	2	used	use	VERB
ap-8079	73	3	two	two	NUM
ap-8079	73	4	pairs	pair	NOUN
ap-8079	73	5	of	of	ADP
ap-8079	73	6	pressure	pressure	NOUN
ap-8079	73	7	regulators	regulator	NOUN
ap-8079	73	8	itv-2030	itv-2030	NOUN
ap-8079	73	9	-	-	PUNCT
ap-8079	73	10	212s	212	NOUN
ap-8079	73	11	-	-	PUNCT
ap-8079	73	12	x26	x26	NOUN
ap-8079	73	13	by	by	ADP
ap-8079	73	14	smc	smc	PROPN
ap-8079	73	15	in	in	ADP
ap-8079	73	16	the	the	DET
ap-8079	73	17	developed	develop	VERB
ap-8079	73	18	muscle	muscle	NOUN
ap-8079	73	19	system	system	NOUN
ap-8079	73	20	.	.	PUNCT
ap-8079	74	1	a	a	DET
ap-8079	74	2	pressure	pressure	NOUN
ap-8079	74	3	difference	difference	NOUN
ap-8079	74	4	between	between	ADP
ap-8079	74	5	the	the	DET
ap-8079	74	6	two	two	NUM
ap-8079	74	7	control	control	NOUN
ap-8079	74	8	valves	valve	NOUN
ap-8079	74	9	causes	cause	VERB
ap-8079	74	10	one	one	NUM
ap-8079	74	11	muscle	muscle	NOUN
ap-8079	74	12	to	to	PART
ap-8079	74	13	contract	contract	VERB
ap-8079	74	14	and	and	CCONJ
ap-8079	74	15	the	the	DET
ap-8079	74	16	other	other	ADJ
ap-8079	74	17	to	to	PART
ap-8079	74	18	stretch	stretch	VERB
ap-8079	74	19	.	.	PUNCT
ap-8079	75	1	that	that	PRON
ap-8079	75	2	creates	create	VERB
ap-8079	75	3	a	a	DET
ap-8079	75	4	rotation	rotation	NOUN
ap-8079	75	5	angle	angle	NOUN
ap-8079	75	6	of	of	ADP
ap-8079	75	7	the	the	DET
ap-8079	75	8	corresponding	corresponding	ADJ
ap-8079	75	9	joint	joint	NOUN
ap-8079	75	10	.	.	PUNCT
ap-8079	76	1	a	a	DET
ap-8079	76	2	potentiometer	potentiometer	NOUN
ap-8079	76	3	wdd35d8	wdd35d8	NOUN
ap-8079	76	4	that	that	PRON
ap-8079	76	5	ranges	range	VERB
ap-8079	76	6	up	up	ADV
ap-8079	76	7	to	to	ADP
ap-8079	76	8	360	360	NUM
ap-8079	76	9	◦	◦	NOUN
ap-8079	76	10	is	be	AUX
ap-8079	76	11	attached	attach	VERB
ap-8079	76	12	to	to	ADP
ap-8079	76	13	each	each	DET
ap-8079	76	14	robot	robot	NOUN
ap-8079	76	15	joint	joint	VERB
ap-8079	76	16	to	to	PART
ap-8079	76	17	measure	measure	VERB
ap-8079	76	18	the	the	DET
ap-8079	76	19	joint	joint	NOUN
ap-8079	76	20	’s	’s	PART
ap-8079	76	21	position	position	NOUN
ap-8079	76	22	.	.	PUNCT
ap-8079	77	1	load	load	NOUN
ap-8079	77	2	cells	cell	NOUN
ap-8079	77	3	are	be	AUX
ap-8079	77	4	attached	attach	VERB
ap-8079	77	5	to	to	ADP
ap-8079	77	6	the	the	DET
ap-8079	77	7	muscle	muscle	NOUN
ap-8079	77	8	’s	’s	PART
ap-8079	77	9	ends	end	NOUN
ap-8079	77	10	to	to	PART
ap-8079	77	11	measure	measure	VERB
ap-8079	77	12	the	the	DET
ap-8079	77	13	pull	pull	ADJ
ap-8079	77	14	force	force	NOUN
ap-8079	77	15	of	of	ADP
ap-8079	77	16	muscles	muscle	NOUN
ap-8079	77	17	.	.	PUNCT
ap-8079	78	1	the	the	DET
ap-8079	78	2	ni	ni	PROPN
ap-8079	78	3	myrio	myrio	PROPN
ap-8079	78	4	platform	platform	NOUN
ap-8079	78	5	developed	develop	VERB
ap-8079	78	6	by	by	ADP
ap-8079	78	7	national	national	ADJ
ap-8079	78	8	instrument	instrument	NOUN
ap-8079	78	9	was	be	AUX
ap-8079	78	10	adopted	adopt	VERB
ap-8079	78	11	to	to	PART
ap-8079	78	12	implement	implement	VERB
ap-8079	78	13	180	180	NUM
ap-8079	78	14	vol	vol	NOUN
ap-8079	78	15	.	.	PUNCT
ap-8079	79	1	63	63	NUM
ap-8079	80	1	no	no	NOUN
ap-8079	80	2	.	.	PUNCT
ap-8079	81	1	3/2023	3/2023	NUM
ap-8079	81	2	neural	neural	ADJ
ap-8079	81	3	network	network	NOUN
ap-8079	81	4	based	base	VERB
ap-8079	81	5	patient	patient	NOUN
ap-8079	81	6	recovery	recovery	NOUN
ap-8079	81	7	estimation	estimation	NOUN
ap-8079	81	8	the	the	DET
ap-8079	81	9	control	control	NOUN
ap-8079	81	10	algorithm	algorithm	NOUN
ap-8079	81	11	.	.	PUNCT
ap-8079	82	1	ni	ni	PROPN
ap-8079	82	2	myrio	myrio	PROPN
ap-8079	82	3	also	also	ADV
ap-8079	82	4	collects	collect	VERB
ap-8079	82	5	voltage	voltage	NOUN
ap-8079	82	6	signals	signal	NOUN
ap-8079	82	7	from	from	ADP
ap-8079	82	8	load	load	NOUN
ap-8079	82	9	cells	cell	NOUN
ap-8079	82	10	,	,	PUNCT
ap-8079	82	11	potentiometers	potentiometer	NOUN
ap-8079	82	12	,	,	PUNCT
ap-8079	82	13	and	and	CCONJ
ap-8079	82	14	provides	provide	VERB
ap-8079	82	15	control	control	NOUN
ap-8079	82	16	signals	signal	NOUN
ap-8079	82	17	.	.	PUNCT
ap-8079	83	1	the	the	DET
ap-8079	83	2	control	control	NOUN
ap-8079	83	3	algorithm	algorithm	NOUN
ap-8079	83	4	is	be	AUX
ap-8079	83	5	developed	develop	VERB
ap-8079	83	6	and	and	CCONJ
ap-8079	83	7	compiled	compile	VERB
ap-8079	83	8	in	in	ADP
ap-8079	83	9	the	the	DET
ap-8079	83	10	labview	labview	NOUN
ap-8079	83	11	software	software	NOUN
ap-8079	83	12	environment	environment	NOUN
ap-8079	83	13	before	before	ADP
ap-8079	83	14	being	be	AUX
ap-8079	83	15	downloaded	download	VERB
ap-8079	83	16	to	to	ADP
ap-8079	83	17	ni	ni	PROPN
ap-8079	83	18	myrio	myrio	NOUN
ap-8079	83	19	for	for	ADP
ap-8079	83	20	a	a	DET
ap-8079	83	21	real	real	ADJ
ap-8079	83	22	-	-	PUNCT
ap-8079	83	23	time	time	NOUN
ap-8079	83	24	control	control	NOUN
ap-8079	83	25	.	.	PUNCT
ap-8079	84	1	3	3	X
ap-8079	84	2	.	.	X
ap-8079	84	3	human	human	ADJ
ap-8079	84	4	torque	torque	NOUN
ap-8079	84	5	estimation	estimation	NOUN
ap-8079	84	6	let	let	VERB
ap-8079	84	7	us	we	PRON
ap-8079	84	8	consider	consider	VERB
ap-8079	84	9	the	the	DET
ap-8079	84	10	developed	developed	ADJ
ap-8079	84	11	2	2	NUM
ap-8079	84	12	-	-	PUNCT
ap-8079	84	13	dof	dof	NOUN
ap-8079	84	14	rehabilitation	rehabilitation	NOUN
ap-8079	84	15	robot	robot	NOUN
ap-8079	84	16	which	which	PRON
ap-8079	84	17	has	have	VERB
ap-8079	84	18	a	a	DET
ap-8079	84	19	typical	typical	ADJ
ap-8079	84	20	schematic	schematic	ADJ
ap-8079	84	21	diagram	diagram	NOUN
ap-8079	84	22	in	in	ADP
ap-8079	84	23	figure	figure	NOUN
ap-8079	84	24	1a	1a	NOUN
ap-8079	84	25	.	.	PUNCT
ap-8079	85	1	when	when	SCONJ
ap-8079	85	2	a	a	DET
ap-8079	85	3	torque	torque	NOUN
ap-8079	85	4	vector	vector	NOUN
ap-8079	85	5	m	m	NOUN
ap-8079	85	6	is	be	AUX
ap-8079	85	7	applied	apply	VERB
ap-8079	85	8	to	to	ADP
ap-8079	85	9	the	the	DET
ap-8079	85	10	robot	robot	NOUN
ap-8079	85	11	system	system	NOUN
ap-8079	85	12	,	,	PUNCT
ap-8079	85	13	the	the	DET
ap-8079	85	14	robot	robot	NOUN
ap-8079	85	15	is	be	AUX
ap-8079	85	16	moved	move	VERB
ap-8079	85	17	with	with	ADP
ap-8079	85	18	position	position	NOUN
ap-8079	85	19	vector	vector	NOUN
ap-8079	85	20	q	q	NOUN
ap-8079	85	21	,	,	PUNCT
ap-8079	85	22	and	and	CCONJ
ap-8079	85	23	the	the	DET
ap-8079	85	24	dynamics	dynamic	NOUN
ap-8079	85	25	of	of	ADP
ap-8079	85	26	a	a	DET
ap-8079	85	27	robot	robot	NOUN
ap-8079	85	28	system	system	NOUN
ap-8079	85	29	can	can	AUX
ap-8079	85	30	be	be	AUX
ap-8079	85	31	expressed	express	VERB
ap-8079	85	32	as	as	ADP
ap-8079	85	33	[	[	X
ap-8079	85	34	26	26	NUM
ap-8079	85	35	]	]	X
ap-8079	85	36	:	:	PUNCT
ap-8079	85	37	m	m	VERB
ap-8079	85	38	=	=	SYM
ap-8079	86	1	h(q)q̈	h(q)q̈	PROPN
ap-8079	86	2	+	+	CCONJ
ap-8079	86	3	v	v	NOUN
ap-8079	86	4	(	(	PUNCT
ap-8079	86	5	q	q	NOUN
ap-8079	86	6	,	,	PUNCT
ap-8079	86	7	q̇	q̇	ADV
ap-8079	86	8	)	)	PUNCT
ap-8079	86	9	+	+	CCONJ
ap-8079	86	10	g(q	g(q	NOUN
ap-8079	86	11	)	)	PUNCT
ap-8079	86	12	,	,	PUNCT
ap-8079	86	13	(	(	PUNCT
ap-8079	86	14	1	1	X
ap-8079	86	15	)	)	PUNCT
ap-8079	86	16	where	where	SCONJ
ap-8079	86	17	q	q	NOUN
ap-8079	87	1	=	=	PUNCT
ap-8079	87	2	[	[	PUNCT
ap-8079	87	3	θ1	θ1	PROPN
ap-8079	87	4	θ2	θ2	PROPN
ap-8079	87	5	]	]	PUNCT
ap-8079	87	6	is	be	AUX
ap-8079	87	7	the	the	DET
ap-8079	87	8	robot	robot	NOUN
ap-8079	87	9	’s	’s	PART
ap-8079	87	10	position	position	NOUN
ap-8079	87	11	vector	vector	NOUN
ap-8079	87	12	with	with	ADP
ap-8079	87	13	θ1	θ1	NOUN
ap-8079	87	14	being	be	AUX
ap-8079	87	15	the	the	DET
ap-8079	87	16	hip	hip	NOUN
ap-8079	87	17	joint	joint	NOUN
ap-8079	87	18	’s	’s	PART
ap-8079	87	19	angle	angle	NOUN
ap-8079	87	20	and	and	CCONJ
ap-8079	87	21	θ2	θ2	ADV
ap-8079	87	22	the	the	DET
ap-8079	87	23	knee	knee	NOUN
ap-8079	87	24	joint	joint	PROPN
ap-8079	87	25	’s	’s	PART
ap-8079	87	26	angle	angle	NOUN
ap-8079	87	27	.	.	PUNCT
ap-8079	88	1	h(q	h(q	ADV
ap-8079	88	2	)	)	PUNCT
ap-8079	89	1	=	=	PUNCT
ap-8079	89	2	[	[	PUNCT
ap-8079	89	3	h11	h11	PROPN
ap-8079	89	4	h12	h12	PROPN
ap-8079	89	5	h21	h21	PROPN
ap-8079	89	6	h22	h22	PROPN
ap-8079	89	7	]	]	PUNCT
ap-8079	89	8	is	be	AUX
ap-8079	89	9	the	the	DET
ap-8079	89	10	inertia	inertia	NOUN
ap-8079	89	11	matrix	matrix	NOUN
ap-8079	89	12	.	.	PUNCT
ap-8079	90	1	v	v	X
ap-8079	90	2	(	(	PUNCT
ap-8079	90	3	q	q	NOUN
ap-8079	90	4	,	,	PUNCT
ap-8079	90	5	q̇	q̇	ADJ
ap-8079	90	6	)	)	PUNCT
ap-8079	90	7	=	=	PUNCT
ap-8079	91	1	[	[	PUNCT
ap-8079	91	2	−m2l1lc2θ̇2(2θ̇1	−m2l1lc2θ̇2(2θ̇1	NOUN
ap-8079	91	3	+	+	CCONJ
ap-8079	91	4	θ̇2	θ̇2	PROPN
ap-8079	91	5	)	)	PUNCT
ap-8079	91	6	sin	sin	NOUN
ap-8079	91	7	θ2	θ2	PROPN
ap-8079	91	8	m2l1lc2	m2l1lc2	PROPN
ap-8079	91	9	sin	sin	VERB
ap-8079	91	10	θ2θ̇2	θ2θ̇2	PROPN
ap-8079	91	11	1	1	NUM
ap-8079	91	12	]	]	PUNCT
ap-8079	91	13	is	be	AUX
ap-8079	91	14	the	the	DET
ap-8079	91	15	coriolis	corioli	NOUN
ap-8079	91	16	and	and	CCONJ
ap-8079	91	17	centrifugal	centrifugal	ADJ
ap-8079	91	18	forces	force	NOUN
ap-8079	91	19	.	.	PUNCT
ap-8079	92	1	g(q)=	g(q)=	VERB
ap-8079	92	2	[	[	PUNCT
ap-8079	92	3	(	(	PUNCT
ap-8079	92	4	m1lc1	m1lc1	X
ap-8079	92	5	+	+	CCONJ
ap-8079	92	6	m2l1)g	m2l1)g	PROPN
ap-8079	92	7	cos	cos	PROPN
ap-8079	92	8	θ1	θ1	PROPN
ap-8079	92	9	+	+	CCONJ
ap-8079	92	10	m2lc2	m2lc2	X
ap-8079	93	1	cos(θ1	cos(θ1	X
ap-8079	94	1	+	+	CCONJ
ap-8079	94	2	θ2	θ2	PROPN
ap-8079	94	3	)	)	PUNCT
ap-8079	94	4	m2glc2	m2glc2	NOUN
ap-8079	95	1	cos(θ1	cos(θ1	X
ap-8079	96	1	+	+	CCONJ
ap-8079	96	2	θ2	θ2	PROPN
ap-8079	96	3	)	)	PUNCT
ap-8079	96	4	]	]	PUNCT
ap-8079	96	5	is	be	AUX
ap-8079	96	6	the	the	DET
ap-8079	96	7	gravitational	gravitational	ADJ
ap-8079	96	8	force	force	NOUN
ap-8079	96	9	vector	vector	PROPN
ap-8079	96	10	.	.	PUNCT
ap-8079	97	1	h11	h11	NOUN
ap-8079	97	2	=	=	SYM
ap-8079	97	3	m1l2	m1l2	PROPN
ap-8079	97	4	c1	c1	PROPN
ap-8079	97	5	+	+	CCONJ
ap-8079	97	6	m2(l2	m2(l2	PROPN
ap-8079	97	7	1	1	NUM
ap-8079	97	8	+	+	NUM
ap-8079	97	9	l2	l2	NOUN
ap-8079	97	10	c2	c2	PROPN
ap-8079	97	11	+	+	CCONJ
ap-8079	97	12	2l1lc2	2l1lc2	NUM
ap-8079	97	13	cos	cos	PROPN
ap-8079	97	14	θ2	θ2	PROPN
ap-8079	97	15	)	)	PUNCT
ap-8079	97	16	h12	h12	NOUN
ap-8079	97	17	=	=	SYM
ap-8079	97	18	h21	h21	NOUN
ap-8079	97	19	=	=	NOUN
ap-8079	97	20	m2(l2	m2(l2	PROPN
ap-8079	97	21	c2	c2	PROPN
ap-8079	97	22	+	+	CCONJ
ap-8079	97	23	l1lc2	l1lc2	PROPN
ap-8079	97	24	cos	cos	PROPN
ap-8079	97	25	θ2	θ2	PROPN
ap-8079	97	26	)	)	PUNCT
ap-8079	97	27	h22	h22	PROPN
ap-8079	97	28	=	=	SYM
ap-8079	97	29	m2l2	m2l2	PROPN
ap-8079	97	30	c2	c2	PROPN
ap-8079	97	31	in	in	ADP
ap-8079	97	32	the	the	DET
ap-8079	97	33	above	above	ADJ
ap-8079	97	34	equations	equation	NOUN
ap-8079	97	35	,	,	PUNCT
ap-8079	97	36	li	li	PROPN
ap-8079	97	37	and	and	CCONJ
ap-8079	97	38	mi	mi	PROPN
ap-8079	97	39	(	(	PUNCT
ap-8079	97	40	i	i	NOUN
ap-8079	97	41	=	=	NOUN
ap-8079	97	42	1	1	NUM
ap-8079	97	43	,	,	PUNCT
ap-8079	97	44	2	2	NUM
ap-8079	97	45	)	)	PUNCT
ap-8079	97	46	are	be	AUX
ap-8079	97	47	the	the	DET
ap-8079	97	48	length	length	NOUN
ap-8079	97	49	and	and	CCONJ
ap-8079	97	50	mass	mass	NOUN
ap-8079	97	51	of	of	ADP
ap-8079	97	52	the	the	DET
ap-8079	97	53	robot	robot	NOUN
ap-8079	97	54	’s	’s	PART
ap-8079	97	55	links	link	NOUN
ap-8079	97	56	;	;	PUNCT
ap-8079	97	57	lci	lci	PROPN
ap-8079	97	58	(	(	PUNCT
ap-8079	97	59	i	i	NOUN
ap-8079	97	60	=	=	NOUN
ap-8079	97	61	1	1	NUM
ap-8079	97	62	,	,	PUNCT
ap-8079	97	63	2	2	NUM
ap-8079	97	64	)	)	PUNCT
ap-8079	97	65	is	be	AUX
ap-8079	97	66	the	the	DET
ap-8079	97	67	distances	distance	NOUN
ap-8079	97	68	of	of	ADP
ap-8079	97	69	the	the	DET
ap-8079	97	70	robot	robot	NOUN
ap-8079	97	71	link	link	PROPN
ap-8079	97	72	’s	’s	PART
ap-8079	97	73	centre	centre	NOUN
ap-8079	97	74	of	of	ADP
ap-8079	97	75	mass	mass	NOUN
ap-8079	97	76	from	from	ADP
ap-8079	97	77	the	the	DET
ap-8079	97	78	respective	respective	ADJ
ap-8079	97	79	joint	joint	ADJ
ap-8079	97	80	rotation	rotation	NOUN
ap-8079	97	81	point	point	NOUN
ap-8079	97	82	.	.	PUNCT
ap-8079	98	1	table	table	NOUN
ap-8079	98	2	1	1	NUM
ap-8079	98	3	shows	show	VERB
ap-8079	98	4	the	the	DET
ap-8079	98	5	geometric	geometric	ADJ
ap-8079	98	6	parameters	parameter	NOUN
ap-8079	98	7	of	of	ADP
ap-8079	98	8	the	the	DET
ap-8079	98	9	bk	bk	NOUN
ap-8079	98	10	-	-	PUNCT
ap-8079	98	11	gait	gait	NOUN
ap-8079	98	12	robot	robot	NOUN
ap-8079	98	13	.	.	PUNCT
ap-8079	99	1	parameters	parameter	NOUN
ap-8079	99	2	l1[m	l1[m	VERB
ap-8079	99	3	]	]	X
ap-8079	99	4	m1[kg	m1[kg	ADJ
ap-8079	99	5	]	]	X
ap-8079	99	6	l2[m	l2[m	ADJ
ap-8079	99	7	]	]	PUNCT
ap-8079	99	8	m2[kg	m2[kg	ADJ
ap-8079	99	9	]	]	PUNCT
ap-8079	99	10	value	value	NOUN
ap-8079	99	11	0.4	0.4	NUM
ap-8079	99	12	3.0	3.0	NUM
ap-8079	99	13	0.38	0.38	NUM
ap-8079	99	14	2.2	2.2	NUM
ap-8079	99	15	table	table	NOUN
ap-8079	99	16	1	1	NUM
ap-8079	99	17	.	.	PUNCT
ap-8079	100	1	geometric	geometric	ADJ
ap-8079	100	2	parameters	parameter	NOUN
ap-8079	100	3	of	of	ADP
ap-8079	100	4	the	the	DET
ap-8079	100	5	bk	bk	NOUN
ap-8079	100	6	-	-	PUNCT
ap-8079	100	7	gait	gait	NOUN
ap-8079	100	8	robot	robot	NOUN
ap-8079	100	9	.	.	PUNCT
ap-8079	101	1	when	when	SCONJ
ap-8079	101	2	the	the	DET
ap-8079	101	3	robot	robot	NOUN
ap-8079	101	4	moves	move	VERB
ap-8079	101	5	with	with	ADP
ap-8079	101	6	an	an	DET
ap-8079	101	7	object	object	NOUN
ap-8079	101	8	(	(	PUNCT
ap-8079	101	9	human	human	NOUN
ap-8079	101	10	)	)	PUNCT
ap-8079	101	11	,	,	PUNCT
ap-8079	101	12	the	the	DET
ap-8079	101	13	total	total	ADJ
ap-8079	101	14	torques	torque	NOUN
ap-8079	101	15	m	m	VERB
ap-8079	101	16	impact	impact	VERB
ap-8079	101	17	the	the	DET
ap-8079	101	18	robot	robot	NOUN
ap-8079	101	19	’s	’s	PART
ap-8079	101	20	joints	joint	NOUN
ap-8079	101	21	,	,	PUNCT
ap-8079	101	22	including	include	VERB
ap-8079	101	23	two	two	NUM
ap-8079	101	24	components	component	NOUN
ap-8079	101	25	:	:	PUNCT
ap-8079	101	26	the	the	DET
ap-8079	101	27	torque	torque	NOUN
ap-8079	101	28	generated	generate	VERB
ap-8079	101	29	by	by	ADP
ap-8079	101	30	pams	pams	PROPN
ap-8079	101	31	and	and	CCONJ
ap-8079	101	32	the	the	DET
ap-8079	101	33	torque	torque	NOUN
ap-8079	101	34	generated	generate	VERB
ap-8079	101	35	by	by	ADP
ap-8079	101	36	the	the	DET
ap-8079	101	37	human	human	NOUN
ap-8079	101	38	.	.	PUNCT
ap-8079	102	1	m	m	PROPN
ap-8079	103	1	=	=	NOUN
ap-8079	103	2	mp	mp	PROPN
ap-8079	103	3	am	be	AUX
ap-8079	103	4	+	+	X
ap-8079	104	1	mhm	mhm	INTJ
ap-8079	104	2	,	,	PUNCT
ap-8079	104	3	(	(	PUNCT
ap-8079	104	4	2	2	X
ap-8079	104	5	)	)	PUNCT
ap-8079	104	6	where	where	SCONJ
ap-8079	104	7	mp	mp	PROPN
ap-8079	104	8	am	be	AUX
ap-8079	104	9	is	be	AUX
ap-8079	104	10	the	the	DET
ap-8079	104	11	pam	pam	PROPN
ap-8079	104	12	torque	torque	PROPN
ap-8079	104	13	vector	vector	NOUN
ap-8079	104	14	generated	generate	VERB
ap-8079	104	15	by	by	ADP
ap-8079	104	16	pams	pam	NOUN
ap-8079	104	17	and	and	CCONJ
ap-8079	104	18	mhm	mhm	INTJ
ap-8079	104	19	is	be	AUX
ap-8079	104	20	the	the	DET
ap-8079	104	21	human	human	ADJ
ap-8079	104	22	torque	torque	NOUN
ap-8079	104	23	vector	vector	NOUN
ap-8079	104	24	generated	generate	VERB
ap-8079	104	25	by	by	ADP
ap-8079	104	26	the	the	DET
ap-8079	104	27	human	human	ADJ
ap-8079	104	28	muscles	muscle	NOUN
ap-8079	104	29	.	.	PUNCT
ap-8079	105	1	then	then	ADV
ap-8079	105	2	,	,	PUNCT
ap-8079	105	3	the	the	DET
ap-8079	105	4	human	human	ADJ
ap-8079	105	5	torque	torque	NOUN
ap-8079	105	6	(	(	PUNCT
ap-8079	105	7	mhm	mhm	INTJ
ap-8079	105	8	)	)	PUNCT
ap-8079	105	9	can	can	AUX
ap-8079	105	10	be	be	AUX
ap-8079	105	11	calculated	calculate	VERB
ap-8079	105	12	as	as	ADP
ap-8079	105	13	:	:	PUNCT
ap-8079	105	14	mhm	mhm	INTJ
ap-8079	105	15	=	=	NOUN
ap-8079	105	16	m	m	VERB
ap-8079	105	17	−	−	PROPN
ap-8079	105	18	mp	mp	NOUN
ap-8079	105	19	am	be	AUX
ap-8079	105	20	.	.	PUNCT
ap-8079	106	1	(	(	PUNCT
ap-8079	106	2	3	3	X
ap-8079	106	3	)	)	PUNCT
ap-8079	106	4	the	the	DET
ap-8079	106	5	pam	pam	NOUN
ap-8079	106	6	torque	torque	NOUN
ap-8079	106	7	(	(	PUNCT
ap-8079	106	8	mp	mp	PROPN
ap-8079	106	9	am	be	AUX
ap-8079	106	10	)	)	PUNCT
ap-8079	106	11	can	can	AUX
ap-8079	106	12	be	be	AUX
ap-8079	106	13	calculated	calculate	VERB
ap-8079	106	14	from	from	ADP
ap-8079	106	15	the	the	DET
ap-8079	106	16	force	force	NOUN
ap-8079	106	17	generated	generate	VERB
ap-8079	106	18	by	by	ADP
ap-8079	106	19	the	the	DET
ap-8079	106	20	pam	pam	NOUN
ap-8079	106	21	,	,	PUNCT
ap-8079	106	22	which	which	PRON
ap-8079	106	23	is	be	AUX
ap-8079	106	24	measured	measure	VERB
ap-8079	106	25	by	by	ADP
ap-8079	106	26	oi	oi	INTJ
ap-8079	106	27	ri	ri	PROPN
ap-8079	106	28	ai	ai	INTJ
ap-8079	106	29	ai	ai	INTJ
ap-8079	106	30	bi	bi	NOUN
ap-8079	107	1	ai	ai	VERB
ap-8079	107	2	ai	ai	VERB
ap-8079	107	3	fi1	fi1	ADJ
ap-8079	107	4	fi2	fi2	PROPN
ap-8079	107	5	𝐹𝑖1	𝐹𝑖1	NOUN
ap-8079	107	6	𝑐	𝑐	PROPN
ap-8079	107	7	𝐹𝑖1	𝐹𝑖1	NOUN
ap-8079	107	8	𝑞	𝑞	X
ap-8079	107	9	𝜃𝑖	𝜃𝑖	ADP
ap-8079	107	10	ri	ri	PROPN
ap-8079	107	11	a1	a1	PROPN
ap-8079	107	12	a2	a2	PROPN
ap-8079	107	13	p1	p1	NOUN
ap-8079	107	14	p2	p2	NOUN
ap-8079	107	15	𝛼𝑖	𝛼𝑖	PRON
ap-8079	107	16	𝛾𝑖	𝛾𝑖	ADV
ap-8079	107	17	𝜑𝑖	𝜑𝑖	ADV
ap-8079	107	18	li1	li1	VERB
ap-8079	107	19	𝛽𝑖2	𝛽𝑖2	PROPN
ap-8079	107	20	𝛽𝑖1	𝛽𝑖1	X
ap-8079	107	21	figure	figure	NOUN
ap-8079	107	22	2	2	NUM
ap-8079	107	23	.	.	PUNCT
ap-8079	107	24	geometric	geometric	ADJ
ap-8079	107	25	of	of	ADP
ap-8079	107	26	the	the	DET
ap-8079	107	27	joint	joint	NOUN
ap-8079	107	28	based	base	VERB
ap-8079	107	29	on	on	ADP
ap-8079	107	30	the	the	DET
ap-8079	107	31	antagonistic	antagonistic	ADJ
ap-8079	107	32	configuration	configuration	NOUN
ap-8079	107	33	of	of	ADP
ap-8079	107	34	two	two	NUM
ap-8079	107	35	pams	pam	NOUN
ap-8079	107	36	.	.	PUNCT
ap-8079	108	1	the	the	DET
ap-8079	108	2	load	load	NOUN
ap-8079	108	3	cell	cell	NOUN
ap-8079	108	4	mounted	mount	VERB
ap-8079	108	5	on	on	ADP
ap-8079	108	6	each	each	DET
ap-8079	108	7	pam	pam	NOUN
ap-8079	108	8	.	.	PUNCT
ap-8079	109	1	the	the	DET
ap-8079	109	2	joint	joint	ADJ
ap-8079	109	3	torque	torque	NOUN
ap-8079	109	4	(	(	PUNCT
ap-8079	109	5	m	m	NOUN
ap-8079	109	6	)	)	PUNCT
ap-8079	109	7	can	can	AUX
ap-8079	109	8	be	be	AUX
ap-8079	109	9	calculated	calculate	VERB
ap-8079	109	10	based	base	VERB
ap-8079	109	11	on	on	ADP
ap-8079	109	12	the	the	DET
ap-8079	109	13	robot	robot	NOUN
ap-8079	109	14	’s	’s	PART
ap-8079	109	15	inverse	inverse	NOUN
ap-8079	109	16	dynamics	dynamic	NOUN
ap-8079	109	17	from	from	ADP
ap-8079	109	18	equation	equation	NOUN
ap-8079	109	19	(	(	PUNCT
ap-8079	109	20	1	1	NUM
ap-8079	109	21	)	)	PUNCT
ap-8079	109	22	,	,	PUNCT
ap-8079	109	23	theoretically	theoretically	ADV
ap-8079	109	24	.	.	PUNCT
ap-8079	110	1	however	however	ADV
ap-8079	110	2	,	,	PUNCT
ap-8079	110	3	in	in	ADP
ap-8079	110	4	practice	practice	NOUN
ap-8079	110	5	,	,	PUNCT
ap-8079	110	6	the	the	DET
ap-8079	110	7	precise	precise	ADJ
ap-8079	110	8	calculation	calculation	NOUN
ap-8079	110	9	of	of	ADP
ap-8079	110	10	the	the	DET
ap-8079	110	11	robot	robot	NOUN
ap-8079	110	12	’s	’s	PART
ap-8079	110	13	joint	joint	ADJ
ap-8079	110	14	torques	torque	NOUN
ap-8079	110	15	is	be	AUX
ap-8079	110	16	complicated	complicated	ADJ
ap-8079	110	17	since	since	SCONJ
ap-8079	110	18	the	the	DET
ap-8079	110	19	determination	determination	NOUN
ap-8079	110	20	of	of	ADP
ap-8079	110	21	coefficients	coefficient	NOUN
ap-8079	110	22	in	in	ADP
ap-8079	110	23	h(q	h(q	ADV
ap-8079	110	24	)	)	PUNCT
ap-8079	110	25	,	,	PUNCT
ap-8079	110	26	v	v	X
ap-8079	110	27	(	(	PUNCT
ap-8079	110	28	q	q	NOUN
ap-8079	110	29	,	,	PUNCT
ap-8079	110	30	q̇	q̇	ADV
ap-8079	110	31	)	)	PUNCT
ap-8079	110	32	,	,	PUNCT
ap-8079	110	33	and	and	CCONJ
ap-8079	110	34	g(q	g(q	NOUN
ap-8079	110	35	)	)	PUNCT
ap-8079	110	36	is	be	AUX
ap-8079	110	37	very	very	ADV
ap-8079	110	38	complicated	complicated	ADJ
ap-8079	110	39	and	and	CCONJ
ap-8079	110	40	less	less	ADV
ap-8079	110	41	precise	precise	ADJ
ap-8079	110	42	.	.	PUNCT
ap-8079	111	1	this	this	DET
ap-8079	111	2	research	research	NOUN
ap-8079	111	3	uses	use	VERB
ap-8079	111	4	a	a	DET
ap-8079	111	5	neural	neural	ADJ
ap-8079	111	6	network	network	NOUN
ap-8079	111	7	to	to	PART
ap-8079	111	8	approximate	approximate	VERB
ap-8079	111	9	the	the	DET
ap-8079	111	10	joint	joint	ADJ
ap-8079	111	11	torque	torque	NOUN
ap-8079	111	12	m	m	VERB
ap-8079	111	13	to	to	PART
ap-8079	111	14	overcome	overcome	VERB
ap-8079	111	15	this	this	DET
ap-8079	111	16	difficulty	difficulty	NOUN
ap-8079	111	17	.	.	PUNCT
ap-8079	112	1	the	the	DET
ap-8079	112	2	estimation	estimation	NOUN
ap-8079	112	3	of	of	ADP
ap-8079	112	4	the	the	DET
ap-8079	112	5	human	human	ADJ
ap-8079	112	6	torque	torque	NOUN
ap-8079	112	7	m̂hm	m̂hm	PROPN
ap-8079	112	8	can	can	AUX
ap-8079	112	9	be	be	AUX
ap-8079	112	10	computed	compute	VERB
ap-8079	112	11	from	from	ADP
ap-8079	112	12	the	the	DET
ap-8079	112	13	approximated	approximate	VERB
ap-8079	112	14	torques	torque	NOUN
ap-8079	112	15	of	of	ADP
ap-8079	112	16	the	the	DET
ap-8079	112	17	neural	neural	ADJ
ap-8079	112	18	networks	network	NOUN
ap-8079	112	19	mnn	mnn	PROPN
ap-8079	112	20	as	as	ADP
ap-8079	112	21	:	:	PUNCT
ap-8079	112	22	m̂hm	m̂hm	NOUN
ap-8079	112	23	=	=	SYM
ap-8079	112	24	mnn	mnn	PROPN
ap-8079	112	25	−	−	PROPN
ap-8079	112	26	mp	mp	PROPN
ap-8079	112	27	am	be	AUX
ap-8079	112	28	.	.	PUNCT
ap-8079	113	1	(	(	PUNCT
ap-8079	113	2	4	4	NUM
ap-8079	113	3	)	)	PUNCT
ap-8079	113	4	3.1	3.1	NUM
ap-8079	113	5	.	.	PUNCT
ap-8079	114	1	calculating	calculate	VERB
ap-8079	114	2	the	the	DET
ap-8079	114	3	torque	torque	NOUN
ap-8079	114	4	generated	generate	VERB
ap-8079	114	5	by	by	ADP
ap-8079	114	6	pams	pams	PROPN
ap-8079	114	7	(	(	PUNCT
ap-8079	114	8	mp	mp	PROPN
ap-8079	114	9	am	be	AUX
ap-8079	114	10	)	)	PUNCT
ap-8079	114	11	consider	consider	VERB
ap-8079	114	12	the	the	DET
ap-8079	114	13	geometric	geometric	ADJ
ap-8079	114	14	model	model	NOUN
ap-8079	114	15	of	of	ADP
ap-8079	114	16	a	a	DET
ap-8079	114	17	robot	robot	NOUN
ap-8079	114	18	joint	joint	NOUN
ap-8079	114	19	in	in	ADP
ap-8079	114	20	figure	figure	NOUN
ap-8079	114	21	2	2	NUM
ap-8079	114	22	.	.	PUNCT
ap-8079	115	1	in	in	ADP
ap-8079	115	2	this	this	DET
ap-8079	115	3	figure	figure	NOUN
ap-8079	115	4	,	,	PUNCT
ap-8079	115	5	fij	fij	PROPN
ap-8079	115	6	are	be	AUX
ap-8079	115	7	the	the	DET
ap-8079	115	8	forces	force	NOUN
ap-8079	115	9	generated	generate	VERB
ap-8079	115	10	by	by	ADP
ap-8079	115	11	the	the	DET
ap-8079	115	12	anterior	anterior	ADJ
ap-8079	115	13	and	and	CCONJ
ap-8079	115	14	posterior	posterior	ADJ
ap-8079	115	15	pams	pam	NOUN
ap-8079	115	16	of	of	ADP
ap-8079	115	17	joint	joint	ADJ
ap-8079	115	18	i	i	PROPN
ap-8079	115	19	,	,	PUNCT
ap-8079	115	20	and	and	CCONJ
ap-8079	115	21	j	j	PROPN
ap-8079	115	22	=	=	SYM
ap-8079	115	23	1	1	NUM
ap-8079	115	24	,	,	PUNCT
ap-8079	115	25	2	2	NUM
ap-8079	115	26	represents	represent	VERB
ap-8079	115	27	the	the	DET
ap-8079	115	28	anterior	anterior	ADJ
ap-8079	115	29	and	and	CCONJ
ap-8079	115	30	posterior	posterior	ADJ
ap-8079	115	31	pams	pam	NOUN
ap-8079	115	32	.	.	PUNCT
ap-8079	116	1	ri	ri	PROPN
ap-8079	116	2	is	be	AUX
ap-8079	116	3	the	the	DET
ap-8079	116	4	rotation	rotation	NOUN
ap-8079	116	5	radius	radius	NOUN
ap-8079	116	6	of	of	ADP
ap-8079	116	7	the	the	DET
ap-8079	116	8	joint	joint	NOUN
ap-8079	116	9	.	.	PUNCT
ap-8079	117	1	mi	mi	PROPN
ap-8079	117	2	is	be	AUX
ap-8079	117	3	the	the	DET
ap-8079	117	4	moment	moment	NOUN
ap-8079	117	5	of	of	ADP
ap-8079	117	6	anterior	anterior	ADJ
ap-8079	117	7	and	and	CCONJ
ap-8079	117	8	posterior	posterior	ADJ
ap-8079	117	9	pams	pams	PROPN
ap-8079	117	10	effect	effect	NOUN
ap-8079	117	11	on	on	ADP
ap-8079	117	12	joint	joint	ADJ
ap-8079	117	13	i.	i.	NOUN
ap-8079	117	14	f	f	PROPN
ap-8079	118	1	q	q	X
ap-8079	118	2	ij	ij	INTJ
ap-8079	119	1	and	and	CCONJ
ap-8079	119	2	f	f	PROPN
ap-8079	119	3	c	c	NOUN
ap-8079	119	4	ij	ij	INTJ
ap-8079	119	5	are	be	AUX
ap-8079	119	6	the	the	DET
ap-8079	119	7	rotation	rotation	NOUN
ap-8079	119	8	and	and	CCONJ
ap-8079	119	9	centripetal	centripetal	ADJ
ap-8079	119	10	elements	element	NOUN
ap-8079	119	11	of	of	ADP
ap-8079	119	12	fij	fij	PROPN
ap-8079	119	13	.	.	PUNCT
ap-8079	120	1	βij	βij	PROPN
ap-8079	120	2	is	be	AUX
ap-8079	120	3	the	the	DET
ap-8079	120	4	angle	angle	NOUN
ap-8079	120	5	between	between	ADP
ap-8079	120	6	fij	fij	PROPN
ap-8079	120	7	and	and	CCONJ
ap-8079	120	8	its	its	PRON
ap-8079	120	9	centripetal	centripetal	ADJ
ap-8079	120	10	components	component	NOUN
ap-8079	120	11	.	.	PUNCT
ap-8079	121	1	based	base	VERB
ap-8079	121	2	on	on	ADP
ap-8079	121	3	the	the	DET
ap-8079	121	4	geometric	geometric	NOUN
ap-8079	121	5	of	of	ADP
ap-8079	121	6	the	the	DET
ap-8079	121	7	joint	joint	NOUN
ap-8079	121	8	,	,	PUNCT
ap-8079	121	9	two	two	NUM
ap-8079	121	10	angles	angle	NOUN
ap-8079	121	11	αi	αi	NOUN
ap-8079	121	12	=	=	SYM
ap-8079	121	13	const	const	PROPN
ap-8079	121	14	and	and	CCONJ
ap-8079	121	15	γi	γi	NOUN
ap-8079	121	16	=	=	SYM
ap-8079	121	17	const	const	NOUN
ap-8079	121	18	we	we	PRON
ap-8079	121	19	have	have	VERB
ap-8079	121	20	:	:	PUNCT
ap-8079	121	21	φi	φi	ADP
ap-8079	121	22	=	=	PUNCT
ap-8079	121	23	π	π	PROPN
ap-8079	121	24	−	−	PROPN
ap-8079	121	25	αi	αi	NOUN
ap-8079	121	26	−	−	PROPN
ap-8079	121	27	γi	γi	INTJ
ap-8079	121	28	−	−	PROPN
ap-8079	121	29	θi	θi	NOUN
ap-8079	121	30	.	.	PUNCT
ap-8079	122	1	(	(	PUNCT
ap-8079	122	2	5	5	X
ap-8079	122	3	)	)	PUNCT
ap-8079	122	4	consider	consider	VERB
ap-8079	122	5	the	the	DET
ap-8079	122	6	triangle	triangle	NOUN
ap-8079	122	7	oia1a2	oia1a2	ADJ
ap-8079	122	8	,	,	PUNCT
ap-8079	122	9	we	we	PRON
ap-8079	122	10	can	can	AUX
ap-8079	122	11	calculate	calculate	VERB
ap-8079	122	12	the	the	DET
ap-8079	122	13	length	length	NOUN
ap-8079	122	14	of	of	ADP
ap-8079	122	15	li1	li1	NOUN
ap-8079	122	16	as	as	ADP
ap-8079	122	17	:	:	PUNCT
ap-8079	122	18	li1	li1	NOUN
ap-8079	122	19	=	=	SYM
ap-8079	122	20	√	√	NUM
ap-8079	122	21	r2	r2	NOUN
ap-8079	122	22	i	i	PRON
ap-8079	122	23	+	+	CCONJ
ap-8079	122	24	r2	r2	NOUN
ap-8079	123	1	i	i	PRON
ap-8079	123	2	−	−	PROPN
ap-8079	123	3	2riri	2riri	NUM
ap-8079	123	4	cos	cos	PROPN
ap-8079	123	5	φi	φi	ADV
ap-8079	123	6	.	.	PUNCT
ap-8079	124	1	(	(	PUNCT
ap-8079	124	2	6	6	NUM
ap-8079	124	3	)	)	PUNCT
ap-8079	124	4	in	in	ADP
ap-8079	124	5	addition	addition	NOUN
ap-8079	124	6	,	,	PUNCT
ap-8079	124	7	we	we	PRON
ap-8079	124	8	also	also	ADV
ap-8079	124	9	have	have	VERB
ap-8079	124	10	:	:	PUNCT
ap-8079	124	11	181	181	NUM
ap-8079	124	12	v	v	NOUN
ap-8079	124	13	-	-	PUNCT
ap-8079	124	14	v.	v.	NOUN
ap-8079	124	15	dinh	dinh	PROPN
ap-8079	124	16	,	,	PUNCT
ap-8079	124	17	m	m	PROPN
ap-8079	124	18	-	-	PROPN
ap-8079	124	19	c.	c.	PROPN
ap-8079	124	20	trinh	trinh	PROPN
ap-8079	124	21	,	,	PUNCT
ap-8079	124	22	t	t	PROPN
ap-8079	124	23	-	-	PUNCT
ap-8079	124	24	d.	d.	PROPN
ap-8079	124	25	bui	bui	PROPN
ap-8079	125	1	et	et	PROPN
ap-8079	125	2	al	al	PROPN
ap-8079	125	3	.	.	PROPN
ap-8079	125	4	acta	acta	PROPN
ap-8079	125	5	polytechnica	polytechnica	PROPN
ap-8079	125	6	input	input	NOUN
ap-8079	125	7	log	log	NOUN
ap-8079	125	8	-	-	PUNCT
ap-8079	125	9	sigmoid	sigmoid	NOUN
ap-8079	125	10	layer	layer	NOUN
ap-8079	125	11	liner	liner	NOUN
ap-8079	125	12	layer	layer	NOUN
ap-8079	125	13	outputq	outputq	VERB
ap-8079	125	14	q	q	PROPN
ap-8079	125	15	q	q	NOUN
ap-8079	125	16	m	m	NOUN
ap-8079	125	17	figure	figure	NOUN
ap-8079	125	18	3	3	NUM
ap-8079	125	19	.	.	PUNCT
ap-8079	125	20	neural	neural	ADJ
ap-8079	125	21	network	network	PROPN
ap-8079	125	22	model	model	NOUN
ap-8079	125	23	.	.	PUNCT
ap-8079	126	1	ri	ri	PROPN
ap-8079	126	2	=	=	NOUN
ap-8079	126	3	√	√	PROPN
ap-8079	126	4	l2	l2	PROPN
ap-8079	126	5	i1	i1	NOUN
ap-8079	126	6	+	+	CCONJ
ap-8079	126	7	r2	r2	PROPN
ap-8079	127	1	i	i	PRON
ap-8079	127	2	−	−	PROPN
ap-8079	128	1	2li1ri	2li1ri	NUM
ap-8079	128	2	cos	cos	PROPN
ap-8079	128	3	βi1	βi1	PROPN
ap-8079	128	4	.	.	PUNCT
ap-8079	129	1	(	(	PUNCT
ap-8079	129	2	7	7	NUM
ap-8079	129	3	)	)	PUNCT
ap-8079	129	4	therefore	therefore	ADV
ap-8079	129	5	:	:	PUNCT
ap-8079	129	6	βi1	βi1	PROPN
ap-8079	129	7	=	=	SYM
ap-8079	129	8	arccos	arccos	VERB
ap-8079	129	9	l2	l2	PROPN
ap-8079	129	10	i1	i1	PROPN
ap-8079	129	11	+	+	CCONJ
ap-8079	129	12	r2	r2	PROPN
ap-8079	130	1	i	i	PRON
ap-8079	130	2	−	−	VERB
ap-8079	130	3	r2	r2	PROPN
ap-8079	131	1	i	i	PRON
ap-8079	131	2	2li1ri	2li1ri	NUM
ap-8079	131	3	.	.	PUNCT
ap-8079	132	1	(	(	PUNCT
ap-8079	132	2	8)	8)	NUM
ap-8079	132	3	as	as	ADP
ap-8079	132	4	a	a	DET
ap-8079	132	5	result	result	NOUN
ap-8079	132	6	,	,	PUNCT
ap-8079	132	7	the	the	DET
ap-8079	132	8	torque	torque	NOUN
ap-8079	132	9	generated	generate	VERB
ap-8079	132	10	by	by	ADP
ap-8079	132	11	the	the	DET
ap-8079	132	12	artificial	artificial	ADJ
ap-8079	132	13	muscle	muscle	NOUN
ap-8079	132	14	at	at	ADP
ap-8079	132	15	ith	ith	PROPN
ap-8079	132	16	joint	joint	NOUN
ap-8079	132	17	will	will	AUX
ap-8079	132	18	be	be	AUX
ap-8079	132	19	performed	perform	VERB
ap-8079	132	20	as	as	SCONJ
ap-8079	132	21	follows	follow	VERB
ap-8079	132	22	:	:	PUNCT
ap-8079	132	23	mp	mp	NOUN
ap-8079	132	24	ami	ami	NOUN
ap-8079	132	25	=	=	PUNCT
ap-8079	132	26	(	(	PUNCT
ap-8079	132	27	fi1	fi1	ADJ
ap-8079	132	28	sin	sin	NOUN
ap-8079	132	29	βi1	βi1	PROPN
ap-8079	133	1	−	−	PROPN
ap-8079	134	1	fi2	fi2	PROPN
ap-8079	134	2	sin	sin	NOUN
ap-8079	134	3	βi2	βi2	ADV
ap-8079	134	4	)	)	PUNCT
ap-8079	134	5	ri	ri	PROPN
ap-8079	134	6	.	.	PUNCT
ap-8079	135	1	(	(	PUNCT
ap-8079	135	2	9	9	NUM
ap-8079	135	3	)	)	PUNCT
ap-8079	135	4	3.2	3.2	NUM
ap-8079	135	5	.	.	PUNCT
ap-8079	136	1	estimating	estimate	VERB
ap-8079	136	2	the	the	DET
ap-8079	136	3	total	total	ADJ
ap-8079	136	4	torque	torque	NOUN
ap-8079	136	5	applied	apply	VERB
ap-8079	136	6	to	to	ADP
ap-8079	136	7	robot	robot	NOUN
ap-8079	136	8	joints	joint	NOUN
ap-8079	136	9	(	(	PUNCT
ap-8079	136	10	mnn	mnn	PROPN
ap-8079	136	11	)	)	PUNCT
ap-8079	136	12	the	the	DET
ap-8079	136	13	developed	develop	VERB
ap-8079	136	14	rehabilitation	rehabilitation	NOUN
ap-8079	136	15	robot	robot	NOUN
ap-8079	136	16	system	system	NOUN
ap-8079	136	17	contains	contain	VERB
ap-8079	136	18	uncertainties	uncertainty	NOUN
ap-8079	136	19	in	in	ADP
ap-8079	136	20	the	the	DET
ap-8079	136	21	system	system	NOUN
ap-8079	136	22	dynamic	dynamic	ADJ
ap-8079	136	23	structure	structure	NOUN
ap-8079	136	24	and	and	CCONJ
ap-8079	136	25	parameters	parameter	NOUN
ap-8079	136	26	.	.	PUNCT
ap-8079	137	1	thus	thus	ADV
ap-8079	137	2	,	,	PUNCT
ap-8079	137	3	the	the	DET
ap-8079	137	4	model	model	NOUN
ap-8079	137	5	-	-	PUNCT
ap-8079	137	6	based	base	VERB
ap-8079	137	7	calculation	calculation	NOUN
ap-8079	137	8	of	of	ADP
ap-8079	137	9	applied	apply	VERB
ap-8079	137	10	joint	joint	ADJ
ap-8079	137	11	torques	torque	NOUN
ap-8079	137	12	(	(	PUNCT
ap-8079	137	13	inverse	inverse	NOUN
ap-8079	137	14	dynamics	dynamic	NOUN
ap-8079	137	15	)	)	PUNCT
ap-8079	137	16	such	such	ADJ
ap-8079	137	17	as	as	ADP
ap-8079	137	18	in	in	ADP
ap-8079	137	19	[	[	X
ap-8079	137	20	27	27	NUM
ap-8079	137	21	]	]	PUNCT
ap-8079	137	22	can	can	AUX
ap-8079	137	23	not	not	PART
ap-8079	137	24	improve	improve	VERB
ap-8079	137	25	the	the	DET
ap-8079	137	26	accuracy	accuracy	NOUN
ap-8079	137	27	of	of	ADP
ap-8079	137	28	torque	torque	NOUN
ap-8079	137	29	estimations	estimation	NOUN
ap-8079	137	30	.	.	PUNCT
ap-8079	138	1	however	however	ADV
ap-8079	138	2	,	,	PUNCT
ap-8079	138	3	neural	neural	ADJ
ap-8079	138	4	networks	network	NOUN
ap-8079	138	5	are	be	AUX
ap-8079	138	6	proved	prove	VERB
ap-8079	138	7	to	to	PART
ap-8079	138	8	be	be	AUX
ap-8079	138	9	an	an	DET
ap-8079	138	10	efficient	efficient	ADJ
ap-8079	138	11	tool	tool	NOUN
ap-8079	138	12	to	to	PART
ap-8079	138	13	approximate	approximate	VERB
ap-8079	138	14	a	a	DET
ap-8079	138	15	wide	wide	ADJ
ap-8079	138	16	variety	variety	NOUN
ap-8079	138	17	of	of	ADP
ap-8079	138	18	exciting	exciting	ADJ
ap-8079	138	19	functions	function	NOUN
ap-8079	138	20	[	[	X
ap-8079	138	21	28	28	NUM
ap-8079	138	22	]	]	PUNCT
ap-8079	138	23	.	.	PUNCT
ap-8079	139	1	thus	thus	ADV
ap-8079	139	2	,	,	PUNCT
ap-8079	139	3	in	in	ADP
ap-8079	139	4	this	this	DET
ap-8079	139	5	paper	paper	NOUN
ap-8079	139	6	,	,	PUNCT
ap-8079	139	7	neural	neural	ADJ
ap-8079	139	8	networks	network	NOUN
ap-8079	139	9	are	be	AUX
ap-8079	139	10	used	use	VERB
ap-8079	139	11	to	to	PART
ap-8079	139	12	estimate	estimate	VERB
ap-8079	139	13	the	the	DET
ap-8079	139	14	total	total	ADJ
ap-8079	139	15	robot	robot	NOUN
ap-8079	139	16	joint	joint	ADJ
ap-8079	139	17	torques	torque	NOUN
ap-8079	139	18	.	.	PUNCT
ap-8079	140	1	this	this	DET
ap-8079	140	2	research	research	NOUN
ap-8079	140	3	uses	use	VERB
ap-8079	140	4	two	two	NUM
ap-8079	140	5	independent	independent	ADJ
ap-8079	140	6	neural	neural	ADJ
ap-8079	140	7	networks	network	NOUN
ap-8079	140	8	for	for	ADP
ap-8079	140	9	each	each	DET
ap-8079	140	10	hip	hip	NOUN
ap-8079	140	11	and	and	CCONJ
ap-8079	140	12	knee	knee	NOUN
ap-8079	140	13	joint	joint	NOUN
ap-8079	140	14	.	.	PUNCT
ap-8079	141	1	as	as	SCONJ
ap-8079	141	2	shown	show	VERB
ap-8079	141	3	in	in	ADP
ap-8079	141	4	the	the	DET
ap-8079	141	5	robot	robot	NOUN
ap-8079	141	6	dynamic	dynamic	ADJ
ap-8079	141	7	equation	equation	NOUN
ap-8079	141	8	(	(	PUNCT
ap-8079	141	9	1	1	NUM
ap-8079	141	10	)	)	PUNCT
ap-8079	141	11	,	,	PUNCT
ap-8079	141	12	the	the	DET
ap-8079	141	13	joint	joint	ADJ
ap-8079	141	14	torque	torque	NOUN
ap-8079	141	15	is	be	AUX
ap-8079	141	16	the	the	DET
ap-8079	141	17	function	function	NOUN
ap-8079	141	18	of	of	ADP
ap-8079	141	19	joint	joint	ADJ
ap-8079	141	20	acceleration	acceleration	NOUN
ap-8079	141	21	,	,	PUNCT
ap-8079	141	22	velocity	velocity	NOUN
ap-8079	141	23	,	,	PUNCT
ap-8079	141	24	and	and	CCONJ
ap-8079	141	25	position	position	NOUN
ap-8079	141	26	.	.	PUNCT
ap-8079	142	1	then	then	ADV
ap-8079	142	2	,	,	PUNCT
ap-8079	142	3	each	each	DET
ap-8079	142	4	neural	neural	ADJ
ap-8079	142	5	network	network	NOUN
ap-8079	142	6	to	to	PART
ap-8079	142	7	estimate	estimate	VERB
ap-8079	142	8	joint	joint	ADJ
ap-8079	142	9	torque	torque	NOUN
ap-8079	142	10	includes	include	VERB
ap-8079	142	11	three	three	NUM
ap-8079	142	12	inputs	input	NOUN
ap-8079	142	13	corresponding	correspond	VERB
ap-8079	142	14	to	to	ADP
ap-8079	142	15	the	the	DET
ap-8079	142	16	joint	joint	ADJ
ap-8079	142	17	acceleration	acceleration	NOUN
ap-8079	142	18	,	,	PUNCT
ap-8079	142	19	velocity	velocity	NOUN
ap-8079	142	20	,	,	PUNCT
ap-8079	142	21	and	and	CCONJ
ap-8079	142	22	position	position	NOUN
ap-8079	142	23	.	.	PUNCT
ap-8079	143	1	moreover	moreover	ADV
ap-8079	143	2	,	,	PUNCT
ap-8079	143	3	each	each	DET
ap-8079	143	4	neural	neural	ADJ
ap-8079	143	5	network	network	NOUN
ap-8079	143	6	has	have	VERB
ap-8079	143	7	only	only	ADV
ap-8079	143	8	one	one	NUM
ap-8079	143	9	output	output	NOUN
ap-8079	143	10	corresponding	correspond	VERB
ap-8079	143	11	to	to	ADP
ap-8079	143	12	the	the	DET
ap-8079	143	13	estimated	estimated	ADJ
ap-8079	143	14	joint	joint	ADJ
ap-8079	143	15	torque	torque	NOUN
ap-8079	143	16	.	.	PUNCT
ap-8079	144	1	in	in	ADP
ap-8079	144	2	addition	addition	NOUN
ap-8079	144	3	,	,	PUNCT
ap-8079	144	4	each	each	DET
ap-8079	144	5	neural	neural	ADJ
ap-8079	144	6	network	network	NOUN
ap-8079	144	7	includes	include	VERB
ap-8079	144	8	two	two	NUM
ap-8079	144	9	layers	layer	NOUN
ap-8079	144	10	as	as	SCONJ
ap-8079	144	11	follows	follow	VERB
ap-8079	144	12	:	:	PUNCT
ap-8079	144	13	layer	layer	NOUN
ap-8079	144	14	1	1	NUM
ap-8079	144	15	:	:	PUNCT
ap-8079	144	16	the	the	DET
ap-8079	144	17	transfer	transfer	NOUN
ap-8079	144	18	function	function	NOUN
ap-8079	144	19	is	be	AUX
ap-8079	144	20	the	the	DET
ap-8079	144	21	logsig	logsig	NOUN
ap-8079	144	22	function	function	NOUN
ap-8079	144	23	,	,	PUNCT
ap-8079	144	24	and	and	CCONJ
ap-8079	144	25	the	the	DET
ap-8079	144	26	number	number	NOUN
ap-8079	144	27	of	of	ADP
ap-8079	144	28	neurals	neural	NOUN
ap-8079	144	29	is	be	AUX
ap-8079	144	30	4	4	NUM
ap-8079	144	31	.	.	PUNCT
ap-8079	144	32	layer	layer	NOUN
ap-8079	144	33	2	2	NUM
ap-8079	144	34	:	:	PUNCT
ap-8079	144	35	the	the	DET
ap-8079	144	36	transfer	transfer	NOUN
ap-8079	144	37	function	function	NOUN
ap-8079	144	38	is	be	AUX
ap-8079	144	39	the	the	DET
ap-8079	144	40	purely	purely	ADV
ap-8079	144	41	linear	linear	ADJ
ap-8079	144	42	function	function	NOUN
ap-8079	144	43	,	,	PUNCT
ap-8079	144	44	and	and	CCONJ
ap-8079	144	45	the	the	DET
ap-8079	144	46	number	number	NOUN
ap-8079	144	47	of	of	ADP
ap-8079	144	48	neurals	neural	NOUN
ap-8079	144	49	is	be	AUX
ap-8079	144	50	1	1	NUM
ap-8079	144	51	.	.	PUNCT
ap-8079	145	1	the	the	DET
ap-8079	145	2	objective	objective	ADJ
ap-8079	145	3	function	function	NOUN
ap-8079	145	4	is	be	AUX
ap-8079	145	5	chosen	choose	VERB
ap-8079	145	6	as	as	ADP
ap-8079	145	7	the	the	DET
ap-8079	145	8	difference	difference	NOUN
ap-8079	145	9	between	between	ADP
ap-8079	145	10	the	the	DET
ap-8079	145	11	actual	actual	ADJ
ap-8079	145	12	and	and	CCONJ
ap-8079	145	13	estimated	estimated	ADJ
ap-8079	145	14	output	output	NOUN
ap-8079	145	15	:	:	PUNCT
ap-8079	145	16	mse	mse	NOUN
ap-8079	145	17	=	=	SYM
ap-8079	145	18	1	1	NUM
ap-8079	145	19	n	n	NUM
ap-8079	145	20	n∑	n∑	NOUN
ap-8079	145	21	i=1	i=1	PROPN
ap-8079	145	22	(	(	PUNCT
ap-8079	145	23	yi	yi	NOUN
ap-8079	145	24	−	−	PROPN
ap-8079	145	25	ŷi)2	ŷi)2	PROPN
ap-8079	145	26	.	.	PUNCT
ap-8079	146	1	the	the	DET
ap-8079	146	2	learning	learning	NOUN
ap-8079	146	3	method	method	NOUN
ap-8079	146	4	is	be	AUX
ap-8079	146	5	the	the	DET
ap-8079	146	6	back	back	ADJ
ap-8079	146	7	-	-	PUNCT
ap-8079	146	8	propagation	propagation	NOUN
ap-8079	146	9	method	method	NOUN
ap-8079	146	10	levenberg	levenberg	PROPN
ap-8079	146	11	marquardt	marquardt	PROPN
ap-8079	146	12	.	.	PUNCT
ap-8079	147	1	0	0	NUM
ap-8079	147	2	2	2	NUM
ap-8079	147	3	4	4	NUM
ap-8079	147	4	6	6	NUM
ap-8079	147	5	8	8	NUM
ap-8079	147	6	10	10	NUM
ap-8079	147	7	12	12	NUM
ap-8079	147	8	-10	-10	SYM
ap-8079	147	9	0	0	NUM
ap-8079	147	10	10	10	NUM
ap-8079	147	11	20	20	NUM
ap-8079	147	12	q	q	NOUN
ap-8079	147	13	h	h	NOUN
ap-8079	147	14	ip	ip	NOUN
ap-8079	147	15	(	(	PUNCT
ap-8079	147	16	°	°	PROPN
ap-8079	147	17	)	)	PUNCT
ap-8079	147	18	0	0	NUM
ap-8079	147	19	2	2	NUM
ap-8079	147	20	4	4	NUM
ap-8079	147	21	6	6	NUM
ap-8079	147	22	8	8	NUM
ap-8079	147	23	10	10	NUM
ap-8079	147	24	12	12	NUM
ap-8079	147	25	-40	-40	NUM
ap-8079	147	26	-20	-20	NUM
ap-8079	147	27	0	0	NUM
ap-8079	147	28	20	20	NUM
ap-8079	147	29	40	40	NUM
ap-8079	147	30	0	0	NUM
ap-8079	147	31	2	2	NUM
ap-8079	147	32	4	4	NUM
ap-8079	147	33	6	6	NUM
ap-8079	147	34	8	8	NUM
ap-8079	147	35	10	10	NUM
ap-8079	147	36	12	12	NUM
ap-8079	147	37	-1000	-1000	NUM
ap-8079	148	1	-500	-500	NUM
ap-8079	148	2	0	0	NUM
ap-8079	148	3	500	500	NUM
ap-8079	148	4	1000	1000	NUM
ap-8079	148	5	0	0	NUM
ap-8079	148	6	2	2	NUM
ap-8079	148	7	4	4	NUM
ap-8079	148	8	6	6	NUM
ap-8079	148	9	8	8	NUM
ap-8079	148	10	10	10	NUM
ap-8079	148	11	12	12	NUM
ap-8079	148	12	time(s	time(s	NOUN
ap-8079	148	13	)	)	PUNCT
ap-8079	148	14	-2	-2	NOUN
ap-8079	148	15	0	0	NUM
ap-8079	149	1	2	2	NUM
ap-8079	149	2	4	4	NUM
ap-8079	149	3	6	6	NUM
ap-8079	149	4	m	m	NOUN
ap-8079	149	5	h	h	NOUN
ap-8079	149	6	ip	ip	NOUN
ap-8079	149	7	(	(	PUNCT
ap-8079	149	8	n	n	X
ap-8079	149	9	m	m	VERB
ap-8079	149	10	)	)	PUNCT
ap-8079	149	11	measured	measure	VERB
ap-8079	149	12	torque	torque	NOUN
ap-8079	149	13	estimated	estimate	VERB
ap-8079	149	14	torque	torque	NOUN
ap-8079	149	15	figure	figure	NOUN
ap-8079	149	16	4	4	NUM
ap-8079	149	17	.	.	PUNCT
ap-8079	149	18	sample	sample	NOUN
ap-8079	149	19	input	input	NOUN
ap-8079	149	20	and	and	CCONJ
ap-8079	149	21	output	output	NOUN
ap-8079	149	22	of	of	ADP
ap-8079	149	23	the	the	DET
ap-8079	149	24	neural	neural	ADJ
ap-8079	149	25	network	network	NOUN
ap-8079	149	26	for	for	ADP
ap-8079	149	27	hip	hip	NOUN
ap-8079	149	28	joint	joint	NOUN
ap-8079	149	29	.	.	PUNCT
ap-8079	150	1	to	to	PART
ap-8079	150	2	obtain	obtain	VERB
ap-8079	150	3	the	the	DET
ap-8079	150	4	training	training	NOUN
ap-8079	150	5	data	datum	NOUN
ap-8079	150	6	of	of	ADP
ap-8079	150	7	the	the	DET
ap-8079	150	8	neural	neural	ADJ
ap-8079	150	9	network	network	NOUN
ap-8079	150	10	,	,	PUNCT
ap-8079	150	11	the	the	DET
ap-8079	150	12	developed	develop	VERB
ap-8079	150	13	robot	robot	NOUN
ap-8079	150	14	system	system	NOUN
ap-8079	150	15	is	be	AUX
ap-8079	150	16	controlled	control	VERB
ap-8079	150	17	to	to	PART
ap-8079	150	18	track	track	VERB
ap-8079	150	19	the	the	DET
ap-8079	150	20	reference	reference	NOUN
ap-8079	150	21	trajectory	trajectory	NOUN
ap-8079	150	22	without	without	ADP
ap-8079	150	23	a	a	DET
ap-8079	150	24	load	load	NOUN
ap-8079	150	25	(	(	PUNCT
ap-8079	150	26	i.e.	i.e.	X
ap-8079	150	27	without	without	ADP
ap-8079	150	28	rehabilitation	rehabilitation	NOUN
ap-8079	150	29	object	object	NOUN
ap-8079	150	30	)	)	PUNCT
ap-8079	150	31	.	.	PUNCT
ap-8079	151	1	then	then	ADV
ap-8079	151	2	,	,	PUNCT
ap-8079	151	3	the	the	DET
ap-8079	151	4	torques	torque	NOUN
ap-8079	151	5	generated	generate	VERB
ap-8079	151	6	by	by	ADP
ap-8079	151	7	pams	pam	NOUN
ap-8079	151	8	that	that	PRON
ap-8079	151	9	affect	affect	VERB
ap-8079	151	10	robot	robot	NOUN
ap-8079	151	11	joints	joint	NOUN
ap-8079	151	12	are	be	AUX
ap-8079	151	13	collected	collect	VERB
ap-8079	151	14	as	as	ADP
ap-8079	151	15	output	output	NOUN
ap-8079	151	16	data	datum	NOUN
ap-8079	151	17	.	.	PUNCT
ap-8079	152	1	the	the	DET
ap-8079	152	2	actual	actual	ADJ
ap-8079	152	3	joint	joint	ADJ
ap-8079	152	4	acceleration	acceleration	NOUN
ap-8079	152	5	,	,	PUNCT
ap-8079	152	6	velocity	velocity	NOUN
ap-8079	152	7	,	,	PUNCT
ap-8079	152	8	and	and	CCONJ
ap-8079	152	9	position	position	NOUN
ap-8079	152	10	are	be	AUX
ap-8079	152	11	collected	collect	VERB
ap-8079	152	12	as	as	ADP
ap-8079	152	13	input	input	NOUN
ap-8079	152	14	data	datum	NOUN
ap-8079	152	15	for	for	ADP
ap-8079	152	16	the	the	DET
ap-8079	152	17	training	training	NOUN
ap-8079	152	18	.	.	PUNCT
ap-8079	153	1	the	the	DET
ap-8079	153	2	sample	sample	NOUN
ap-8079	153	3	input	input	NOUN
ap-8079	153	4	and	and	CCONJ
ap-8079	153	5	output	output	NOUN
ap-8079	153	6	are	be	AUX
ap-8079	153	7	shown	show	VERB
ap-8079	153	8	in	in	ADP
ap-8079	153	9	figure	figure	NOUN
ap-8079	153	10	4	4	NUM
ap-8079	153	11	and	and	CCONJ
ap-8079	153	12	figure	figure	VERB
ap-8079	153	13	5	5	NUM
ap-8079	153	14	for	for	ADP
ap-8079	153	15	hip	hip	NOUN
ap-8079	153	16	and	and	CCONJ
ap-8079	153	17	knee	knee	NOUN
ap-8079	153	18	joint	joint	NOUN
ap-8079	153	19	,	,	PUNCT
ap-8079	153	20	respectively	respectively	ADV
ap-8079	153	21	.	.	PUNCT
ap-8079	154	1	utilising	utilise	VERB
ap-8079	154	2	the	the	DET
ap-8079	154	3	neural	neural	ADJ
ap-8079	154	4	network	network	NOUN
ap-8079	154	5	toolbox	toolbox	NOUN
ap-8079	154	6	in	in	ADP
ap-8079	154	7	matlab	matlab	PROPN
ap-8079	154	8	to	to	PART
ap-8079	154	9	train	train	VERB
ap-8079	154	10	the	the	DET
ap-8079	154	11	proposed	propose	VERB
ap-8079	154	12	neural	neural	ADJ
ap-8079	154	13	networks	network	NOUN
ap-8079	154	14	,	,	PUNCT
ap-8079	154	15	we	we	PRON
ap-8079	154	16	obtain	obtain	VERB
ap-8079	154	17	the	the	DET
ap-8079	154	18	weight	weight	NOUN
ap-8079	154	19	and	and	CCONJ
ap-8079	154	20	bias	bias	NOUN
ap-8079	154	21	coefficients	coefficient	NOUN
ap-8079	154	22	for	for	ADP
ap-8079	154	23	the	the	DET
ap-8079	154	24	two	two	NUM
ap-8079	154	25	following	follow	VERB
ap-8079	154	26	networks	network	NOUN
ap-8079	154	27	.	.	PUNCT
ap-8079	155	1	for	for	ADP
ap-8079	155	2	the	the	DET
ap-8079	155	3	neural	neural	ADJ
ap-8079	155	4	network	network	NOUN
ap-8079	155	5	that	that	PRON
ap-8079	155	6	is	be	AUX
ap-8079	155	7	used	use	VERB
ap-8079	155	8	to	to	PART
ap-8079	155	9	estimate	estimate	VERB
ap-8079	155	10	hip	hip	NOUN
ap-8079	155	11	joint	joint	NOUN
ap-8079	155	12	’s	’s	PART
ap-8079	155	13	torque	torque	NOUN
ap-8079	155	14	:	:	PUNCT
ap-8079	155	15	wh1	wh1	X
ap-8079	155	16	=	=	SYM
ap-8079	155	17			NOUN
ap-8079	156	1	0.2501	0.2501	NUM
ap-8079	156	2	−0.0160	−0.0160	NUM
ap-8079	156	3	0.0001	0.0001	NUM
ap-8079	156	4	0.2824	0.2824	NUM
ap-8079	156	5	0.7430	0.7430	NUM
ap-8079	156	6	0.0337	0.0337	NUM
ap-8079	156	7	0.0654	0.0654	NUM
ap-8079	156	8	−0.0194	−0.0194	PROPN
ap-8079	156	9	0.0039	0.0039	NUM
ap-8079	156	10	−0.0004	−0.0004	PROPN
ap-8079	156	11	0.0002	0.0002	NUM
ap-8079	156	12	0.0000	0.0000	NUM
ap-8079	156	13			NOUN
ap-8079	156	14	,	,	PUNCT
ap-8079	156	15	bh1	bh1	NOUN
ap-8079	156	16	=	=	SYM
ap-8079	156	17			NOUN
ap-8079	156	18	0.7303	0.7303	NUM
ap-8079	156	19	3.1417	3.1417	NUM
ap-8079	156	20	8.0478	8.0478	NUM
ap-8079	156	21	−0.9932	−0.9932	NUM
ap-8079	156	22			PROPN
ap-8079	156	23	,	,	PUNCT
ap-8079	156	24	wh2	wh2	NOUN
ap-8079	156	25	=	=	PUNCT
ap-8079	157	1	[	[	PUNCT
ap-8079	157	2	3.4649	3.4649	NUM
ap-8079	157	3	0.4422	0.4422	NUM
ap-8079	157	4	2.7205	2.7205	NUM
ap-8079	157	5	13.3358	13.3358	NUM
ap-8079	157	6	]	]	PUNCT
ap-8079	157	7	,	,	PUNCT
ap-8079	157	8	bh2	bh2	X
ap-8079	157	9	=	=	PUNCT
ap-8079	157	10	−6.5336	−6.5336	NOUN
ap-8079	157	11	.	.	PUNCT
ap-8079	158	1	for	for	ADP
ap-8079	158	2	the	the	DET
ap-8079	158	3	neural	neural	ADJ
ap-8079	158	4	network	network	NOUN
ap-8079	158	5	that	that	PRON
ap-8079	158	6	is	be	AUX
ap-8079	158	7	used	use	VERB
ap-8079	158	8	to	to	PART
ap-8079	158	9	estimate	estimate	VERB
ap-8079	158	10	knee	knee	NOUN
ap-8079	158	11	joint	joint	NOUN
ap-8079	158	12	’s	’s	PART
ap-8079	158	13	torque	torque	NOUN
ap-8079	158	14	:	:	PUNCT
ap-8079	158	15	182	182	NUM
ap-8079	158	16	vol	vol	NOUN
ap-8079	158	17	.	.	PUNCT
ap-8079	158	18	63	63	NUM
ap-8079	158	19	no	no	NOUN
ap-8079	158	20	.	.	PUNCT
ap-8079	159	1	3/2023	3/2023	NUM
ap-8079	159	2	neural	neural	ADJ
ap-8079	159	3	network	network	NOUN
ap-8079	159	4	based	base	VERB
ap-8079	159	5	patient	patient	NOUN
ap-8079	159	6	recovery	recovery	NOUN
ap-8079	159	7	estimation	estimation	NOUN
ap-8079	159	8	0	0	NUM
ap-8079	159	9	2	2	NUM
ap-8079	159	10	4	4	NUM
ap-8079	159	11	6	6	NUM
ap-8079	159	12	8	8	NUM
ap-8079	159	13	10	10	NUM
ap-8079	159	14	12	12	NUM
ap-8079	159	15	-30	-30	NUM
ap-8079	159	16	-20	-20	NUM
ap-8079	159	17	-10	-10	PUNCT
ap-8079	159	18	0	0	PUNCT
ap-8079	160	1	q	q	PROPN
ap-8079	160	2	k	k	PROPN
ap-8079	160	3	n	n	CCONJ
ap-8079	160	4	e	e	X
ap-8079	160	5	e	e	X
ap-8079	160	6	(	(	PUNCT
ap-8079	160	7	°	°	ADP
ap-8079	160	8	)	)	PUNCT
ap-8079	160	9	0	0	NUM
ap-8079	160	10	2	2	NUM
ap-8079	160	11	4	4	NUM
ap-8079	160	12	6	6	NUM
ap-8079	160	13	8	8	NUM
ap-8079	160	14	10	10	NUM
ap-8079	160	15	12	12	NUM
ap-8079	160	16	-50	-50	PUNCT
ap-8079	160	17	0	0	NUM
ap-8079	160	18	50	50	NUM
ap-8079	160	19	0	0	NUM
ap-8079	160	20	2	2	NUM
ap-8079	160	21	4	4	NUM
ap-8079	160	22	6	6	NUM
ap-8079	160	23	8	8	NUM
ap-8079	160	24	10	10	NUM
ap-8079	160	25	12	12	NUM
ap-8079	160	26	-1000	-1000	NUM
ap-8079	161	1	-500	-500	NUM
ap-8079	161	2	0	0	NUM
ap-8079	161	3	500	500	NUM
ap-8079	161	4	1000	1000	NUM
ap-8079	161	5	0	0	NUM
ap-8079	161	6	2	2	NUM
ap-8079	161	7	4	4	NUM
ap-8079	161	8	6	6	NUM
ap-8079	161	9	8	8	NUM
ap-8079	161	10	10	10	NUM
ap-8079	161	11	12	12	NUM
ap-8079	161	12	time(s	time(s	NOUN
ap-8079	161	13	)	)	PUNCT
ap-8079	161	14	-3	-3	PUNCT
ap-8079	161	15	-2	-2	INTJ
ap-8079	162	1	-1	-1	SYM
ap-8079	162	2	0	0	NUM
ap-8079	162	3	1	1	NUM
ap-8079	162	4	m	m	NOUN
ap-8079	162	5	k	k	NOUN
ap-8079	162	6	n	n	X
ap-8079	162	7	e	e	X
ap-8079	162	8	e	e	X
ap-8079	162	9	(	(	PUNCT
ap-8079	162	10	n	n	X
ap-8079	162	11	m	m	VERB
ap-8079	162	12	)	)	PUNCT
ap-8079	162	13	measured	measure	VERB
ap-8079	162	14	torque	torque	NOUN
ap-8079	162	15	estimated	estimate	VERB
ap-8079	162	16	torque	torque	NOUN
ap-8079	162	17	figure	figure	NOUN
ap-8079	162	18	5	5	NUM
ap-8079	162	19	.	.	PUNCT
ap-8079	162	20	sample	sample	NOUN
ap-8079	162	21	input	input	NOUN
ap-8079	162	22	and	and	CCONJ
ap-8079	162	23	output	output	NOUN
ap-8079	162	24	of	of	ADP
ap-8079	162	25	the	the	DET
ap-8079	162	26	neural	neural	ADJ
ap-8079	162	27	network	network	NOUN
ap-8079	162	28	for	for	ADP
ap-8079	162	29	knee	knee	NOUN
ap-8079	162	30	joint	joint	NOUN
ap-8079	162	31	.	.	PUNCT
ap-8079	163	1	wk1	wk1	NOUN
ap-8079	163	2	=	=	SYM
ap-8079	163	3			NOUN
ap-8079	163	4	−0.0814	−0.0814	PROPN
ap-8079	163	5	−0.0026	−0.0026	X
ap-8079	163	6	−0.0000	−0.0000	NUM
ap-8079	164	1	−0.0463	−0.0463	NUM
ap-8079	165	1	−0.0786	−0.0786	X
ap-8079	165	2	−0.0540	−0.0540	PROPN
ap-8079	165	3	−0.0455	−0.0455	PROPN
ap-8079	165	4	−0.0027	−0.0027	NOUN
ap-8079	165	5	0.0419	0.0419	NUM
ap-8079	165	6	−0.0003	−0.0003	X
ap-8079	165	7	−0.0000	−0.0000	NUM
ap-8079	165	8	0.0000	0.0000	NUM
ap-8079	165	9			NOUN
ap-8079	165	10	,	,	PUNCT
ap-8079	165	11	bk1	bk1	NOUN
ap-8079	165	12	=	=	SYM
ap-8079	165	13			NOUN
ap-8079	165	14	−1.3038	−1.3038	X
ap-8079	165	15	−0.1466	−0.1466	ADV
ap-8079	165	16	−1.2532	−1.2532	NUM
ap-8079	165	17	−0.1153	−0.1153	NOUN
ap-8079	165	18			PROPN
ap-8079	165	19	,	,	PUNCT
ap-8079	165	20	wk2	wk2	PROPN
ap-8079	165	21	=	=	PUNCT
ap-8079	166	1	[	[	PUNCT
ap-8079	166	2	−1.3840	−1.3840	NOUN
ap-8079	166	3	−1.1626	−1.1626	NOUN
ap-8079	166	4	−1.3612	−1.3612	VERB
ap-8079	166	5	−1.0918	−1.0918	NOUN
ap-8079	166	6	]	]	PUNCT
ap-8079	166	7	,	,	PUNCT
ap-8079	166	8	bk2	bk2	NOUN
ap-8079	166	9	=	=	NOUN
ap-8079	166	10	2.1821	2.1821	NUM
ap-8079	166	11	,	,	PUNCT
ap-8079	166	12	where	where	SCONJ
ap-8079	166	13	wij	wij	PROPN
ap-8079	166	14	and	and	CCONJ
ap-8079	166	15	bij	bij	NOUN
ap-8079	166	16	are	be	AUX
ap-8079	166	17	the	the	DET
ap-8079	166	18	weight	weight	NOUN
ap-8079	166	19	and	and	CCONJ
ap-8079	166	20	bias	bias	NOUN
ap-8079	166	21	of	of	ADP
ap-8079	166	22	the	the	DET
ap-8079	166	23	neural	neural	ADJ
ap-8079	166	24	network	network	NOUN
ap-8079	166	25	,	,	PUNCT
ap-8079	166	26	with	with	ADP
ap-8079	166	27	i	i	PRON
ap-8079	166	28	=	=	SYM
ap-8079	166	29	h	h	PROPN
ap-8079	166	30	for	for	ADP
ap-8079	166	31	hip	hip	NOUN
ap-8079	166	32	,	,	PUNCT
ap-8079	166	33	and	and	CCONJ
ap-8079	166	34	i	i	PRON
ap-8079	166	35	=	=	SYM
ap-8079	166	36	k	k	PROPN
ap-8079	166	37	for	for	ADP
ap-8079	166	38	knee	knee	PROPN
ap-8079	166	39	joint	joint	NOUN
ap-8079	166	40	,	,	PUNCT
ap-8079	166	41	j	j	PROPN
ap-8079	166	42	=	=	SYM
ap-8079	166	43	1	1	NUM
ap-8079	166	44	,	,	PUNCT
ap-8079	166	45	2	2	NUM
ap-8079	166	46	represents	represent	VERB
ap-8079	166	47	the	the	DET
ap-8079	166	48	jth	jth	PROPN
ap-8079	166	49	layer	layer	NOUN
ap-8079	166	50	of	of	ADP
ap-8079	166	51	neurons	neuron	NOUN
ap-8079	166	52	.	.	PUNCT
ap-8079	167	1	both	both	DET
ap-8079	167	2	fourth	fourth	ADJ
ap-8079	167	3	sub	sub	NOUN
ap-8079	167	4	-	-	NOUN
ap-8079	167	5	figures	figure	NOUN
ap-8079	167	6	of	of	ADP
ap-8079	167	7	figure	figure	NOUN
ap-8079	167	8	4	4	NUM
ap-8079	167	9	and	and	CCONJ
ap-8079	167	10	figure	figure	VERB
ap-8079	167	11	5	5	NUM
ap-8079	167	12	show	show	VERB
ap-8079	167	13	the	the	DET
ap-8079	167	14	estimated	estimate	VERB
ap-8079	167	15	torques	torque	NOUN
ap-8079	167	16	using	use	VERB
ap-8079	167	17	a	a	DET
ap-8079	167	18	neural	neural	ADJ
ap-8079	167	19	network	network	NOUN
ap-8079	167	20	in	in	ADP
ap-8079	167	21	comparison	comparison	NOUN
ap-8079	167	22	to	to	ADP
ap-8079	167	23	the	the	DET
ap-8079	167	24	actual	actual	ADJ
ap-8079	167	25	torques	torque	NOUN
ap-8079	167	26	.	.	PUNCT
ap-8079	168	1	it	it	PRON
ap-8079	168	2	can	can	AUX
ap-8079	168	3	be	be	AUX
ap-8079	168	4	seen	see	VERB
ap-8079	168	5	that	that	SCONJ
ap-8079	168	6	a	a	DET
ap-8079	168	7	precise	precise	ADJ
ap-8079	168	8	approximation	approximation	NOUN
ap-8079	168	9	is	be	AUX
ap-8079	168	10	obtained	obtain	VERB
ap-8079	168	11	.	.	PUNCT
ap-8079	169	1	the	the	DET
ap-8079	169	2	root	root	NOUN
ap-8079	169	3	mean	mean	VERB
ap-8079	169	4	square	square	ADJ
ap-8079	169	5	error	error	NOUN
ap-8079	169	6	(	(	PUNCT
ap-8079	169	7	rmse	rmse	NOUN
ap-8079	169	8	)	)	PUNCT
ap-8079	169	9	is	be	AUX
ap-8079	169	10	under	under	ADP
ap-8079	169	11	0.2	0.2	NUM
ap-8079	169	12	nm	nm	NOUN
ap-8079	169	13	for	for	ADP
ap-8079	169	14	both	both	DET
ap-8079	169	15	joints	joint	NOUN
ap-8079	169	16	.	.	PUNCT
ap-8079	170	1	hence	hence	ADV
ap-8079	170	2	,	,	PUNCT
ap-8079	170	3	we	we	PRON
ap-8079	170	4	can	can	AUX
ap-8079	170	5	conclude	conclude	VERB
ap-8079	170	6	that	that	SCONJ
ap-8079	170	7	the	the	DET
ap-8079	170	8	estimation	estimation	NOUN
ap-8079	170	9	has	have	VERB
ap-8079	170	10	a	a	DET
ap-8079	170	11	high	high	ADJ
ap-8079	170	12	accuracy	accuracy	NOUN
ap-8079	170	13	.	.	PUNCT
ap-8079	171	1	to	to	PART
ap-8079	171	2	verify	verify	VERB
ap-8079	171	3	the	the	DET
ap-8079	171	4	estimation	estimation	NOUN
ap-8079	171	5	’s	’s	PART
ap-8079	171	6	accuracy	accuracy	NOUN
ap-8079	171	7	,	,	PUNCT
ap-8079	171	8	the	the	DET
ap-8079	171	9	robot	robot	NOUN
ap-8079	171	10	is	be	AUX
ap-8079	171	11	operated	operate	VERB
ap-8079	171	12	in	in	ADP
ap-8079	171	13	the	the	DET
ap-8079	171	14	trajectory	trajectory	NOUN
ap-8079	171	15	tracking	track	VERB
ap-8079	171	16	mode	mode	NOUN
ap-8079	171	17	with	with	ADP
ap-8079	171	18	a	a	DET
ap-8079	171	19	lower	low	ADJ
ap-8079	171	20	frequency	frequency	NOUN
ap-8079	171	21	(	(	PUNCT
ap-8079	171	22	0.3	0.3	NUM
ap-8079	171	23	hz	hz	NOUN
ap-8079	171	24	)	)	PUNCT
ap-8079	171	25	.	.	PUNCT
ap-8079	172	1	both	both	DET
ap-8079	172	2	torques	torque	NOUN
ap-8079	172	3	,	,	PUNCT
ap-8079	172	4	including	include	VERB
ap-8079	172	5	the	the	DET
ap-8079	172	6	estimation	estimation	NOUN
ap-8079	172	7	from	from	ADP
ap-8079	172	8	nns	nns	PROPN
ap-8079	172	9	(	(	PUNCT
ap-8079	172	10	mnn	mnn	PROPN
ap-8079	172	11	)	)	PUNCT
ap-8079	172	12	and	and	CCONJ
ap-8079	172	13	inverse	inverse	NOUN
ap-8079	172	14	one	one	NUM
ap-8079	172	15	(	(	PUNCT
ap-8079	172	16	minv	minv	PROPN
ap-8079	172	17	)	)	PUNCT
ap-8079	172	18	computed	compute	VERB
ap-8079	172	19	from	from	ADP
ap-8079	172	20	inverse	inverse	ADJ
ap-8079	172	21	dynamic	dynamic	ADJ
ap-8079	172	22	equation	equation	NOUN
ap-8079	172	23	(	(	PUNCT
ap-8079	172	24	1	1	X
ap-8079	172	25	)	)	PUNCT
ap-8079	172	26	are	be	AUX
ap-8079	172	27	obtained	obtain	VERB
ap-8079	172	28	for	for	ADP
ap-8079	172	29	an	an	DET
ap-8079	172	30	analysis	analysis	NOUN
ap-8079	172	31	.	.	PUNCT
ap-8079	173	1	as	as	SCONJ
ap-8079	173	2	shown	show	VERB
ap-8079	173	3	in	in	ADP
ap-8079	173	4	figure	figure	NOUN
ap-8079	173	5	6	6	NUM
ap-8079	173	6	,	,	PUNCT
ap-8079	173	7	in	in	ADP
ap-8079	173	8	comparison	comparison	NOUN
ap-8079	173	9	to	to	ADP
ap-8079	173	10	estimation	estimation	NOUN
ap-8079	173	11	using	use	VERB
ap-8079	173	12	inverse	inverse	NOUN
ap-8079	173	13	dynamics	dynamic	NOUN
ap-8079	173	14	0	0	NUM
ap-8079	173	15	2	2	NUM
ap-8079	173	16	4	4	NUM
ap-8079	173	17	6	6	NUM
ap-8079	173	18	8	8	NUM
ap-8079	173	19	10	10	NUM
ap-8079	173	20	12	12	NUM
ap-8079	173	21	14	14	NUM
ap-8079	173	22	16	16	NUM
ap-8079	173	23	18	18	NUM
ap-8079	173	24	20	20	NUM
ap-8079	173	25	-2	-2	NOUN
ap-8079	173	26	0	0	NUM
ap-8079	173	27	2	2	NUM
ap-8079	173	28	4	4	NUM
ap-8079	173	29	6	6	NUM
ap-8079	173	30	m	m	NOUN
ap-8079	173	31	o	o	NOUN
ap-8079	173	32	m	m	NOUN
ap-8079	173	33	e	e	NOUN
ap-8079	173	34	n	n	NUM
ap-8079	173	35	h	h	NOUN
ap-8079	173	36	ip	ip	VERB
ap-8079	173	37	(	(	PUNCT
ap-8079	173	38	n	n	X
ap-8079	173	39	m	m	VERB
ap-8079	173	40	)	)	PUNCT
ap-8079	173	41	m	m	AUX
ap-8079	173	42	inv	inv	VERB
ap-8079	173	43	m	m	PROPN
ap-8079	173	44	nn	nn	PROPN
ap-8079	173	45	m	m	NOUN
ap-8079	173	46	pams	pams	PROPN
ap-8079	173	47	0	0	NUM
ap-8079	173	48	2	2	NUM
ap-8079	173	49	4	4	NUM
ap-8079	173	50	6	6	NUM
ap-8079	173	51	8	8	NUM
ap-8079	173	52	10	10	NUM
ap-8079	173	53	12	12	NUM
ap-8079	173	54	14	14	NUM
ap-8079	173	55	16	16	NUM
ap-8079	173	56	18	18	NUM
ap-8079	173	57	20	20	NUM
ap-8079	173	58	time(s	time(s	NOUN
ap-8079	173	59	)	)	PUNCT
ap-8079	173	60	-3	-3	PUNCT
ap-8079	173	61	-2	-2	INTJ
ap-8079	174	1	-1	-1	NOUN
ap-8079	174	2	0	0	NUM
ap-8079	175	1	m	m	NOUN
ap-8079	175	2	o	o	NOUN
ap-8079	175	3	m	m	NOUN
ap-8079	175	4	e	e	NOUN
ap-8079	175	5	n	n	CCONJ
ap-8079	175	6	k	k	PROPN
ap-8079	175	7	n	n	CCONJ
ap-8079	175	8	e	e	X
ap-8079	175	9	e	e	X
ap-8079	175	10	(	(	PUNCT
ap-8079	175	11	n	n	X
ap-8079	175	12	m	m	NOUN
ap-8079	175	13	)	)	PUNCT
ap-8079	175	14	figure	figure	NOUN
ap-8079	175	15	6	6	NUM
ap-8079	175	16	.	.	PUNCT
ap-8079	176	1	comparison	comparison	NOUN
ap-8079	176	2	of	of	ADP
ap-8079	176	3	the	the	DET
ap-8079	176	4	torque	torque	NOUN
ap-8079	176	5	estimation	estimation	NOUN
ap-8079	176	6	results	result	NOUN
ap-8079	176	7	for	for	ADP
ap-8079	176	8	neural	neural	ADJ
ap-8079	176	9	network	network	NOUN
ap-8079	176	10	and	and	CCONJ
ap-8079	176	11	inverse	inverse	NOUN
ap-8079	176	12	dynamic	dynamic	NOUN
ap-8079	176	13	when	when	SCONJ
ap-8079	176	14	tracking	track	VERB
ap-8079	176	15	a	a	DET
ap-8079	176	16	0.3	0.3	NUM
ap-8079	176	17	hz	hz	NOUN
ap-8079	176	18	gait	gait	NOUN
ap-8079	176	19	patterns	pattern	NOUN
ap-8079	176	20	.	.	PUNCT
ap-8079	177	1	calculation	calculation	NOUN
ap-8079	177	2	,	,	PUNCT
ap-8079	177	3	the	the	DET
ap-8079	177	4	estimation	estimation	NOUN
ap-8079	177	5	using	use	VERB
ap-8079	177	6	a	a	DET
ap-8079	177	7	neural	neural	ADJ
ap-8079	177	8	network	network	NOUN
ap-8079	177	9	achieves	achieve	VERB
ap-8079	177	10	a	a	DET
ap-8079	177	11	much	much	ADV
ap-8079	177	12	better	well	ADJ
ap-8079	177	13	precision	precision	NOUN
ap-8079	177	14	.	.	PUNCT
ap-8079	178	1	the	the	DET
ap-8079	178	2	high	high	ADJ
ap-8079	178	3	deviation	deviation	NOUN
ap-8079	178	4	in	in	ADP
ap-8079	178	5	inverse	inverse	ADJ
ap-8079	178	6	dynamics	dynamic	NOUN
ap-8079	178	7	calculation	calculation	NOUN
ap-8079	178	8	can	can	AUX
ap-8079	178	9	be	be	AUX
ap-8079	178	10	attributed	attribute	VERB
ap-8079	178	11	to	to	ADP
ap-8079	178	12	the	the	DET
ap-8079	178	13	fact	fact	NOUN
ap-8079	178	14	that	that	SCONJ
ap-8079	178	15	it	it	PRON
ap-8079	178	16	can	can	AUX
ap-8079	178	17	not	not	PART
ap-8079	178	18	estimate	estimate	VERB
ap-8079	178	19	the	the	DET
ap-8079	178	20	unknown	unknown	ADJ
ap-8079	178	21	component	component	NOUN
ap-8079	178	22	forces	force	NOUN
ap-8079	178	23	,	,	PUNCT
ap-8079	178	24	such	such	ADJ
ap-8079	178	25	as	as	ADP
ap-8079	178	26	friction	friction	NOUN
ap-8079	178	27	,	,	PUNCT
ap-8079	178	28	external	external	ADJ
ap-8079	178	29	disturbance	disturbance	NOUN
ap-8079	178	30	,	,	PUNCT
ap-8079	178	31	and	and	CCONJ
ap-8079	178	32	other	other	ADJ
ap-8079	178	33	unmodelled	unmodelled	ADJ
ap-8079	178	34	dynamics	dynamic	NOUN
ap-8079	178	35	.	.	PUNCT
ap-8079	179	1	3.3	3.3	NUM
ap-8079	179	2	.	.	PUNCT
ap-8079	179	3	estimation	estimation	NOUN
ap-8079	179	4	of	of	ADP
ap-8079	179	5	the	the	DET
ap-8079	179	6	patient	patient	NOUN
ap-8079	179	7	’s	’s	PART
ap-8079	179	8	recovery	recovery	NOUN
ap-8079	179	9	after	after	ADP
ap-8079	179	10	determining	determine	VERB
ap-8079	179	11	the	the	DET
ap-8079	179	12	total	total	ADJ
ap-8079	179	13	applied	apply	VERB
ap-8079	179	14	torque	torque	NOUN
ap-8079	179	15	mnn	mnn	NOUN
ap-8079	179	16	and	and	CCONJ
ap-8079	179	17	computing	compute	VERB
ap-8079	179	18	the	the	DET
ap-8079	179	19	torque	torque	NOUN
ap-8079	179	20	generated	generate	VERB
ap-8079	179	21	by	by	ADP
ap-8079	179	22	the	the	DET
ap-8079	179	23	pams	pams	PROPN
ap-8079	179	24	(	(	PUNCT
ap-8079	179	25	mp	mp	PROPN
ap-8079	179	26	am	be	AUX
ap-8079	179	27	)	)	PUNCT
ap-8079	179	28	,	,	PUNCT
ap-8079	179	29	the	the	DET
ap-8079	179	30	external	external	ADJ
ap-8079	179	31	torques	torque	NOUN
ap-8079	179	32	generated	generate	VERB
ap-8079	179	33	by	by	ADP
ap-8079	179	34	the	the	DET
ap-8079	179	35	human	human	NOUN
ap-8079	179	36	can	can	AUX
ap-8079	179	37	be	be	AUX
ap-8079	179	38	calculated	calculate	VERB
ap-8079	179	39	using	use	VERB
ap-8079	179	40	equation	equation	NOUN
ap-8079	179	41	(	(	PUNCT
ap-8079	179	42	4	4	NUM
ap-8079	179	43	)	)	PUNCT
ap-8079	179	44	.	.	PUNCT
ap-8079	180	1	this	this	DET
ap-8079	180	2	method	method	NOUN
ap-8079	180	3	allows	allow	VERB
ap-8079	180	4	for	for	ADP
ap-8079	180	5	the	the	DET
ap-8079	180	6	easy	easy	ADJ
ap-8079	180	7	estimation	estimation	NOUN
ap-8079	180	8	of	of	ADP
ap-8079	180	9	the	the	DET
ap-8079	180	10	patient	patient	NOUN
ap-8079	180	11	’s	’s	PART
ap-8079	180	12	recovery	recovery	NOUN
ap-8079	180	13	over	over	ADP
ap-8079	180	14	time	time	NOUN
ap-8079	180	15	from	from	ADP
ap-8079	180	16	the	the	DET
ap-8079	180	17	torques	torque	NOUN
ap-8079	180	18	generated	generate	VERB
ap-8079	180	19	by	by	ADP
ap-8079	180	20	the	the	DET
ap-8079	180	21	human	human	NOUN
ap-8079	180	22	.	.	PUNCT
ap-8079	181	1	to	to	PART
ap-8079	181	2	verify	verify	VERB
ap-8079	181	3	the	the	DET
ap-8079	181	4	accuracy	accuracy	NOUN
ap-8079	181	5	of	of	ADP
ap-8079	181	6	this	this	DET
ap-8079	181	7	proposed	propose	VERB
ap-8079	181	8	method	method	NOUN
ap-8079	181	9	for	for	ADP
ap-8079	181	10	estimating	estimate	VERB
ap-8079	181	11	the	the	DET
ap-8079	181	12	torque	torque	NOUN
ap-8079	181	13	generated	generate	VERB
ap-8079	181	14	by	by	ADP
ap-8079	181	15	the	the	DET
ap-8079	181	16	patients	patient	NOUN
ap-8079	181	17	,	,	PUNCT
ap-8079	181	18	an	an	DET
ap-8079	181	19	experiment	experiment	NOUN
ap-8079	181	20	was	be	AUX
ap-8079	181	21	conducted	conduct	VERB
ap-8079	181	22	to	to	PART
ap-8079	181	23	estimate	estimate	VERB
ap-8079	181	24	the	the	DET
ap-8079	181	25	torque	torque	NOUN
ap-8079	181	26	generated	generate	VERB
ap-8079	181	27	by	by	ADP
ap-8079	181	28	a	a	DET
ap-8079	181	29	load	load	NOUN
ap-8079	181	30	.	.	PUNCT
ap-8079	182	1	in	in	ADP
ap-8079	182	2	this	this	DET
ap-8079	182	3	experiment	experiment	NOUN
ap-8079	182	4	,	,	PUNCT
ap-8079	182	5	a	a	DET
ap-8079	182	6	dumbbell	dumbbell	NOUN
ap-8079	182	7	was	be	AUX
ap-8079	182	8	attached	attach	VERB
ap-8079	182	9	at	at	ADP
ap-8079	182	10	the	the	DET
ap-8079	182	11	centre	centre	NOUN
ap-8079	182	12	of	of	ADP
ap-8079	182	13	mass	mass	NOUN
ap-8079	182	14	of	of	ADP
ap-8079	182	15	the	the	DET
ap-8079	182	16	robot	robot	NOUN
ap-8079	182	17	’s	’s	PART
ap-8079	182	18	hip	hip	NOUN
ap-8079	182	19	joint	joint	NOUN
ap-8079	182	20	,	,	PUNCT
ap-8079	182	21	and	and	CCONJ
ap-8079	182	22	the	the	DET
ap-8079	182	23	robot	robot	NOUN
ap-8079	182	24	was	be	AUX
ap-8079	182	25	controlled	control	VERB
ap-8079	182	26	to	to	PART
ap-8079	182	27	follow	follow	VERB
ap-8079	182	28	the	the	DET
ap-8079	182	29	reference	reference	NOUN
ap-8079	182	30	gait	gait	PROPN
ap-8079	182	31	trajectory	trajectory	NOUN
ap-8079	182	32	at	at	ADP
ap-8079	182	33	a	a	DET
ap-8079	182	34	frequency	frequency	NOUN
ap-8079	182	35	of	of	ADP
ap-8079	182	36	0.5	0.5	NUM
ap-8079	182	37	hz	hz	NOUN
ap-8079	182	38	.	.	PUNCT
ap-8079	183	1	the	the	DET
ap-8079	183	2	moment	moment	NOUN
ap-8079	183	3	of	of	ADP
ap-8079	183	4	the	the	DET
ap-8079	183	5	dumbbell	dumbbell	NOUN
ap-8079	183	6	can	can	AUX
ap-8079	183	7	be	be	AUX
ap-8079	183	8	quickly	quickly	ADV
ap-8079	183	9	obtained	obtain	VERB
ap-8079	183	10	through	through	ADP
ap-8079	183	11	the	the	DET
ap-8079	183	12	joint	joint	ADJ
ap-8079	183	13	angle	angle	NOUN
ap-8079	183	14	and	and	CCONJ
ap-8079	183	15	distance	distance	NOUN
ap-8079	183	16	from	from	ADP
ap-8079	183	17	its	its	PRON
ap-8079	183	18	position	position	NOUN
ap-8079	183	19	to	to	ADP
ap-8079	183	20	the	the	DET
ap-8079	183	21	rotation	rotation	NOUN
ap-8079	183	22	point	point	NOUN
ap-8079	183	23	.	.	PUNCT
ap-8079	184	1	this	this	DET
ap-8079	184	2	information	information	NOUN
ap-8079	184	3	can	can	AUX
ap-8079	184	4	then	then	ADV
ap-8079	184	5	be	be	AUX
ap-8079	184	6	used	use	VERB
ap-8079	184	7	to	to	PART
ap-8079	184	8	calculate	calculate	VERB
ap-8079	184	9	the	the	DET
ap-8079	184	10	external	external	ADJ
ap-8079	184	11	torque	torque	NOUN
ap-8079	184	12	generated	generate	VERB
ap-8079	184	13	by	by	ADP
ap-8079	184	14	the	the	DET
ap-8079	184	15	load	load	NOUN
ap-8079	184	16	and	and	CCONJ
ap-8079	184	17	to	to	PART
ap-8079	184	18	validate	validate	VERB
ap-8079	184	19	the	the	DET
ap-8079	184	20	accuracy	accuracy	NOUN
ap-8079	184	21	of	of	ADP
ap-8079	184	22	the	the	DET
ap-8079	184	23	proposed	propose	VERB
ap-8079	184	24	method	method	NOUN
ap-8079	184	25	for	for	ADP
ap-8079	184	26	estimating	estimate	VERB
ap-8079	184	27	the	the	DET
ap-8079	184	28	torque	torque	NOUN
ap-8079	184	29	generated	generate	VERB
ap-8079	184	30	by	by	ADP
ap-8079	184	31	a	a	DET
ap-8079	184	32	patient	patient	NOUN
ap-8079	184	33	during	during	ADP
ap-8079	184	34	rehabilitation	rehabilitation	NOUN
ap-8079	184	35	.	.	PUNCT
ap-8079	185	1	figure	figure	VERB
ap-8079	185	2	7	7	NUM
ap-8079	185	3	show	show	VERB
ap-8079	185	4	that	that	SCONJ
ap-8079	185	5	the	the	DET
ap-8079	185	6	estimation	estimation	NOUN
ap-8079	185	7	of	of	ADP
ap-8079	185	8	the	the	DET
ap-8079	185	9	torque	torque	NOUN
ap-8079	185	10	generated	generate	VERB
ap-8079	185	11	by	by	ADP
ap-8079	185	12	the	the	DET
ap-8079	185	13	dumbbell	dumbbell	NOUN
ap-8079	185	14	is	be	AUX
ap-8079	185	15	highly	highly	ADV
ap-8079	185	16	accurate	accurate	ADJ
ap-8079	185	17	,	,	PUNCT
ap-8079	185	18	with	with	ADP
ap-8079	185	19	rmse	rmse	NOUN
ap-8079	185	20	is	be	AUX
ap-8079	185	21	under	under	ADP
ap-8079	185	22	0.26	0.26	NUM
ap-8079	185	23	nm	nm	NOUN
ap-8079	185	24	.	.	PUNCT
ap-8079	186	1	although	although	SCONJ
ap-8079	186	2	the	the	DET
ap-8079	186	3	error	error	NOUN
ap-8079	186	4	is	be	AUX
ap-8079	186	5	still	still	ADV
ap-8079	186	6	there	there	ADV
ap-8079	186	7	,	,	PUNCT
ap-8079	186	8	it	it	PRON
ap-8079	186	9	is	be	AUX
ap-8079	186	10	inevitable	inevitable	ADJ
ap-8079	186	11	when	when	SCONJ
ap-8079	186	12	we	we	PRON
ap-8079	186	13	depend	depend	VERB
ap-8079	186	14	on	on	ADP
ap-8079	186	15	the	the	DET
ap-8079	186	16	theoretical	theoretical	ADJ
ap-8079	186	17	model	model	NOUN
ap-8079	186	18	for	for	ADP
ap-8079	186	19	the	the	DET
ap-8079	186	20	estimation	estimation	NOUN
ap-8079	186	21	and	and	CCONJ
ap-8079	186	22	verification	verification	NOUN
ap-8079	186	23	.	.	PUNCT
ap-8079	187	1	positive	positive	ADJ
ap-8079	187	2	dumbbell	dumbbell	NOUN
ap-8079	187	3	estimation	estimation	NOUN
ap-8079	187	4	results	result	NOUN
ap-8079	187	5	make	make	VERB
ap-8079	187	6	it	it	PRON
ap-8079	187	7	possible	possible	ADJ
ap-8079	187	8	to	to	PART
ap-8079	187	9	estimate	estimate	VERB
ap-8079	187	10	the	the	DET
ap-8079	187	11	patient	patient	NOUN
ap-8079	187	12	’s	’s	PART
ap-8079	187	13	rehabilitation	rehabilitation	NOUN
ap-8079	187	14	(	(	PUNCT
ap-8079	187	15	also	also	ADV
ap-8079	187	16	known	know	VERB
ap-8079	187	17	as	as	ADP
ap-8079	187	18	the	the	DET
ap-8079	187	19	torque	torque	NOUN
ap-8079	187	20	estimate	estimate	NOUN
ap-8079	187	21	of	of	ADP
ap-8079	187	22	the	the	DET
ap-8079	187	23	human	human	ADJ
ap-8079	187	24	muscle	muscle	NOUN
ap-8079	187	25	)	)	PUNCT
ap-8079	187	26	.	.	PUNCT
ap-8079	188	1	the	the	DET
ap-8079	188	2	following	follow	VERB
ap-8079	188	3	section	section	NOUN
ap-8079	188	4	will	will	AUX
ap-8079	188	5	use	use	VERB
ap-8079	188	6	the	the	DET
ap-8079	188	7	patient	patient	NOUN
ap-8079	188	8	’s	’s	PART
ap-8079	188	9	recovery	recovery	NOUN
ap-8079	188	10	estimate	estimate	NOUN
ap-8079	188	11	to	to	PART
ap-8079	188	12	control	control	VERB
ap-8079	188	13	the	the	DET
ap-8079	188	14	gait	gait	ADJ
ap-8079	188	15	training	training	NOUN
ap-8079	188	16	robot	robot	NOUN
ap-8079	188	17	.	.	PUNCT
ap-8079	189	1	183	183	NUM
ap-8079	189	2	v	v	NOUN
ap-8079	189	3	-	-	PUNCT
ap-8079	189	4	v.	v.	NOUN
ap-8079	189	5	dinh	dinh	PROPN
ap-8079	189	6	,	,	PUNCT
ap-8079	189	7	m	m	PROPN
ap-8079	189	8	-	-	PROPN
ap-8079	189	9	c.	c.	PROPN
ap-8079	189	10	trinh	trinh	PROPN
ap-8079	189	11	,	,	PUNCT
ap-8079	189	12	t	t	PROPN
ap-8079	189	13	-	-	PUNCT
ap-8079	189	14	d.	d.	PROPN
ap-8079	189	15	bui	bui	PROPN
ap-8079	189	16	et	et	PROPN
ap-8079	189	17	al	al	PROPN
ap-8079	189	18	.	.	PROPN
ap-8079	190	1	acta	acta	PROPN
ap-8079	190	2	polytechnica	polytechnica	PROPN
ap-8079	190	3	0	0	NUM
ap-8079	190	4	2	2	NUM
ap-8079	190	5	4	4	NUM
ap-8079	190	6	6	6	NUM
ap-8079	190	7	8	8	NUM
ap-8079	190	8	10	10	NUM
ap-8079	190	9	12	12	NUM
ap-8079	190	10	-0.2	-0.2	NOUN
ap-8079	190	11	0	0	NUM
ap-8079	190	12	0.2	0.2	NUM
ap-8079	190	13	0.4	0.4	NUM
ap-8079	190	14	0.6	0.6	NUM
ap-8079	190	15	m	m	NOUN
ap-8079	190	16	o	o	NOUN
ap-8079	190	17	m	m	NOUN
ap-8079	190	18	e	e	NOUN
ap-8079	190	19	n	n	X
ap-8079	190	20	(	(	PUNCT
ap-8079	190	21	n	n	X
ap-8079	190	22	m	m	VERB
ap-8079	190	23	)	)	PUNCT
ap-8079	190	24	m	m	AUX
ap-8079	190	25	estimated	estimate	VERB
ap-8079	190	26	m	m	VERB
ap-8079	190	27	load	load	NOUN
ap-8079	190	28	figure	figure	NOUN
ap-8079	190	29	7	7	NUM
ap-8079	190	30	.	.	PUNCT
ap-8079	190	31	estimation	estimation	NOUN
ap-8079	190	32	verification	verification	NOUN
ap-8079	190	33	with	with	ADP
ap-8079	190	34	the	the	DET
ap-8079	190	35	external	external	ADJ
ap-8079	190	36	load	load	NOUN
ap-8079	190	37	is	be	AUX
ap-8079	190	38	a	a	DET
ap-8079	190	39	5	5	NUM
ap-8079	190	40	kg	kg	NOUN
ap-8079	190	41	-	-	PUNCT
ap-8079	190	42	dumbbell	dumbbell	NOUN
ap-8079	190	43	.	.	PUNCT
ap-8079	191	1	3.4	3.4	NUM
ap-8079	191	2	.	.	PUNCT
ap-8079	191	3	robot	robot	NOUN
ap-8079	191	4	impedance	impedance	NOUN
ap-8079	191	5	control	control	NOUN
ap-8079	191	6	one	one	NUM
ap-8079	191	7	of	of	ADP
ap-8079	191	8	the	the	DET
ap-8079	191	9	essential	essential	ADJ
ap-8079	191	10	criteria	criterion	NOUN
ap-8079	191	11	of	of	ADP
ap-8079	191	12	a	a	DET
ap-8079	191	13	rehabilitation	rehabilitation	NOUN
ap-8079	191	14	robot	robot	NOUN
ap-8079	191	15	is	be	AUX
ap-8079	191	16	its	its	PRON
ap-8079	191	17	stiffness	stiffness	NOUN
ap-8079	191	18	,	,	PUNCT
ap-8079	191	19	or	or	CCONJ
ap-8079	191	20	impedance	impedance	NOUN
ap-8079	191	21	.	.	PUNCT
ap-8079	192	1	the	the	DET
ap-8079	192	2	nominal	nominal	ADJ
ap-8079	192	3	pressure	pressure	NOUN
ap-8079	192	4	supply	supply	NOUN
ap-8079	192	5	to	to	ADP
ap-8079	192	6	the	the	DET
ap-8079	192	7	antagonistic	antagonistic	ADJ
ap-8079	192	8	actuator	actuator	NOUN
ap-8079	192	9	’s	’s	PART
ap-8079	192	10	two	two	NUM
ap-8079	192	11	pams	pam	NOUN
ap-8079	192	12	determines	determine	VERB
ap-8079	192	13	its	its	PRON
ap-8079	192	14	stiffness	stiffness	ADJ
ap-8079	192	15	property	property	NOUN
ap-8079	192	16	.	.	PUNCT
ap-8079	193	1	this	this	DET
ap-8079	193	2	study	study	NOUN
ap-8079	193	3	employs	employ	VERB
ap-8079	193	4	the	the	DET
ap-8079	193	5	stiffness	stiffness	ADJ
ap-8079	193	6	-	-	PUNCT
ap-8079	193	7	nominal	nominal	ADJ
ap-8079	193	8	pressure	pressure	NOUN
ap-8079	193	9	relationship	relationship	NOUN
ap-8079	193	10	presented	present	VERB
ap-8079	193	11	by	by	ADP
ap-8079	193	12	choi	choi	PROPN
ap-8079	193	13	et	et	PROPN
ap-8079	193	14	al	al	PROPN
ap-8079	193	15	.	.	PUNCT
ap-8079	194	1	[	[	X
ap-8079	194	2	29	29	NUM
ap-8079	194	3	]	]	PUNCT
ap-8079	194	4	.	.	PUNCT
ap-8079	195	1	the	the	DET
ap-8079	195	2	compliance	compliance	NOUN
ap-8079	195	3	γi	γi	NOUN
ap-8079	195	4	of	of	ADP
ap-8079	195	5	an	an	DET
ap-8079	195	6	antagonistic	antagonistic	ADJ
ap-8079	195	7	actuator	actuator	NOUN
ap-8079	195	8	driven	drive	VERB
ap-8079	195	9	by	by	ADP
ap-8079	195	10	pams	pams	PROPN
ap-8079	195	11	is	be	AUX
ap-8079	195	12	calculated	calculate	VERB
ap-8079	195	13	as	as	SCONJ
ap-8079	195	14	follows	follow	VERB
ap-8079	195	15	:	:	PUNCT
ap-8079	195	16	γi	γi	PROPN
ap-8079	195	17	=	=	PUNCT
ap-8079	195	18	θi	θi	ADP
ap-8079	195	19	2r2k0iθi	2r2k0iθi	NUM
ap-8079	195	20	+	+	CCONJ
ap-8079	195	21	k1i(r2πp0ei	k1i(r2πp0ei	NOUN
ap-8079	195	22	−	−	PROPN
ap-8079	195	23	pefixeir	pefixeir	NOUN
ap-8079	195	24	)	)	PUNCT
ap-8079	195	25	+	+	NUM
ap-8079	195	26	k1ir2∆pi	k1ir2∆pi	NOUN
ap-8079	195	27	,	,	PUNCT
ap-8079	195	28	(	(	PUNCT
ap-8079	195	29	10	10	NUM
ap-8079	195	30	)	)	PUNCT
ap-8079	195	31	where	where	SCONJ
ap-8079	195	32	γi	γi	PROPN
ap-8079	195	33	is	be	AUX
ap-8079	195	34	the	the	DET
ap-8079	195	35	compliance	compliance	NOUN
ap-8079	195	36	of	of	ADP
ap-8079	195	37	joint	joint	ADJ
ap-8079	195	38	i	i	PROPN
ap-8079	195	39	,	,	PUNCT
ap-8079	195	40	∆pi	∆pi	PROPN
ap-8079	195	41	represents	represent	VERB
ap-8079	195	42	the	the	DET
ap-8079	195	43	pressure	pressure	NOUN
ap-8079	195	44	values	value	NOUN
ap-8079	195	45	that	that	PRON
ap-8079	195	46	can	can	AUX
ap-8079	195	47	be	be	AUX
ap-8079	195	48	controlled	control	VERB
ap-8079	195	49	in	in	ADP
ap-8079	195	50	the	the	DET
ap-8079	195	51	pneumatic	pneumatic	ADJ
ap-8079	195	52	artificial	artificial	ADJ
ap-8079	195	53	muscles	muscle	NOUN
ap-8079	195	54	(	(	PUNCT
ap-8079	195	55	pams	pams	PROPN
ap-8079	195	56	)	)	PUNCT
ap-8079	195	57	,	,	PUNCT
ap-8079	195	58	which	which	PRON
ap-8079	195	59	are	be	AUX
ap-8079	195	60	considered	consider	VERB
ap-8079	195	61	as	as	ADP
ap-8079	195	62	arbitrary	arbitrary	ADJ
ap-8079	195	63	functions	function	NOUN
ap-8079	195	64	of	of	ADP
ap-8079	195	65	time	time	NOUN
ap-8079	195	66	.	.	PUNCT
ap-8079	196	1	the	the	DET
ap-8079	196	2	symbol	symbol	NOUN
ap-8079	196	3	r	r	NOUN
ap-8079	196	4	is	be	AUX
ap-8079	196	5	used	use	VERB
ap-8079	196	6	to	to	PART
ap-8079	196	7	denote	denote	VERB
ap-8079	196	8	the	the	DET
ap-8079	196	9	radius	radius	NOUN
ap-8079	196	10	of	of	ADP
ap-8079	196	11	the	the	DET
ap-8079	196	12	disks	disk	NOUN
ap-8079	196	13	for	for	ADP
ap-8079	196	14	the	the	DET
ap-8079	196	15	hip	hip	NOUN
ap-8079	196	16	and	and	CCONJ
ap-8079	196	17	knee	knee	NOUN
ap-8079	196	18	joints	joint	NOUN
ap-8079	196	19	in	in	ADP
ap-8079	196	20	the	the	DET
ap-8079	196	21	robotic	robotic	ADJ
ap-8079	196	22	gait	gait	NOUN
ap-8079	196	23	training	training	NOUN
ap-8079	196	24	orthosis	orthosis	NOUN
ap-8079	196	25	;	;	PUNCT
ap-8079	196	26	k0i	k0i	PROPN
ap-8079	196	27	and	and	CCONJ
ap-8079	196	28	k1i	k1i	PROPN
ap-8079	196	29	are	be	AUX
ap-8079	196	30	parameters	parameter	NOUN
ap-8079	196	31	of	of	ADP
ap-8079	196	32	the	the	DET
ap-8079	196	33	pam	pam	PROPN
ap-8079	196	34	numerical	numerical	PROPN
ap-8079	196	35	model	model	PROPN
ap-8079	196	36	(	(	PUNCT
ap-8079	196	37	see	see	VERB
ap-8079	196	38	table	table	NOUN
ap-8079	196	39	2	2	NUM
ap-8079	196	40	)	)	PUNCT
ap-8079	196	41	,	,	PUNCT
ap-8079	196	42	xei	xei	PROPN
ap-8079	196	43	as	as	SCONJ
ap-8079	196	44	the	the	DET
ap-8079	196	45	pam	pam	NOUN
ap-8079	196	46	length	length	NOUN
ap-8079	196	47	is	be	AUX
ap-8079	196	48	expressed	express	VERB
ap-8079	196	49	in	in	ADP
ap-8079	196	50	θi	θi	NUM
ap-8079	196	51	,	,	PUNCT
ap-8079	196	52	and	and	CCONJ
ap-8079	196	53	p0ei	p0ei	ADJ
ap-8079	196	54	and	and	CCONJ
ap-8079	196	55	pefi	pefi	NOUN
ap-8079	196	56	are	be	AUX
ap-8079	196	57	the	the	DET
ap-8079	196	58	nominal	nominal	ADJ
ap-8079	196	59	pressures	pressure	NOUN
ap-8079	196	60	for	for	ADP
ap-8079	196	61	extension	extension	NOUN
ap-8079	196	62	pam	pam	NOUN
ap-8079	196	63	and	and	CCONJ
ap-8079	196	64	the	the	DET
ap-8079	196	65	difference	difference	NOUN
ap-8079	196	66	in	in	ADP
ap-8079	196	67	nominal	nominal	ADJ
ap-8079	196	68	pressures	pressure	NOUN
ap-8079	196	69	for	for	ADP
ap-8079	196	70	the	the	DET
ap-8079	196	71	pams	pam	NOUN
ap-8079	196	72	powering	power	VERB
ap-8079	196	73	hip	hip	NOUN
ap-8079	196	74	and	and	CCONJ
ap-8079	196	75	knee	knee	NOUN
ap-8079	196	76	sagittal	sagittal	ADJ
ap-8079	196	77	plane	plane	NOUN
ap-8079	196	78	joints	joint	NOUN
ap-8079	196	79	,	,	PUNCT
ap-8079	196	80	respectively	respectively	ADV
ap-8079	196	81	.	.	PUNCT
ap-8079	197	1	actuators	actuator	NOUN
ap-8079	197	2	k0i	k0i	PUNCT
ap-8079	197	3	[	[	X
ap-8079	197	4	n	n	X
ap-8079	197	5	]	]	X
ap-8079	197	6	k1i	k1i	X
ap-8079	197	7	[	[	PUNCT
ap-8079	197	8	n	n	PROPN
ap-8079	197	9	100kpa	100kpa	NUM
ap-8079	197	10	]	]	PUNCT
ap-8079	197	11	hip	hip	NOUN
ap-8079	197	12	pams	pams	PROPN
ap-8079	197	13	0.691	0.691	NUM
ap-8079	197	14	1.096	1.096	NUM
ap-8079	197	15	knee	knee	NOUN
ap-8079	197	16	pams	pam	NOUN
ap-8079	197	17	0.572	0.572	NUM
ap-8079	197	18	0.835	0.835	NUM
ap-8079	197	19	table	table	NOUN
ap-8079	197	20	2	2	NUM
ap-8079	197	21	.	.	PUNCT
ap-8079	198	1	the	the	DET
ap-8079	198	2	spring	spring	NOUN
ap-8079	198	3	parameters	parameter	NOUN
ap-8079	198	4	of	of	ADP
ap-8079	198	5	the	the	DET
ap-8079	198	6	used	use	VERB
ap-8079	198	7	pams	pams	PROPN
ap-8079	198	8	.	.	PUNCT
ap-8079	199	1	figure	figure	VERB
ap-8079	199	2	8	8	NUM
ap-8079	199	3	depicts	depict	VERB
ap-8079	199	4	the	the	DET
ap-8079	199	5	robotic	robotic	ADJ
ap-8079	199	6	orthosis	orthosis	NOUN
ap-8079	199	7	’	'	PUNCT
ap-8079	199	8	impedance	impedance	NOUN
ap-8079	199	9	control	control	NOUN
ap-8079	199	10	design	design	NOUN
ap-8079	199	11	.	.	PUNCT
ap-8079	200	1	the	the	DET
ap-8079	200	2	external	external	ADJ
ap-8079	200	3	force	force	NOUN
ap-8079	200	4	effect	effect	NOUN
ap-8079	200	5	to	to	ADP
ap-8079	200	6	the	the	DET
ap-8079	200	7	robot	robot	NOUN
ap-8079	200	8	fex	fex	PROPN
ap-8079	200	9	can	can	AUX
ap-8079	200	10	be	be	AUX
ap-8079	200	11	used	use	VERB
ap-8079	200	12	to	to	PART
ap-8079	200	13	control	control	VERB
ap-8079	200	14	the	the	DET
ap-8079	200	15	robot	robot	NOUN
ap-8079	200	16	’s	’s	PART
ap-8079	200	17	impedance	impedance	NOUN
ap-8079	200	18	.	.	PUNCT
ap-8079	201	1	the	the	DET
ap-8079	201	2	notion	notion	NOUN
ap-8079	201	3	of	of	ADP
ap-8079	201	4	robotic	robotic	ADJ
ap-8079	201	5	orthosis	orthosis	NOUN
ap-8079	201	6	impedance	impedance	NOUN
ap-8079	201	7	control	control	NOUN
ap-8079	201	8	is	be	AUX
ap-8079	201	9	to	to	PART
ap-8079	201	10	set	set	VERB
ap-8079	201	11	the	the	DET
ap-8079	201	12	robot	robot	NOUN
ap-8079	201	13	impedance	impedance	NOUN
ap-8079	201	14	high	high	ADJ
ap-8079	201	15	(	(	PUNCT
ap-8079	201	16	low	low	ADJ
ap-8079	201	17	compliance	compliance	NOUN
ap-8079	201	18	)	)	PUNCT
ap-8079	201	19	if	if	SCONJ
ap-8079	201	20	the	the	DET
ap-8079	201	21	external	external	ADJ
ap-8079	201	22	force	force	NOUN
ap-8079	201	23	opposes	oppose	VERB
ap-8079	201	24	the	the	DET
ap-8079	201	25	rotating	rotate	VERB
ap-8079	201	26	movement	movement	NOUN
ap-8079	201	27	(	(	PUNCT
ap-8079	201	28	prevents	prevent	VERB
ap-8079	201	29	movement	movement	NOUN
ap-8079	201	30	)	)	PUNCT
ap-8079	201	31	.	.	PUNCT
ap-8079	202	1	in	in	ADP
ap-8079	202	2	the	the	DET
ap-8079	202	3	opposite	opposite	ADJ
ap-8079	202	4	situation	situation	NOUN
ap-8079	202	5	,	,	PUNCT
ap-8079	202	6	if	if	SCONJ
ap-8079	202	7	the	the	DET
ap-8079	202	8	external	external	ADJ
ap-8079	202	9	torque	torque	NOUN
ap-8079	202	10	supports	support	VERB
ap-8079	202	11	the	the	DET
ap-8079	202	12	robot	robot	NOUN
ap-8079	202	13	’s	’s	PART
ap-8079	202	14	movement	movement	NOUN
ap-8079	202	15	,	,	PUNCT
ap-8079	202	16	the	the	DET
ap-8079	202	17	robot	robot	NOUN
ap-8079	202	18	’s	’s	PART
ap-8079	202	19	impedance	impedance	NOUN
ap-8079	202	20	is	be	AUX
ap-8079	202	21	reduced	reduce	VERB
ap-8079	202	22	.	.	PUNCT
ap-8079	203	1	the	the	DET
ap-8079	203	2	following	follow	VERB
ap-8079	203	3	equation	equation	NOUN
ap-8079	203	4	represents	represent	VERB
ap-8079	203	5	the	the	DET
ap-8079	203	6	impedance	impedance	NOUN
ap-8079	203	7	controller	controller	NOUN
ap-8079	203	8	’s	’s	PART
ap-8079	203	9	control	control	PROPN
ap-8079	203	10	signal	signal	PROPN
ap-8079	203	11	.	.	PUNCT
ap-8079	204	1	figure	figure	NOUN
ap-8079	204	2	8	8	NUM
ap-8079	204	3	.	.	PUNCT
ap-8079	205	1	the	the	DET
ap-8079	205	2	neural	neural	ADJ
ap-8079	205	3	network	network	NOUN
ap-8079	205	4	-	-	PUNCT
ap-8079	205	5	based	base	VERB
ap-8079	205	6	impedance	impedance	NOUN
ap-8079	205	7	control	control	NOUN
ap-8079	205	8	diagram	diagram	PROPN
ap-8079	205	9	of	of	ADP
ap-8079	205	10	gait	gait	PROPN
ap-8079	205	11	training	training	NOUN
ap-8079	205	12	robot	robot	NOUN
ap-8079	205	13	.	.	PUNCT
ap-8079	206	1	∆p0i	∆p0i	PROPN
ap-8079	206	2	,	,	PUNCT
ap-8079	206	3	t	t	NOUN
ap-8079	206	4	=	=	PUNCT
ap-8079	206	5	{	{	PUNCT
ap-8079	206	6	kuimestimated	kuimestimate	VERB
ap-8079	206	7	,	,	PUNCT
ap-8079	206	8	if	if	SCONJ
ap-8079	206	9	mestimated	mestimate	VERB
ap-8079	206	10	>	>	X
ap-8079	206	11	0	0	NUM
ap-8079	206	12	0	0	NUM
ap-8079	206	13	,	,	PUNCT
ap-8079	206	14	otherwise	otherwise	ADV
ap-8079	206	15	,	,	PUNCT
ap-8079	206	16	(	(	PUNCT
ap-8079	206	17	11	11	NUM
ap-8079	206	18	)	)	PUNCT
ap-8079	206	19	where	where	SCONJ
ap-8079	206	20	kui	kui	PROPN
ap-8079	206	21	is	be	AUX
ap-8079	206	22	the	the	DET
ap-8079	206	23	positive	positive	ADJ
ap-8079	206	24	gain	gain	NOUN
ap-8079	206	25	that	that	PRON
ap-8079	206	26	is	be	AUX
ap-8079	206	27	tuned	tune	VERB
ap-8079	206	28	based	base	VERB
ap-8079	206	29	on	on	ADP
ap-8079	206	30	the	the	DET
ap-8079	206	31	initial	initial	ADJ
ap-8079	206	32	pressure	pressure	NOUN
ap-8079	206	33	p0i	p0i	NOUN
ap-8079	206	34	and	and	CCONJ
ap-8079	206	35	the	the	DET
ap-8079	206	36	estimation	estimation	NOUN
ap-8079	206	37	torque	torque	NOUN
ap-8079	206	38	mestimated	mestimate	VERB
ap-8079	206	39	.	.	PUNCT
ap-8079	207	1	since	since	SCONJ
ap-8079	207	2	the	the	DET
ap-8079	207	3	impedance	impedance	NOUN
ap-8079	207	4	controller	controller	NOUN
ap-8079	207	5	only	only	ADV
ap-8079	207	6	increases	increase	VERB
ap-8079	207	7	joint	joint	ADJ
ap-8079	207	8	compliance	compliance	NOUN
ap-8079	207	9	,	,	PUNCT
ap-8079	207	10	the	the	DET
ap-8079	207	11	initial	initial	ADJ
ap-8079	207	12	state	state	NOUN
ap-8079	207	13	of	of	ADP
ap-8079	207	14	the	the	DET
ap-8079	207	15	robot	robot	NOUN
ap-8079	207	16	is	be	AUX
ap-8079	207	17	set	set	VERB
ap-8079	207	18	with	with	ADP
ap-8079	207	19	the	the	DET
ap-8079	207	20	maximum	maximum	ADJ
ap-8079	207	21	impedance	impedance	NOUN
ap-8079	207	22	that	that	PRON
ap-8079	207	23	strictly	strictly	ADV
ap-8079	207	24	guides	guide	VERB
ap-8079	207	25	the	the	DET
ap-8079	207	26	patient	patient	NOUN
ap-8079	207	27	to	to	PART
ap-8079	207	28	designate	designate	ADJ
ap-8079	207	29	trajectories	trajectory	NOUN
ap-8079	207	30	.	.	PUNCT
ap-8079	208	1	for	for	ADP
ap-8079	208	2	the	the	DET
ap-8079	208	3	safety	safety	NOUN
ap-8079	208	4	requirement	requirement	NOUN
ap-8079	208	5	,	,	PUNCT
ap-8079	208	6	the	the	DET
ap-8079	208	7	initial	initial	ADJ
ap-8079	208	8	pressure	pressure	NOUN
ap-8079	208	9	of	of	ADP
ap-8079	208	10	pams	pams	PROPN
ap-8079	208	11	is	be	AUX
ap-8079	208	12	the	the	DET
ap-8079	208	13	upper	upper	ADJ
ap-8079	208	14	limit	limit	NOUN
ap-8079	208	15	of	of	ADP
ap-8079	208	16	the	the	DET
ap-8079	208	17	impedance	impedance	NOUN
ap-8079	208	18	controller	controller	NOUN
ap-8079	208	19	’s	’s	PART
ap-8079	208	20	control	control	PROPN
ap-8079	208	21	signal	signal	NOUN
ap-8079	208	22	.	.	PUNCT
ap-8079	209	1	in	in	ADP
ap-8079	209	2	addition	addition	NOUN
ap-8079	209	3	,	,	PUNCT
ap-8079	209	4	an	an	DET
ap-8079	209	5	adaptive	adaptive	ADJ
ap-8079	209	6	sliding	slide	VERB
ap-8079	209	7	mode	mode	NOUN
ap-8079	209	8	control	control	NOUN
ap-8079	209	9	is	be	AUX
ap-8079	209	10	inherent	inherent	ADJ
ap-8079	209	11	from	from	ADP
ap-8079	209	12	previous	previous	ADJ
ap-8079	209	13	research	research	NOUN
ap-8079	209	14	in	in	ADP
ap-8079	209	15	[	[	X
ap-8079	209	16	30	30	NUM
ap-8079	209	17	]	]	PUNCT
ap-8079	209	18	for	for	ADP
ap-8079	209	19	a	a	DET
ap-8079	209	20	trajectory	trajectory	NOUN
ap-8079	209	21	tracking	tracking	NOUN
ap-8079	209	22	purpose	purpose	NOUN
ap-8079	209	23	.	.	PUNCT
ap-8079	210	1	4	4	X
ap-8079	210	2	.	.	X
ap-8079	210	3	experiments	experiment	NOUN
ap-8079	210	4	and	and	CCONJ
ap-8079	210	5	results	result	VERB
ap-8079	210	6	4.1	4.1	NUM
ap-8079	210	7	.	.	PUNCT
ap-8079	211	1	experiment	experiment	NOUN
ap-8079	211	2	setup	setup	NOUN
ap-8079	211	3	to	to	PART
ap-8079	211	4	evaluate	evaluate	VERB
ap-8079	211	5	the	the	DET
ap-8079	211	6	effectiveness	effectiveness	NOUN
ap-8079	211	7	of	of	ADP
ap-8079	211	8	the	the	DET
ap-8079	211	9	controller	controller	NOUN
ap-8079	211	10	when	when	SCONJ
ap-8079	211	11	adding	add	VERB
ap-8079	211	12	an	an	DET
ap-8079	211	13	estimate	estimate	NOUN
ap-8079	211	14	of	of	ADP
ap-8079	211	15	the	the	DET
ap-8079	211	16	patient	patient	NOUN
ap-8079	211	17	’s	’s	PART
ap-8079	211	18	recovery	recovery	NOUN
ap-8079	212	1	,	,	PUNCT
ap-8079	212	2	we	we	PRON
ap-8079	212	3	used	use	VERB
ap-8079	212	4	two	two	NUM
ap-8079	212	5	bicycle	bicycle	NOUN
ap-8079	212	6	tubes	tube	NOUN
ap-8079	212	7	attached	attach	VERB
ap-8079	212	8	to	to	ADP
ap-8079	212	9	the	the	DET
ap-8079	212	10	hip	hip	NOUN
ap-8079	212	11	and	and	CCONJ
ap-8079	212	12	knee	knee	NOUN
ap-8079	212	13	joints	joint	NOUN
ap-8079	212	14	for	for	ADP
ap-8079	212	15	creating	create	VERB
ap-8079	212	16	cycling	cycling	NOUN
ap-8079	212	17	forces	force	NOUN
ap-8079	212	18	.	.	PUNCT
ap-8079	213	1	the	the	DET
ap-8079	213	2	test	test	NOUN
ap-8079	213	3	process	process	NOUN
ap-8079	213	4	to	to	PART
ap-8079	213	5	evaluate	evaluate	VERB
ap-8079	213	6	the	the	DET
ap-8079	213	7	control	control	NOUN
ap-8079	213	8	quality	quality	NOUN
ap-8079	213	9	in	in	ADP
ap-8079	213	10	this	this	DET
ap-8079	213	11	research	research	NOUN
ap-8079	213	12	is	be	AUX
ap-8079	213	13	based	base	VERB
ap-8079	213	14	on	on	ADP
ap-8079	213	15	the	the	DET
ap-8079	213	16	set	set	NOUN
ap-8079	213	17	trajectory	trajectory	NOUN
ap-8079	213	18	.	.	PUNCT
ap-8079	214	1	the	the	DET
ap-8079	214	2	signals	signal	NOUN
ap-8079	214	3	for	for	ADP
ap-8079	214	4	the	the	DET
ap-8079	214	5	robot	robot	NOUN
ap-8079	214	6	joints	joint	NOUN
ap-8079	214	7	are	be	AUX
ap-8079	214	8	taken	take	VERB
ap-8079	214	9	according	accord	VERB
ap-8079	214	10	to	to	ADP
ap-8079	214	11	the	the	DET
ap-8079	214	12	sample	sample	NOUN
ap-8079	214	13	trajectory	trajectory	NOUN
ap-8079	214	14	of	of	ADP
ap-8079	214	15	the	the	DET
ap-8079	214	16	human	human	ADJ
ap-8079	214	17	foot	foot	NOUN
ap-8079	214	18	with	with	ADP
ap-8079	214	19	maximum	maximum	ADJ
ap-8079	214	20	elasticity	elasticity	NOUN
ap-8079	214	21	:	:	PUNCT
ap-8079	215	1	−12	−12	NOUN
ap-8079	215	2	◦	◦	NOUN
ap-8079	215	3	/−17	/−17	NOUN
ap-8079	215	4	◦	◦	NOUN
ap-8079	215	5	for	for	ADP
ap-8079	215	6	the	the	DET
ap-8079	215	7	hip	hip	NOUN
ap-8079	215	8	joint	joint	NOUN
ap-8079	215	9	and	and	CCONJ
ap-8079	215	10	−29	−29	ADP
ap-8079	215	11	◦	◦	NOUN
ap-8079	215	12	/−0	/−0	NOUN
ap-8079	215	13	◦	◦	NOUN
ap-8079	215	14	for	for	ADP
ap-8079	215	15	the	the	DET
ap-8079	215	16	knee	knee	NOUN
ap-8079	215	17	joint	joint	NOUN
ap-8079	215	18	.	.	PUNCT
ap-8079	216	1	the	the	DET
ap-8079	216	2	controller	controller	NOUN
ap-8079	216	3	’s	’s	PART
ap-8079	216	4	sampling	sampling	NOUN
ap-8079	216	5	time	time	NOUN
ap-8079	216	6	is	be	AUX
ap-8079	216	7	5	5	NUM
ap-8079	216	8	ms	ms	NOUN
ap-8079	216	9	.	.	PUNCT
ap-8079	217	1	the	the	DET
ap-8079	217	2	actual	actual	ADJ
ap-8079	217	3	image	image	NOUN
ap-8079	217	4	of	of	ADP
ap-8079	217	5	the	the	DET
ap-8079	217	6	experimental	experimental	ADJ
ap-8079	217	7	setup	setup	NOUN
ap-8079	217	8	is	be	AUX
ap-8079	217	9	given	give	VERB
ap-8079	217	10	in	in	ADP
ap-8079	217	11	figure	figure	NOUN
ap-8079	217	12	9	9	NUM
ap-8079	217	13	.	.	PUNCT
ap-8079	218	1	the	the	DET
ap-8079	218	2	robot	robot	NOUN
ap-8079	218	3	is	be	AUX
ap-8079	218	4	set	set	VERB
ap-8079	218	5	to	to	ADP
ap-8079	218	6	trajectory	trajectory	NOUN
ap-8079	218	7	tracking	tracking	NOUN
ap-8079	218	8	mode	mode	NOUN
ap-8079	218	9	in	in	ADP
ap-8079	218	10	the	the	DET
ap-8079	218	11	experiment	experiment	NOUN
ap-8079	218	12	’s	’s	PART
ap-8079	218	13	first	first	ADJ
ap-8079	218	14	phase	phase	NOUN
ap-8079	218	15	.	.	PUNCT
ap-8079	219	1	in	in	ADP
ap-8079	219	2	the	the	DET
ap-8079	219	3	second	second	ADJ
ap-8079	219	4	step	step	NOUN
ap-8079	219	5	,	,	PUNCT
ap-8079	219	6	the	the	DET
ap-8079	219	7	impedance	impedance	NOUN
ap-8079	219	8	control	control	NOUN
ap-8079	219	9	is	be	AUX
ap-8079	219	10	turned	turn	VERB
ap-8079	219	11	on	on	ADP
ap-8079	219	12	to	to	PART
ap-8079	219	13	regulate	regulate	VERB
ap-8079	219	14	the	the	DET
ap-8079	219	15	robot	robot	NOUN
ap-8079	219	16	joint	joint	ADJ
ap-8079	219	17	compliance	compliance	NOUN
ap-8079	219	18	after	after	SCONJ
ap-8079	219	19	the	the	DET
ap-8079	219	20	system	system	NOUN
ap-8079	219	21	is	be	AUX
ap-8079	219	22	stable	stable	ADJ
ap-8079	219	23	.	.	PUNCT
ap-8079	220	1	during	during	ADP
ap-8079	220	2	experiments	experiment	NOUN
ap-8079	220	3	,	,	PUNCT
ap-8079	220	4	data	datum	NOUN
ap-8079	220	5	on	on	ADP
ap-8079	220	6	each	each	DET
ap-8079	220	7	joint	joint	NOUN
ap-8079	220	8	’s	’	VERB
ap-8079	220	9	desired	desire	VERB
ap-8079	220	10	,	,	PUNCT
ap-8079	220	11	measured	measure	VERB
ap-8079	220	12	trajectories	trajectory	NOUN
ap-8079	220	13	and	and	CCONJ
ap-8079	220	14	compliance	compliance	NOUN
ap-8079	220	15	are	be	AUX
ap-8079	220	16	gathered	gather	VERB
ap-8079	220	17	for	for	ADP
ap-8079	220	18	evaluation	evaluation	NOUN
ap-8079	220	19	.	.	PUNCT
ap-8079	221	1	4.2	4.2	NUM
ap-8079	221	2	.	.	PUNCT
ap-8079	222	1	experimental	experimental	ADJ
ap-8079	222	2	results	result	NOUN
ap-8079	222	3	the	the	DET
ap-8079	222	4	mean	mean	NOUN
ap-8079	222	5	of	of	ADP
ap-8079	222	6	all	all	DET
ap-8079	222	7	observed	observed	ADJ
ap-8079	222	8	trajectories	trajectory	NOUN
ap-8079	222	9	is	be	AUX
ap-8079	222	10	derived	derive	VERB
ap-8079	222	11	first	first	ADV
ap-8079	222	12	to	to	PART
ap-8079	222	13	evaluate	evaluate	VERB
ap-8079	222	14	the	the	DET
ap-8079	222	15	system	system	NOUN
ap-8079	222	16	’s	’s	PART
ap-8079	222	17	performance	performance	NOUN
ap-8079	222	18	in	in	ADP
ap-8079	222	19	trajectory	trajectory	NOUN
ap-8079	222	20	tracking	tracking	NOUN
ap-8079	222	21	mode	mode	NOUN
ap-8079	222	22	.	.	PUNCT
ap-8079	223	1	the	the	PRON
ap-8079	223	2	maximum	maximum	ADJ
ap-8079	223	3	tracking	tracking	NOUN
ap-8079	223	4	error	error	NOUN
ap-8079	223	5	(	(	PUNCT
ap-8079	223	6	mte	mte	PROPN
ap-8079	223	7	)	)	PUNCT
ap-8079	223	8	and	and	CCONJ
ap-8079	223	9	root	root	NOUN
ap-8079	223	10	mean	mean	NOUN
ap-8079	223	11	square	square	ADJ
ap-8079	223	12	tracking	tracking	NOUN
ap-8079	223	13	error	error	NOUN
ap-8079	223	14	(	(	PUNCT
ap-8079	223	15	rmste	rmste	NOUN
ap-8079	223	16	)	)	PUNCT
ap-8079	223	17	between	between	ADP
ap-8079	223	18	the	the	DET
ap-8079	223	19	measured	measure	VERB
ap-8079	223	20	and	and	CCONJ
ap-8079	223	21	intended	intend	VERB
ap-8079	223	22	trajectories	trajectory	NOUN
ap-8079	223	23	are	be	AUX
ap-8079	223	24	then	then	ADV
ap-8079	223	25	determined	determine	VERB
ap-8079	223	26	and	and	CCONJ
ap-8079	223	27	presented	present	VERB
ap-8079	223	28	in	in	ADP
ap-8079	223	29	table	table	NOUN
ap-8079	223	30	3	3	NUM
ap-8079	223	31	.	.	PUNCT
ap-8079	223	32	figure	figure	VERB
ap-8079	223	33	10	10	NUM
ap-8079	223	34	depicts	depict	VERB
ap-8079	223	35	the	the	DET
ap-8079	223	36	tracking	tracking	NOUN
ap-8079	223	37	performances	performance	NOUN
ap-8079	223	38	of	of	ADP
ap-8079	223	39	the	the	DET
ap-8079	223	40	bk	bk	NOUN
ap-8079	223	41	-	-	PUNCT
ap-8079	223	42	gait	gait	NOUN
ap-8079	223	43	robot	robot	NOUN
ap-8079	223	44	184	184	NUM
ap-8079	223	45	vol	vol	NOUN
ap-8079	223	46	.	.	PUNCT
ap-8079	224	1	63	63	NUM
ap-8079	224	2	no	no	NOUN
ap-8079	224	3	.	.	PUNCT
ap-8079	225	1	3/2023	3/2023	NUM
ap-8079	225	2	neural	neural	ADJ
ap-8079	225	3	network	network	NOUN
ap-8079	225	4	based	base	VERB
ap-8079	225	5	patient	patient	NOUN
ap-8079	225	6	recovery	recovery	NOUN
ap-8079	225	7	estimation	estimation	NOUN
ap-8079	225	8	figure	figure	NOUN
ap-8079	225	9	9	9	NUM
ap-8079	225	10	.	.	PUNCT
ap-8079	225	11	experimental	experimental	ADJ
ap-8079	225	12	platform	platform	NOUN
ap-8079	225	13	.	.	PUNCT
ap-8079	226	1	0	0	NUM
ap-8079	227	1	2	2	NUM
ap-8079	227	2	4	4	NUM
ap-8079	227	3	6	6	NUM
ap-8079	227	4	8	8	NUM
ap-8079	227	5	10	10	NUM
ap-8079	227	6	12	12	NUM
ap-8079	227	7	-30	-30	NUM
ap-8079	227	8	-20	-20	NUM
ap-8079	227	9	-10	-10	PUNCT
ap-8079	227	10	0	0	NUM
ap-8079	227	11	10	10	NUM
ap-8079	227	12	k	k	NOUN
ap-8079	227	13	n	n	NUM
ap-8079	227	14	e	e	X
ap-8079	227	15	e	e	X
ap-8079	227	16	a	a	PRON
ap-8079	227	17	n	n	PRON
ap-8079	227	18	g	g	NOUN
ap-8079	227	19	le	le	X
ap-8079	227	20	(	(	PUNCT
ap-8079	227	21	°	°	PROPN
ap-8079	227	22	)	)	PUNCT
ap-8079	227	23	desired	desire	VERB
ap-8079	227	24	measured	measure	VERB
ap-8079	227	25	track	track	NOUN
ap-8079	227	26	measured	measure	VERB
ap-8079	227	27	imp	imp	X
ap-8079	227	28	0	0	NUM
ap-8079	227	29	2	2	NUM
ap-8079	227	30	4	4	NUM
ap-8079	227	31	6	6	NUM
ap-8079	227	32	8	8	NUM
ap-8079	227	33	10	10	NUM
ap-8079	227	34	12	12	NUM
ap-8079	227	35	time(s	time(s	NOUN
ap-8079	227	36	)	)	PUNCT
ap-8079	227	37	-10	-10	PUNCT
ap-8079	227	38	0	0	NUM
ap-8079	227	39	10	10	NUM
ap-8079	227	40	20	20	NUM
ap-8079	227	41	h	h	NOUN
ap-8079	227	42	ip	ip	VERB
ap-8079	227	43	a	a	DET
ap-8079	227	44	n	n	CCONJ
ap-8079	227	45	g	g	NOUN
ap-8079	227	46	le	le	X
ap-8079	227	47	(	(	PUNCT
ap-8079	227	48	°	°	PROPN
ap-8079	227	49	)	)	PUNCT
ap-8079	227	50	desired	desire	VERB
ap-8079	227	51	measured	measure	VERB
ap-8079	227	52	track	track	NOUN
ap-8079	227	53	measured	measure	VERB
ap-8079	227	54	imp	imp	NOUN
ap-8079	227	55	figure	figure	NOUN
ap-8079	227	56	10	10	NUM
ap-8079	227	57	.	.	PUNCT
ap-8079	228	1	tracking	track	VERB
ap-8079	228	2	performance	performance	NOUN
ap-8079	228	3	of	of	ADP
ap-8079	228	4	the	the	DET
ap-8079	228	5	bk	bk	NOUN
ap-8079	228	6	-	-	PUNCT
ap-8079	228	7	gait	gait	NOUN
ap-8079	228	8	robot	robot	NOUN
ap-8079	228	9	when	when	SCONJ
ap-8079	228	10	operating	operate	VERB
ap-8079	228	11	in	in	ADP
ap-8079	228	12	trajectory	trajectory	NOUN
ap-8079	228	13	tracking	tracking	NOUN
ap-8079	228	14	and	and	CCONJ
ap-8079	228	15	impedance	impedance	NOUN
ap-8079	228	16	control	control	NOUN
ap-8079	228	17	mode	mode	NOUN
ap-8079	228	18	.	.	PUNCT
ap-8079	229	1	the	the	DET
ap-8079	229	2	blue	blue	ADJ
ap-8079	229	3	line	line	NOUN
ap-8079	229	4	is	be	AUX
ap-8079	229	5	the	the	DET
ap-8079	229	6	desired	desire	VERB
ap-8079	229	7	trajectory	trajectory	NOUN
ap-8079	229	8	.	.	PUNCT
ap-8079	230	1	the	the	DET
ap-8079	230	2	black	black	ADJ
ap-8079	230	3	dash	dash	NOUN
ap-8079	230	4	line	line	NOUN
ap-8079	230	5	and	and	CCONJ
ap-8079	230	6	dash	dash	NOUN
ap-8079	230	7	-	-	PUNCT
ap-8079	230	8	dot	dot	NOUN
ap-8079	230	9	red	red	ADJ
ap-8079	230	10	line	line	NOUN
ap-8079	230	11	represent	represent	VERB
ap-8079	230	12	the	the	DET
ap-8079	230	13	measured	measured	ADJ
ap-8079	230	14	trajectories	trajectory	NOUN
ap-8079	230	15	in	in	ADP
ap-8079	230	16	trajectory	trajectory	NOUN
ap-8079	230	17	tracking	tracking	NOUN
ap-8079	230	18	and	and	CCONJ
ap-8079	230	19	impedance	impedance	NOUN
ap-8079	230	20	control	control	NOUN
ap-8079	230	21	mode	mode	NOUN
ap-8079	230	22	,	,	PUNCT
ap-8079	230	23	respectively	respectively	ADV
ap-8079	230	24	.	.	PUNCT
ap-8079	231	1	in	in	ADP
ap-8079	231	2	both	both	PRON
ap-8079	231	3	trajectory	trajectory	NOUN
ap-8079	231	4	tracking	tracking	NOUN
ap-8079	231	5	and	and	CCONJ
ap-8079	231	6	impedance	impedance	NOUN
ap-8079	231	7	control	control	NOUN
ap-8079	231	8	modes	mode	NOUN
ap-8079	231	9	.	.	PUNCT
ap-8079	232	1	we	we	PRON
ap-8079	232	2	can	can	AUX
ap-8079	232	3	see	see	VERB
ap-8079	232	4	that	that	SCONJ
ap-8079	232	5	the	the	DET
ap-8079	232	6	robot	robot	NOUN
ap-8079	232	7	always	always	ADV
ap-8079	232	8	tracks	track	VERB
ap-8079	232	9	the	the	DET
ap-8079	232	10	desired	desire	VERB
ap-8079	232	11	trajectory	trajectory	NOUN
ap-8079	232	12	in	in	ADP
ap-8079	232	13	both	both	DET
ap-8079	232	14	operating	operating	NOUN
ap-8079	232	15	modes	mode	NOUN
ap-8079	232	16	.	.	PUNCT
ap-8079	233	1	in	in	ADP
ap-8079	233	2	detail	detail	NOUN
ap-8079	233	3	,	,	PUNCT
ap-8079	233	4	the	the	DET
ap-8079	233	5	mte	mte	PROPN
ap-8079	233	6	and	and	CCONJ
ap-8079	233	7	rmste	rmste	NOUN
ap-8079	233	8	are	be	AUX
ap-8079	233	9	below	below	ADP
ap-8079	233	10	3.35	3.35	NUM
ap-8079	233	11	◦	◦	NOUN
ap-8079	233	12	for	for	ADP
ap-8079	233	13	both	both	CCONJ
ap-8079	233	14	hip	hip	NOUN
ap-8079	233	15	and	and	CCONJ
ap-8079	233	16	knee	knee	NOUN
ap-8079	233	17	joints	joint	NOUN
ap-8079	233	18	in	in	ADP
ap-8079	233	19	trajectory	trajectory	NOUN
ap-8079	233	20	tracking	tracking	NOUN
ap-8079	233	21	mode	mode	NOUN
ap-8079	233	22	.	.	PUNCT
ap-8079	234	1	the	the	DET
ap-8079	234	2	tracking	tracking	NOUN
ap-8079	234	3	performance	performance	NOUN
ap-8079	234	4	is	be	AUX
ap-8079	234	5	somewhat	somewhat	ADV
ap-8079	234	6	decreased	decrease	VERB
ap-8079	234	7	in	in	ADP
ap-8079	234	8	the	the	DET
ap-8079	234	9	impedance	impedance	NOUN
ap-8079	234	10	control	control	NOUN
ap-8079	234	11	mode	mode	NOUN
ap-8079	234	12	,	,	PUNCT
ap-8079	234	13	with	with	ADP
ap-8079	234	14	mte	mte	NOUN
ap-8079	234	15	=	=	SYM
ap-8079	234	16	5.91	5.91	NUM
ap-8079	234	17	◦	◦	NOUN
ap-8079	234	18	and	and	CCONJ
ap-8079	234	19	rmste	rmste	VERB
ap-8079	234	20	=	=	SYM
ap-8079	234	21	2.89	2.89	NUM
ap-8079	234	22	◦	◦	NOUN
ap-8079	234	23	.	.	PUNCT
ap-8079	235	1	it	it	PRON
ap-8079	235	2	commonly	commonly	ADV
ap-8079	235	3	happens	happen	VERB
ap-8079	235	4	in	in	ADP
ap-8079	235	5	rehabilita0	rehabilita0	ADJ
ap-8079	235	6	2	2	NUM
ap-8079	235	7	4	4	NUM
ap-8079	235	8	6	6	NUM
ap-8079	235	9	8	8	NUM
ap-8079	235	10	10	10	NUM
ap-8079	235	11	12	12	NUM
ap-8079	235	12	0	0	NUM
ap-8079	235	13	0.5	0.5	NUM
ap-8079	235	14	1	1	NUM
ap-8079	235	15	1.5	1.5	NUM
ap-8079	235	16	2	2	NUM
ap-8079	235	17	2.5	2.5	NUM
ap-8079	235	18	3	3	NUM
ap-8079	235	19	3.5	3.5	NUM
ap-8079	235	20	h	h	NOUN
ap-8079	235	21	ip	ip	NOUN
ap-8079	235	22	c	c	NOUN
ap-8079	235	23	o	o	NOUN
ap-8079	235	24	m	m	VERB
ap-8079	235	25	p	p	X
ap-8079	235	26	lia	lia	PROPN
ap-8079	235	27	n	n	PROPN
ap-8079	235	28	c	c	NOUN
ap-8079	235	29	e	e	X
ap-8079	235	30	(	(	PUNCT
ap-8079	235	31	ra	ra	PROPN
ap-8079	235	32	d	d	X
ap-8079	235	33	/n	/n	PUNCT
ap-8079	235	34	m	m	NOUN
ap-8079	235	35	)	)	PUNCT
ap-8079	235	36	trajectory	trajectory	NOUN
ap-8079	235	37	tracking	track	VERB
ap-8079	235	38	mode	mode	NOUN
ap-8079	235	39	impedance	impedance	NOUN
ap-8079	235	40	control	control	NOUN
ap-8079	235	41	mode	mode	NOUN
ap-8079	235	42	0	0	NUM
ap-8079	235	43	2	2	NUM
ap-8079	235	44	4	4	NUM
ap-8079	235	45	6	6	NUM
ap-8079	235	46	8	8	NUM
ap-8079	235	47	10	10	NUM
ap-8079	235	48	12	12	NUM
ap-8079	235	49	time(s	time(s	NOUN
ap-8079	235	50	)	)	PUNCT
ap-8079	235	51	0	0	NUM
ap-8079	236	1	1	1	NUM
ap-8079	236	2	2	2	NUM
ap-8079	236	3	3	3	NUM
ap-8079	236	4	4	4	NUM
ap-8079	236	5	k	k	NOUN
ap-8079	236	6	n	n	NOUN
ap-8079	236	7	e	e	NOUN
ap-8079	236	8	e	e	X
ap-8079	236	9	c	c	NOUN
ap-8079	236	10	o	o	NOUN
ap-8079	236	11	m	m	VERB
ap-8079	236	12	p	p	X
ap-8079	236	13	lia	lia	PROPN
ap-8079	236	14	n	n	PROPN
ap-8079	236	15	c	c	NOUN
ap-8079	236	16	e	e	X
ap-8079	236	17	(	(	PUNCT
ap-8079	236	18	ra	ra	PROPN
ap-8079	236	19	d	d	X
ap-8079	236	20	/n	/n	PUNCT
ap-8079	236	21	m	m	NOUN
ap-8079	236	22	)	)	PUNCT
ap-8079	236	23	trajectory	trajectory	NOUN
ap-8079	236	24	tracking	track	VERB
ap-8079	236	25	mode	mode	NOUN
ap-8079	236	26	impedance	impedance	NOUN
ap-8079	236	27	control	control	NOUN
ap-8079	236	28	mode	mode	NOUN
ap-8079	236	29	figure	figure	NOUN
ap-8079	236	30	11	11	NUM
ap-8079	236	31	.	.	PUNCT
ap-8079	237	1	joint	joint	ADJ
ap-8079	237	2	compliance	compliance	NOUN
ap-8079	237	3	of	of	ADP
ap-8079	237	4	the	the	DET
ap-8079	237	5	robot	robot	NOUN
ap-8079	237	6	in	in	ADP
ap-8079	237	7	trajectory	trajectory	NOUN
ap-8079	237	8	tracking	tracking	NOUN
ap-8079	237	9	and	and	CCONJ
ap-8079	237	10	impedance	impedance	NOUN
ap-8079	237	11	control	control	NOUN
ap-8079	237	12	mode	mode	NOUN
ap-8079	237	13	.	.	PUNCT
ap-8079	238	1	trajectory	trajectory	NOUN
ap-8079	238	2	impedance	impedance	NOUN
ap-8079	238	3	parameter	parameter	NOUN
ap-8079	238	4	tracking	tracking	NOUN
ap-8079	238	5	control	control	NOUN
ap-8079	238	6	control	control	PROPN
ap-8079	238	7	hip	hip	NOUN
ap-8079	238	8	knee	knee	NOUN
ap-8079	238	9	hip	hip	NOUN
ap-8079	238	10	knee	knee	NOUN
ap-8079	238	11	mte	mte	PROPN
ap-8079	239	1	[	[	X
ap-8079	239	2	◦	◦	NOUN
ap-8079	239	3	]	]	X
ap-8079	239	4	2.2	2.2	NUM
ap-8079	239	5	3.4	3.4	NUM
ap-8079	239	6	3.6	3.6	NUM
ap-8079	239	7	5.9	5.9	NUM
ap-8079	239	8	rmste	rmste	NOUN
ap-8079	240	1	[	[	X
ap-8079	240	2	◦	◦	NOUN
ap-8079	240	3	]	]	X
ap-8079	240	4	1.2	1.2	NUM
ap-8079	240	5	1.8	1.8	NUM
ap-8079	240	6	1.8	1.8	NUM
ap-8079	240	7	2.9	2.9	NUM
ap-8079	240	8	max	max	PROPN
ap-8079	240	9	compliance	compliance	NOUN
ap-8079	240	10	[	[	X
ap-8079	240	11	rad·nm−1	rad·nm−1	X
ap-8079	240	12	]	]	X
ap-8079	240	13	0.9	0.9	NUM
ap-8079	240	14	1.8	1.8	NUM
ap-8079	240	15	2.7	2.7	NUM
ap-8079	240	16	3.0	3.0	NUM
ap-8079	240	17	table	table	NOUN
ap-8079	240	18	3	3	NUM
ap-8079	240	19	.	.	PUNCT
ap-8079	240	20	experimental	experimental	ADJ
ap-8079	240	21	evaluation	evaluation	NOUN
ap-8079	240	22	.	.	PUNCT
ap-8079	241	1	tion	tion	NOUN
ap-8079	241	2	robots	robot	NOUN
ap-8079	241	3	,	,	PUNCT
ap-8079	241	4	allowing	allow	VERB
ap-8079	241	5	patients	patient	NOUN
ap-8079	241	6	to	to	PART
ap-8079	241	7	be	be	AUX
ap-8079	241	8	more	more	ADV
ap-8079	241	9	confident	confident	ADJ
ap-8079	241	10	in	in	ADP
ap-8079	241	11	impedance	impedance	NOUN
ap-8079	241	12	control	control	NOUN
ap-8079	241	13	mode	mode	NOUN
ap-8079	241	14	.	.	PUNCT
ap-8079	242	1	in	in	ADP
ap-8079	242	2	comparison	comparison	NOUN
ap-8079	242	3	to	to	ADP
ap-8079	242	4	the	the	DET
ap-8079	242	5	similar	similar	ADJ
ap-8079	242	6	configuration	configuration	NOUN
ap-8079	242	7	pam	pam	NOUN
ap-8079	242	8	-	-	PUNCT
ap-8079	242	9	based	base	VERB
ap-8079	242	10	robot	robot	NOUN
ap-8079	242	11	orthosis	orthosis	NOUN
ap-8079	242	12	in	in	ADP
ap-8079	242	13	[	[	X
ap-8079	242	14	8	8	NUM
ap-8079	242	15	,	,	PUNCT
ap-8079	242	16	27	27	NUM
ap-8079	242	17	]	]	PUNCT
ap-8079	242	18	,	,	PUNCT
ap-8079	242	19	the	the	DET
ap-8079	242	20	bk	bk	PROPN
ap-8079	242	21	-	-	PUNCT
ap-8079	242	22	gait	gait	NOUN
ap-8079	242	23	robot	robot	NOUN
ap-8079	242	24	achieves	achieve	VERB
ap-8079	242	25	an	an	DET
ap-8079	242	26	equivalent	equivalent	ADJ
ap-8079	242	27	trajectory	trajectory	NOUN
ap-8079	242	28	tracking	tracking	NOUN
ap-8079	242	29	performance	performance	NOUN
ap-8079	242	30	in	in	ADP
ap-8079	242	31	the	the	DET
ap-8079	242	32	impedance	impedance	NOUN
ap-8079	242	33	control	control	NOUN
ap-8079	242	34	mode	mode	NOUN
ap-8079	242	35	.	.	PUNCT
ap-8079	243	1	for	for	ADP
ap-8079	243	2	example	example	NOUN
ap-8079	243	3	,	,	PUNCT
ap-8079	243	4	the	the	DET
ap-8079	243	5	mte	mte	NOUN
ap-8079	243	6	of	of	ADP
ap-8079	243	7	the	the	DET
ap-8079	243	8	airgait	airgait	NOUN
ap-8079	243	9	in	in	ADP
ap-8079	243	10	[	[	X
ap-8079	243	11	8	8	NUM
ap-8079	243	12	]	]	PUNCT
ap-8079	243	13	is	be	AUX
ap-8079	243	14	about	about	ADV
ap-8079	243	15	6.81	6.81	NUM
ap-8079	243	16	◦	◦	NOUN
ap-8079	243	17	and	and	CCONJ
ap-8079	243	18	the	the	DET
ap-8079	243	19	7	7	NUM
ap-8079	243	20	-	-	PUNCT
ap-8079	243	21	dof	dof	NOUN
ap-8079	243	22	robot	robot	NOUN
ap-8079	243	23	’s	’s	PART
ap-8079	243	24	mte	mte	PROPN
ap-8079	244	1	[	[	X
ap-8079	244	2	8	8	NUM
ap-8079	244	3	]	]	PUNCT
ap-8079	244	4	is	be	AUX
ap-8079	244	5	less	less	ADJ
ap-8079	244	6	than	than	ADP
ap-8079	244	7	15	15	NUM
ap-8079	244	8	◦	◦	NOUN
ap-8079	244	9	.	.	PUNCT
ap-8079	245	1	figure	figure	NOUN
ap-8079	245	2	11	11	NUM
ap-8079	245	3	shows	show	VERB
ap-8079	245	4	the	the	DET
ap-8079	245	5	robot	robot	NOUN
ap-8079	245	6	joints	joint	NOUN
ap-8079	245	7	’	'	PUNCT
ap-8079	245	8	compliances	compliance	NOUN
ap-8079	245	9	in	in	ADP
ap-8079	245	10	both	both	DET
ap-8079	245	11	scenarios	scenario	NOUN
ap-8079	245	12	of	of	ADP
ap-8079	245	13	the	the	DET
ap-8079	245	14	experiment	experiment	NOUN
ap-8079	245	15	.	.	PUNCT
ap-8079	246	1	when	when	SCONJ
ap-8079	246	2	the	the	DET
ap-8079	246	3	robot	robot	NOUN
ap-8079	246	4	is	be	AUX
ap-8079	246	5	set	set	VERB
ap-8079	246	6	for	for	ADP
ap-8079	246	7	trajectory	trajectory	NOUN
ap-8079	246	8	tracking	tracking	NOUN
ap-8079	246	9	purposes	purpose	NOUN
ap-8079	246	10	with	with	ADP
ap-8079	246	11	a	a	DET
ap-8079	246	12	high	high	ADJ
ap-8079	246	13	impedance	impedance	NOUN
ap-8079	246	14	,	,	PUNCT
ap-8079	246	15	the	the	DET
ap-8079	246	16	joints	joint	NOUN
ap-8079	246	17	’	'	PUNCT
ap-8079	246	18	compliances	compliance	NOUN
ap-8079	246	19	reach	reach	VERB
ap-8079	246	20	0.92	0.92	NUM
ap-8079	246	21	rad·nm−1	rad·nm−1	PROPN
ap-8079	246	22	for	for	ADP
ap-8079	246	23	the	the	DET
ap-8079	246	24	hip	hip	NOUN
ap-8079	246	25	joint	joint	NOUN
ap-8079	246	26	and	and	CCONJ
ap-8079	246	27	1.83	1.83	NUM
ap-8079	246	28	rad·nm−1	rad·nm−1	X
ap-8079	246	29	for	for	ADP
ap-8079	246	30	the	the	DET
ap-8079	246	31	knee	knee	NOUN
ap-8079	246	32	joint	joint	NOUN
ap-8079	246	33	.	.	PUNCT
ap-8079	247	1	when	when	SCONJ
ap-8079	247	2	the	the	DET
ap-8079	247	3	impedance	impedance	NOUN
ap-8079	247	4	control	control	NOUN
ap-8079	247	5	mode	mode	NOUN
ap-8079	247	6	is	be	AUX
ap-8079	247	7	enabled	enable	VERB
ap-8079	247	8	,	,	PUNCT
ap-8079	247	9	the	the	DET
ap-8079	247	10	robot	robot	NOUN
ap-8079	247	11	compliance	compliance	NOUN
ap-8079	247	12	increases	increase	VERB
ap-8079	247	13	to	to	ADP
ap-8079	247	14	2.69	2.69	NUM
ap-8079	247	15	rad·nm−1	rad·nm−1	NUM
ap-8079	247	16	and	and	CCONJ
ap-8079	247	17	3.01	3.01	NUM
ap-8079	247	18	rad·nm−1	rad·nm−1	PROPN
ap-8079	247	19	for	for	ADP
ap-8079	247	20	the	the	DET
ap-8079	247	21	hip	hip	NOUN
ap-8079	247	22	and	and	CCONJ
ap-8079	247	23	knee	knee	NOUN
ap-8079	247	24	joints	joint	NOUN
ap-8079	247	25	,	,	PUNCT
ap-8079	247	26	respectively	respectively	ADV
ap-8079	247	27	,	,	PUNCT
ap-8079	247	28	in	in	ADP
ap-8079	247	29	response	response	NOUN
ap-8079	247	30	to	to	ADP
ap-8079	247	31	the	the	DET
ap-8079	247	32	external	external	ADJ
ap-8079	247	33	force	force	NOUN
ap-8079	247	34	from	from	ADP
ap-8079	247	35	the	the	DET
ap-8079	247	36	tubes	tube	NOUN
ap-8079	247	37	.	.	PUNCT
ap-8079	248	1	while	while	SCONJ
ap-8079	248	2	the	the	DET
ap-8079	248	3	tracking	tracking	NOUN
ap-8079	248	4	controller	controller	NOUN
ap-8079	248	5	remains	remain	VERB
ap-8079	248	6	steady	steady	ADJ
ap-8079	248	7	,	,	PUNCT
ap-8079	248	8	the	the	DET
ap-8079	248	9	impedance	impedance	NOUN
ap-8079	248	10	controller	controller	NOUN
ap-8079	248	11	may	may	AUX
ap-8079	248	12	modify	modify	VERB
ap-8079	248	13	its	its	PRON
ap-8079	248	14	joint	joint	ADJ
ap-8079	248	15	compliance	compliance	NOUN
ap-8079	248	16	to	to	ADP
ap-8079	248	17	the	the	DET
ap-8079	248	18	patient	patient	NOUN
ap-8079	248	19	recovery	recovery	NOUN
ap-8079	248	20	represented	represent	VERB
ap-8079	248	21	by	by	ADP
ap-8079	248	22	the	the	DET
ap-8079	248	23	external	external	ADJ
ap-8079	248	24	force	force	NOUN
ap-8079	248	25	.	.	PUNCT
ap-8079	249	1	the	the	DET
ap-8079	249	2	impedance	impedance	NOUN
ap-8079	249	3	controller	controller	NOUN
ap-8079	249	4	performs	perform	VERB
ap-8079	249	5	effectively	effectively	ADV
ap-8079	249	6	when	when	SCONJ
ap-8079	249	7	adapting	adapt	VERB
ap-8079	249	8	the	the	DET
ap-8079	249	9	joints	joint	NOUN
ap-8079	249	10	’	'	PUNCT
ap-8079	249	11	compliances	compliance	NOUN
ap-8079	249	12	to	to	ADP
ap-8079	249	13	the	the	DET
ap-8079	249	14	external	external	ADJ
ap-8079	249	15	force	force	NOUN
ap-8079	249	16	representing	represent	VERB
ap-8079	249	17	the	the	DET
ap-8079	249	18	human	human	ADJ
ap-8079	249	19	effort	effort	NOUN
ap-8079	249	20	.	.	PUNCT
ap-8079	250	1	we	we	PRON
ap-8079	250	2	can	can	AUX
ap-8079	250	3	observe	observe	VERB
ap-8079	250	4	that	that	SCONJ
ap-8079	250	5	the	the	DET
ap-8079	250	6	joints	joint	NOUN
ap-8079	250	7	’	'	PUNCT
ap-8079	250	8	compliance	compliance	NOUN
ap-8079	250	9	changes	change	NOUN
ap-8079	250	10	are	be	AUX
ap-8079	250	11	185	185	NUM
ap-8079	250	12	v	v	NOUN
ap-8079	250	13	-	-	PUNCT
ap-8079	250	14	v.	v.	NOUN
ap-8079	250	15	dinh	dinh	PROPN
ap-8079	250	16	,	,	PUNCT
ap-8079	250	17	m	m	PROPN
ap-8079	250	18	-	-	PROPN
ap-8079	250	19	c.	c.	PROPN
ap-8079	250	20	trinh	trinh	PROPN
ap-8079	250	21	,	,	PUNCT
ap-8079	250	22	t	t	PROPN
ap-8079	250	23	-	-	PUNCT
ap-8079	250	24	d.	d.	PROPN
ap-8079	250	25	bui	bui	PROPN
ap-8079	251	1	et	et	PROPN
ap-8079	251	2	al	al	PROPN
ap-8079	251	3	.	.	PROPN
ap-8079	252	1	acta	acta	PROPN
ap-8079	252	2	polytechnica	polytechnica	PROPN
ap-8079	252	3	similar	similar	ADJ
ap-8079	252	4	to	to	ADP
ap-8079	252	5	the	the	DET
ap-8079	252	6	two	two	NUM
ap-8079	252	7	counter	counter	NOUN
ap-8079	252	8	systems	system	NOUN
ap-8079	252	9	reported	report	VERB
ap-8079	252	10	in	in	ADP
ap-8079	252	11	[	[	X
ap-8079	252	12	8	8	NUM
ap-8079	252	13	,	,	PUNCT
ap-8079	252	14	27	27	NUM
ap-8079	252	15	]	]	PUNCT
ap-8079	252	16	.	.	PUNCT
ap-8079	253	1	5	5	X
ap-8079	253	2	.	.	X
ap-8079	253	3	conclusion	conclusion	NOUN
ap-8079	253	4	in	in	ADP
ap-8079	253	5	this	this	DET
ap-8079	253	6	paper	paper	NOUN
ap-8079	253	7	,	,	PUNCT
ap-8079	253	8	a	a	DET
ap-8079	253	9	neural	neural	ADJ
ap-8079	253	10	network	network	NOUN
ap-8079	253	11	-	-	PUNCT
ap-8079	253	12	based	base	VERB
ap-8079	253	13	method	method	NOUN
ap-8079	253	14	was	be	AUX
ap-8079	253	15	proposed	propose	VERB
ap-8079	253	16	to	to	PART
ap-8079	253	17	estimate	estimate	VERB
ap-8079	253	18	the	the	DET
ap-8079	253	19	patient	patient	NOUN
ap-8079	253	20	’s	’s	PART
ap-8079	253	21	recovery	recovery	NOUN
ap-8079	253	22	,	,	PUNCT
ap-8079	253	23	an	an	DET
ap-8079	253	24	important	important	ADJ
ap-8079	253	25	factor	factor	NOUN
ap-8079	253	26	for	for	ADP
ap-8079	253	27	a	a	DET
ap-8079	253	28	gait	gait	NOUN
ap-8079	253	29	training	training	NOUN
ap-8079	253	30	robot	robot	NOUN
ap-8079	253	31	system	system	NOUN
ap-8079	253	32	powered	power	VERB
ap-8079	253	33	pneumatic	pneumatic	ADJ
ap-8079	253	34	artificial	artificial	ADJ
ap-8079	253	35	muscles	muscle	NOUN
ap-8079	253	36	.	.	PUNCT
ap-8079	254	1	since	since	SCONJ
ap-8079	254	2	the	the	DET
ap-8079	254	3	robot	robot	NOUN
ap-8079	254	4	system	system	NOUN
ap-8079	254	5	operates	operate	VERB
ap-8079	254	6	at	at	ADP
ap-8079	254	7	a	a	DET
ap-8079	254	8	slow	slow	ADJ
ap-8079	254	9	velocity	velocity	NOUN
ap-8079	254	10	range	range	NOUN
ap-8079	254	11	,	,	PUNCT
ap-8079	254	12	the	the	DET
ap-8079	254	13	neural	neural	ADJ
ap-8079	254	14	network	network	NOUN
ap-8079	254	15	structure	structure	NOUN
ap-8079	254	16	can	can	AUX
ap-8079	254	17	be	be	AUX
ap-8079	254	18	kept	keep	VERB
ap-8079	254	19	simple	simple	ADJ
ap-8079	254	20	,	,	PUNCT
ap-8079	254	21	and	and	CCONJ
ap-8079	254	22	the	the	DET
ap-8079	254	23	training	training	NOUN
ap-8079	254	24	data	datum	NOUN
ap-8079	254	25	can	can	AUX
ap-8079	254	26	be	be	AUX
ap-8079	254	27	collected	collect	VERB
ap-8079	254	28	without	without	ADP
ap-8079	254	29	the	the	DET
ap-8079	254	30	need	need	NOUN
ap-8079	254	31	for	for	ADP
ap-8079	254	32	measuring	measure	VERB
ap-8079	254	33	external	external	ADJ
ap-8079	254	34	forces	force	NOUN
ap-8079	254	35	,	,	PUNCT
ap-8079	254	36	making	make	VERB
ap-8079	254	37	it	it	PRON
ap-8079	254	38	easy	easy	ADJ
ap-8079	254	39	to	to	PART
ap-8079	254	40	implement	implement	VERB
ap-8079	254	41	in	in	ADP
ap-8079	254	42	practice	practice	NOUN
ap-8079	254	43	with	with	ADP
ap-8079	254	44	highly	highly	ADV
ap-8079	254	45	accurate	accurate	ADJ
ap-8079	254	46	estimation	estimation	NOUN
ap-8079	254	47	.	.	PUNCT
ap-8079	255	1	the	the	DET
ap-8079	255	2	estimated	estimate	VERB
ap-8079	255	3	patient	patient	NOUN
ap-8079	255	4	recovery	recovery	NOUN
ap-8079	255	5	is	be	AUX
ap-8079	255	6	then	then	ADV
ap-8079	255	7	used	use	VERB
ap-8079	255	8	for	for	ADP
ap-8079	255	9	the	the	DET
ap-8079	255	10	impedance	impedance	NOUN
ap-8079	255	11	control	control	NOUN
ap-8079	255	12	of	of	ADP
ap-8079	255	13	the	the	DET
ap-8079	255	14	gait	gait	PROPN
ap-8079	255	15	training	training	NOUN
ap-8079	255	16	robot	robot	NOUN
ap-8079	255	17	system	system	NOUN
ap-8079	255	18	,	,	PUNCT
ap-8079	255	19	leading	lead	VERB
ap-8079	255	20	to	to	ADP
ap-8079	255	21	improved	improve	VERB
ap-8079	255	22	joint	joint	ADJ
ap-8079	255	23	compliance	compliance	NOUN
ap-8079	255	24	coefficients	coefficient	NOUN
ap-8079	255	25	,	,	PUNCT
ap-8079	255	26	which	which	PRON
ap-8079	255	27	make	make	VERB
ap-8079	255	28	patients	patient	NOUN
ap-8079	255	29	more	more	ADV
ap-8079	255	30	comfortable	comfortable	ADJ
ap-8079	255	31	and	and	CCONJ
ap-8079	255	32	confident	confident	ADJ
ap-8079	255	33	in	in	ADP
ap-8079	255	34	performing	perform	VERB
ap-8079	255	35	rehabilitation	rehabilitation	NOUN
ap-8079	255	36	exercises	exercise	NOUN
ap-8079	255	37	.	.	PUNCT
ap-8079	256	1	in	in	ADP
ap-8079	256	2	the	the	DET
ap-8079	256	3	future	future	NOUN
ap-8079	256	4	,	,	PUNCT
ap-8079	256	5	the	the	DET
ap-8079	256	6	developed	develop	VERB
ap-8079	256	7	system	system	NOUN
ap-8079	256	8	will	will	AUX
ap-8079	256	9	be	be	AUX
ap-8079	256	10	tested	test	VERB
ap-8079	256	11	with	with	ADP
ap-8079	256	12	real	real	ADJ
ap-8079	256	13	human	human	ADJ
ap-8079	256	14	subjects	subject	NOUN
ap-8079	256	15	to	to	PART
ap-8079	256	16	evaluate	evaluate	VERB
ap-8079	256	17	its	its	PRON
ap-8079	256	18	effectiveness	effectiveness	NOUN
ap-8079	256	19	in	in	ADP
ap-8079	256	20	practice	practice	NOUN
ap-8079	256	21	.	.	PUNCT
ap-8079	257	1	overall	overall	ADV
ap-8079	257	2	,	,	PUNCT
ap-8079	257	3	this	this	DET
ap-8079	257	4	study	study	NOUN
ap-8079	257	5	offers	offer	VERB
ap-8079	257	6	a	a	DET
ap-8079	257	7	promising	promising	ADJ
ap-8079	257	8	approach	approach	NOUN
ap-8079	257	9	for	for	ADP
ap-8079	257	10	enhancing	enhance	VERB
ap-8079	257	11	the	the	DET
ap-8079	257	12	rehabilitation	rehabilitation	NOUN
ap-8079	257	13	process	process	NOUN
ap-8079	257	14	and	and	CCONJ
ap-8079	257	15	improving	improve	VERB
ap-8079	257	16	the	the	DET
ap-8079	257	17	quality	quality	NOUN
ap-8079	257	18	of	of	ADP
ap-8079	257	19	life	life	NOUN
ap-8079	257	20	for	for	ADP
ap-8079	257	21	patients	patient	NOUN
ap-8079	257	22	.	.	PUNCT
ap-8079	258	1	acknowledgements	acknowledgement	NOUN
ap-8079	258	2	this	this	DET
ap-8079	258	3	research	research	NOUN
ap-8079	258	4	is	be	AUX
ap-8079	258	5	funded	fund	VERB
ap-8079	258	6	by	by	ADP
ap-8079	258	7	hanoi	hanoi	PROPN
ap-8079	258	8	university	university	PROPN
ap-8079	258	9	of	of	ADP
ap-8079	258	10	science	science	NOUN
ap-8079	258	11	and	and	CCONJ
ap-8079	258	12	technology	technology	NOUN
ap-8079	258	13	(	(	PUNCT
ap-8079	258	14	hust	hust	ADV
ap-8079	258	15	)	)	PUNCT
ap-8079	258	16	under	under	ADP
ap-8079	258	17	project	project	NOUN
ap-8079	258	18	number	number	NOUN
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ap-8079	259	3	1	1	NUM
ap-8079	259	4	]	]	PUNCT
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ap-8079	260	1	a	a	DET
ap-8079	260	2	survey	survey	NOUN
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ap-8079	260	4	robots	robot	NOUN
ap-8079	260	5	in	in	ADP
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ap-8079	260	7	.	.	PUNCT
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ap-8079	261	5	.	.	PUNCT
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ap-8079	263	2	2	2	NUM
ap-8079	263	3	]	]	X
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ap-8079	263	20	for	for	ADP
ap-8079	263	21	stroke	stroke	NOUN
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ap-8079	263	25	state	state	NOUN
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ap-8079	263	33	.	.	PUNCT
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ap-8079	264	2	disease	disease	NOUN
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ap-8079	264	4	treatment	treatment	NOUN
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ap-8079	264	6	,	,	PUNCT
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ap-8079	264	8	.	.	PUNCT
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ap-8079	266	2	3	3	X
ap-8079	266	3	]	]	X
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ap-8079	266	13	a.	a.	PROPN
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ap-8079	266	15	,	,	PUNCT
ap-8079	266	16	g.	g.	PROPN
ap-8079	266	17	bandry	bandry	PROPN
ap-8079	266	18	.	.	PUNCT
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ap-8079	267	6	pneumatic	pneumatic	ADJ
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ap-8079	268	1	annals	annal	NOUN
ap-8079	268	2	of	of	ADP
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ap-8079	268	5	31(3):317–319	31(3):317–319	PROPN
ap-8079	268	6	,	,	PUNCT
ap-8079	268	7	2003	2003	NUM
ap-8079	268	8	.	.	PUNCT
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ap-8079	269	2	[	[	X
ap-8079	269	3	4	4	NUM
ap-8079	269	4	]	]	PUNCT
ap-8079	269	5	c.-p	c.-p	PROPN
ap-8079	269	6	.	.	PUNCT
ap-8079	270	1	chou	chou	PROPN
ap-8079	270	2	,	,	PUNCT
ap-8079	270	3	b.	b.	PROPN
ap-8079	270	4	hannaford	hannaford	PROPN
ap-8079	270	5	.	.	PUNCT
ap-8079	271	1	measurement	measurement	NOUN
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ap-8079	271	5	mckibben	mckibben	PROPN
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ap-8079	272	1	ieee	ieee	NOUN
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ap-8079	272	4	robotics	robotic	NOUN
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ap-8079	272	8	,	,	PUNCT
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ap-8079	274	1	[	[	X
ap-8079	274	2	5	5	NUM
ap-8079	274	3	]	]	PUNCT
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ap-8079	274	5	.	.	PUNCT
ap-8079	275	1	choi	choi	NOUN
ap-8079	275	2	,	,	PUNCT
ap-8079	275	3	j.-j	j.-j	PROPN
ap-8079	275	4	.	.	PUNCT
ap-8079	276	1	lee	lee	PROPN
ap-8079	276	2	.	.	PROPN
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ap-8079	276	7	pneumatic	pneumatic	ADJ
ap-8079	276	8	muscles	muscle	NOUN
ap-8079	276	9	for	for	ADP
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ap-8079	277	7	,	,	PUNCT
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ap-8079	277	9	.	.	PUNCT
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ap-8079	279	2	6	6	NUM
ap-8079	279	3	]	]	PUNCT
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ap-8079	280	12	.	.	PUNCT
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ap-8079	281	4	,	,	PUNCT
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ap-8079	281	6	.	.	PUNCT
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ap-8079	283	2	7	7	X
ap-8079	283	3	]	]	PUNCT
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ap-8079	284	11	muscle	muscle	NOUN
ap-8079	284	12	actuators	actuator	NOUN
ap-8079	284	13	via	via	ADP
ap-8079	284	14	an	an	DET
ap-8079	284	15	aeso	aeso	NOUN
ap-8079	284	16	.	.	PUNCT
ap-8079	285	1	ieee	ieee	NOUN
ap-8079	285	2	transactions	transaction	NOUN
ap-8079	285	3	on	on	ADP
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ap-8079	285	5	electronics	electronic	NOUN
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ap-8079	285	7	,	,	PUNCT
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ap-8079	285	9	.	.	PUNCT
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ap-8079	287	2	8	8	NUM
ap-8079	287	3	]	]	PUNCT
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ap-8079	287	5	.	.	PUNCT
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ap-8079	290	11	actuated	actuate	VERB
ap-8079	290	12	by	by	ADP
ap-8079	290	13	pneumatic	pneumatic	ADJ
ap-8079	290	14	artificial	artificial	ADJ
ap-8079	290	15	muscle	muscle	NOUN
ap-8079	290	16	for	for	ADP
ap-8079	290	17	gait	gait	PROPN
ap-8079	290	18	rehabilitation	rehabilitation	NOUN
ap-8079	290	19	.	.	PUNCT
ap-8079	291	1	applied	apply	VERB
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ap-8079	291	3	8(4):499	8(4):499	NUM
ap-8079	291	4	,	,	PUNCT
ap-8079	291	5	2018	2018	NUM
ap-8079	291	6	.	.	PUNCT
ap-8079	292	1	https://doi.org/10.3390/app8040499	https://doi.org/10.3390/app8040499	PROPN
ap-8079	293	1	[	[	X
ap-8079	293	2	9	9	NUM
ap-8079	293	3	]	]	PUNCT
ap-8079	293	4	m.-c	m.-c	NOUN
ap-8079	293	5	.	.	PUNCT
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ap-8079	294	2	,	,	PUNCT
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ap-8079	294	4	.	.	PUNCT
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ap-8079	295	2	,	,	PUNCT
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ap-8079	295	4	.	.	PUNCT
ap-8079	296	1	dao	dao	PROPN
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ap-8079	297	4	rehabilitation	rehabilitation	NOUN
ap-8079	297	5	robot	robot	NOUN
ap-8079	297	6	:	:	PUNCT
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ap-8079	299	25	actuator	actuator	NOUN
ap-8079	299	26	system	system	NOUN
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ap-8079	299	29	torque	torque	NOUN
ap-8079	299	30	source	source	NOUN
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ap-8079	299	35	exoskeletons	exoskeleton	NOUN
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ap-8079	300	1	ieee	ieee	PROPN
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ap-8079	300	5	on	on	ADP
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ap-8079	300	8	,	,	PUNCT
ap-8079	300	9	2014	2014	NUM
ap-8079	300	10	.	.	PUNCT
ap-8079	301	1	https://doi.org/10.1109/tmech.2013.2268942	https://doi.org/10.1109/tmech.2013.2268942	PROPN
ap-8079	301	2	[	[	X
ap-8079	301	3	11	11	NUM
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ap-8079	304	3	et	et	PROPN
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ap-8079	304	19	pneumatic	pneumatic	ADJ
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ap-8079	304	22	actuators	actuator	NOUN
ap-8079	304	23	.	.	PUNCT
ap-8079	305	1	ieee	ieee	NOUN
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ap-8079	305	4	,	,	PUNCT
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ap-8079	306	1	https://doi.org/10.1109/access.2020.3016726	https://doi.org/10.1109/access.2020.3016726	PROPN
ap-8079	306	2	[	[	X
ap-8079	306	3	12	12	NUM
ap-8079	306	4	]	]	PUNCT
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ap-8079	306	6	q.	q.	PROPN
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ap-8079	308	1	ieee	ieee	NOUN
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ap-8079	308	5	engineering	engineering	NOUN
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ap-8079	315	10	-	-	PUNCT
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ap-8079	315	13	-	-	PUNCT
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ap-8079	316	3	,	,	PUNCT
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ap-8079	316	5	.	.	PUNCT
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ap-8079	322	24	pneumatic	pneumatic	ADJ
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ap-8079	323	1	soft	soft	ADJ
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ap-8079	323	6	,	,	PUNCT
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ap-8079	323	8	.	.	PUNCT
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ap-8079	324	4	]	]	PUNCT
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ap-8079	325	8	.	.	PUNCT
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ap-8079	326	10	,	,	PUNCT
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ap-8079	326	12	.	.	PUNCT
ap-8079	327	1	3535–3540	3535–3540	NUM
ap-8079	327	2	.	.	PUNCT
ap-8079	328	1	2013	2013	NUM
ap-8079	328	2	.	.	PUNCT
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ap-8079	330	2	18	18	NUM
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ap-8079	331	1	in	in	ADP
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ap-8079	331	13	,	,	PUNCT
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ap-8079	331	15	.	.	PUNCT
ap-8079	332	1	144–149	144–149	NUM
ap-8079	332	2	.	.	NOUN
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ap-8079	332	4	.	.	PUNCT
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ap-8079	335	14	,	,	PUNCT
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ap-8079	336	1	1230–1235	1230–1235	NUM
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ap-8079	344	31	for	for	ADP
ap-8079	344	32	haptic	haptic	ADJ
ap-8079	344	33	applications	application	NOUN
ap-8079	344	34	.	.	PUNCT
ap-8079	345	1	ieee	ieee	NOUN
ap-8079	345	2	transactions	transaction	NOUN
ap-8079	345	3	on	on	ADP
ap-8079	345	4	robotics	robotic	NOUN
ap-8079	345	5	22(6):1163–1175	22(6):1163–1175	NUM
ap-8079	345	6	,	,	PUNCT
ap-8079	345	7	2006	2006	NUM
ap-8079	345	8	.	.	PUNCT
ap-8079	346	1	https://doi.org/10.1109/tro.2006.882923	https://doi.org/10.1109/tro.2006.882923	NOUN
ap-8079	347	1	[	[	X
ap-8079	347	2	22	22	NUM
ap-8079	347	3	]	]	X
ap-8079	347	4	n.	n.	PROPN
ap-8079	347	5	yilmaz	yilmaz	PROPN
ap-8079	347	6	,	,	PUNCT
ap-8079	347	7	j.	j.	PROPN
ap-8079	347	8	y.	y.	PROPN
ap-8079	347	9	wu	wu	PROPN
ap-8079	347	10	,	,	PUNCT
ap-8079	347	11	p.	p.	NOUN
ap-8079	347	12	kazanzides	kazanzide	NOUN
ap-8079	347	13	,	,	PUNCT
ap-8079	347	14	u.	u.	PROPN
ap-8079	347	15	tumerdem	tumerdem	PROPN
ap-8079	347	16	.	.	PUNCT
ap-8079	348	1	neural	neural	ADJ
ap-8079	348	2	network	network	PROPN
ap-8079	348	3	based	base	VERB
ap-8079	348	4	inverse	inverse	NOUN
ap-8079	348	5	dynamics	dynamic	NOUN
ap-8079	348	6	identification	identification	NOUN
ap-8079	348	7	and	and	CCONJ
ap-8079	348	8	external	external	ADJ
ap-8079	348	9	force	force	NOUN
ap-8079	348	10	estimation	estimation	NOUN
ap-8079	348	11	on	on	ADP
ap-8079	348	12	the	the	DET
ap-8079	348	13	da	da	PROPN
ap-8079	348	14	vinci	vinci	PROPN
ap-8079	348	15	research	research	PROPN
ap-8079	348	16	kit	kit	PROPN
ap-8079	348	17	.	.	PUNCT
ap-8079	349	1	in	in	ADP
ap-8079	349	2	2020	2020	NUM
ap-8079	349	3	ieee	ieee	PROPN
ap-8079	349	4	international	international	ADJ
ap-8079	349	5	conference	conference	NOUN
ap-8079	349	6	on	on	ADP
ap-8079	349	7	robotics	robotic	NOUN
ap-8079	349	8	and	and	CCONJ
ap-8079	349	9	automation	automation	NOUN
ap-8079	349	10	(	(	PUNCT
ap-8079	349	11	icra	icra	PROPN
ap-8079	349	12	)	)	PUNCT
ap-8079	349	13	,	,	PUNCT
ap-8079	349	14	pp	pp	PROPN
ap-8079	349	15	.	.	PUNCT
ap-8079	349	16	1387–1393	1387–1393	NUM
ap-8079	349	17	.	.	PUNCT
ap-8079	349	18	2020	2020	NUM
ap-8079	349	19	.	.	PUNCT
ap-8079	350	1	https://doi.org/10.1109/icra40945.2020.9197445	https://doi.org/10.1109/icra40945.2020.9197445	NOUN
ap-8079	351	1	[	[	X
ap-8079	351	2	23	23	NUM
ap-8079	351	3	]	]	PUNCT
ap-8079	351	4	z.	z.	PROPN
ap-8079	351	5	chua	chua	PROPN
ap-8079	351	6	,	,	PUNCT
ap-8079	351	7	a.	a.	PROPN
ap-8079	351	8	m.	m.	NOUN
ap-8079	351	9	okamura	okamura	PROPN
ap-8079	351	10	.	.	PUNCT
ap-8079	352	1	characterization	characterization	NOUN
ap-8079	352	2	of	of	ADP
ap-8079	352	3	real	real	ADJ
ap-8079	352	4	-	-	PUNCT
ap-8079	352	5	time	time	NOUN
ap-8079	352	6	haptic	haptic	ADJ
ap-8079	352	7	feedback	feedback	NOUN
ap-8079	352	8	from	from	ADP
ap-8079	352	9	multimodal	multimodal	ADJ
ap-8079	352	10	neural	neural	ADJ
ap-8079	352	11	network	network	NOUN
ap-8079	352	12	-	-	PUNCT
ap-8079	352	13	based	base	VERB
ap-8079	352	14	force	force	NOUN
ap-8079	352	15	estimates	estimate	NOUN
ap-8079	352	16	during	during	ADP
ap-8079	352	17	teleoperation	teleoperation	NOUN
ap-8079	352	18	.	.	PUNCT
ap-8079	353	1	in	in	ADP
ap-8079	353	2	2022	2022	NUM
ap-8079	353	3	ieee	ieee	NOUN
ap-8079	353	4	/	/	SYM
ap-8079	353	5	rsj	rsj	NOUN
ap-8079	353	6	international	international	ADJ
ap-8079	353	7	conference	conference	NOUN
ap-8079	353	8	on	on	ADP
ap-8079	353	9	intelligent	intelligent	ADJ
ap-8079	353	10	robots	robot	NOUN
ap-8079	353	11	and	and	CCONJ
ap-8079	353	12	systems	system	NOUN
ap-8079	353	13	(	(	PUNCT
ap-8079	353	14	iros	iro	NOUN
ap-8079	353	15	)	)	PUNCT
ap-8079	353	16	,	,	PUNCT
ap-8079	353	17	pp	pp	PROPN
ap-8079	353	18	.	.	PUNCT
ap-8079	353	19	1471–1478	1471–1478	NUM
ap-8079	353	20	.	.	PUNCT
ap-8079	353	21	2022	2022	NUM
ap-8079	353	22	.	.	PUNCT
ap-8079	354	1	https://doi.org/10.1109/iros47612.2022.9981662	https://doi.org/10.1109/iros47612.2022.9981662	PROPN
ap-8079	355	1	[	[	X
ap-8079	355	2	24	24	NUM
ap-8079	355	3	]	]	PUNCT
ap-8079	355	4	j.	j.	PROPN
ap-8079	355	5	y.	y.	PROPN
ap-8079	355	6	wu	wu	PROPN
ap-8079	355	7	,	,	PUNCT
ap-8079	355	8	n.	n.	PROPN
ap-8079	355	9	yilmaz	yilmaz	PROPN
ap-8079	355	10	,	,	PUNCT
ap-8079	355	11	u.	u.	PROPN
ap-8079	355	12	tumerdem	tumerdem	PROPN
ap-8079	355	13	,	,	PUNCT
ap-8079	355	14	p.	p.	NOUN
ap-8079	355	15	kazanzides	kazanzides	PROPN
ap-8079	355	16	.	.	PUNCT
ap-8079	356	1	robot	robot	NOUN
ap-8079	356	2	force	force	PROPN
ap-8079	356	3	estimation	estimation	NOUN
ap-8079	356	4	with	with	ADP
ap-8079	356	5	learned	learn	VERB
ap-8079	356	6	intraoperative	intraoperative	ADJ
ap-8079	356	7	correction	correction	NOUN
ap-8079	356	8	.	.	PUNCT
ap-8079	357	1	in	in	ADP
ap-8079	357	2	2021	2021	NUM
ap-8079	357	3	international	international	ADJ
ap-8079	357	4	symposium	symposium	NOUN
ap-8079	357	5	on	on	ADP
ap-8079	357	6	medical	medical	ADJ
ap-8079	357	7	robotics	robotic	NOUN
ap-8079	357	8	(	(	PUNCT
ap-8079	357	9	ismr	ismr	PROPN
ap-8079	357	10	)	)	PUNCT
ap-8079	357	11	,	,	PUNCT
ap-8079	357	12	pp	pp	PROPN
ap-8079	357	13	.	.	PUNCT
ap-8079	358	1	1–7	1–7	X
ap-8079	358	2	.	.	NOUN
ap-8079	358	3	2021	2021	NUM
ap-8079	358	4	.	.	PUNCT
ap-8079	359	1	https://doi.org/10.1109/ismr48346.2021.9661568	https://doi.org/10.1109/ismr48346.2021.9661568	NOUN
ap-8079	360	1	[	[	X
ap-8079	360	2	25	25	NUM
ap-8079	360	3	]	]	PUNCT
ap-8079	360	4	m.	m.	NOUN
ap-8079	360	5	chiako	chiako	PROPN
ap-8079	360	6	,	,	PUNCT
ap-8079	360	7	b.	b.	PROPN
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ap-8079	360	9	,	,	PUNCT
ap-8079	360	10	a.	a.	PROPN
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ap-8079	360	12	.	.	PUNCT
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ap-8079	361	2	force	force	NOUN
ap-8079	361	3	estimation	estimation	NOUN
ap-8079	361	4	from	from	ADP
ap-8079	361	5	lower	low	ADJ
ap-8079	361	6	limb	limb	NOUN
ap-8079	361	7	emg	emg	NOUN
ap-8079	361	8	signals	signal	NOUN
ap-8079	361	9	using	use	VERB
ap-8079	361	10	novel	novel	ADJ
ap-8079	361	11	optimised	optimise	VERB
ap-8079	361	12	machine	machine	NOUN
ap-8079	361	13	learning	learn	VERB
ap-8079	361	14	techniques	technique	NOUN
ap-8079	361	15	.	.	PUNCT
ap-8079	362	1	medical	medical	ADJ
ap-8079	362	2	and	and	CCONJ
ap-8079	362	3	biological	biological	ADJ
ap-8079	362	4	engineering	engineering	NOUN
ap-8079	362	5	and	and	CCONJ
ap-8079	362	6	computing	computing	PROPN
ap-8079	362	7	60(3):683–699	60(3):683–699	PROPN
ap-8079	362	8	,	,	PUNCT
ap-8079	362	9	2022	2022	NUM
ap-8079	362	10	.	.	PUNCT
ap-8079	363	1	https://doi.org/10.1007/s11517-021-02466-z	https://doi.org/10.1007/s11517-021-02466-z	VERB
ap-8079	363	2	[	[	X
ap-8079	363	3	26	26	NUM
ap-8079	363	4	]	]	X
ap-8079	363	5	b.	b.	PROPN
ap-8079	363	6	siciliano	siciliano	PROPN
ap-8079	363	7	,	,	PUNCT
ap-8079	363	8	l.	l.	PROPN
ap-8079	363	9	sciavicco	sciavicco	PROPN
ap-8079	363	10	,	,	PUNCT
ap-8079	363	11	l.	l.	PROPN
ap-8079	363	12	villani	villani	PROPN
ap-8079	363	13	,	,	PUNCT
ap-8079	363	14	g.	g.	PROPN
ap-8079	363	15	oriolo	oriolo	PROPN
ap-8079	363	16	.	.	PUNCT
ap-8079	364	1	robotics	robotic	NOUN
ap-8079	364	2	:	:	PUNCT
ap-8079	364	3	modelling	modelling	NOUN
ap-8079	364	4	,	,	PUNCT
ap-8079	364	5	planning	planning	NOUN
ap-8079	364	6	and	and	CCONJ
ap-8079	364	7	control	control	NOUN
ap-8079	364	8	.	.	PUNCT
ap-8079	365	1	springer	springer	PROPN
ap-8079	365	2	london	london	PROPN
ap-8079	365	3	,	,	PUNCT
ap-8079	365	4	london	london	PROPN
ap-8079	365	5	,	,	PUNCT
ap-8079	365	6	1st	1st	ADJ
ap-8079	365	7	edn	edn	PROPN
ap-8079	365	8	.	.	PUNCT
ap-8079	365	9	,	,	PUNCT
ap-8079	365	10	2009	2009	NUM
ap-8079	365	11	.	.	PUNCT
ap-8079	366	1	[	[	X
ap-8079	366	2	27	27	NUM
ap-8079	366	3	]	]	X
ap-8079	366	4	s.	s.	PROPN
ap-8079	366	5	hussain	hussain	PROPN
ap-8079	366	6	,	,	PUNCT
ap-8079	366	7	s.	s.	PROPN
ap-8079	366	8	q.	q.	PROPN
ap-8079	366	9	xie	xie	PROPN
ap-8079	366	10	,	,	PUNCT
ap-8079	366	11	p.	p.	PROPN
ap-8079	366	12	k.	k.	PROPN
ap-8079	366	13	jamwal	jamwal	PROPN
ap-8079	366	14	.	.	PUNCT
ap-8079	367	1	adaptive	adaptive	ADJ
ap-8079	367	2	impedance	impedance	NOUN
ap-8079	367	3	control	control	NOUN
ap-8079	367	4	of	of	ADP
ap-8079	367	5	a	a	DET
ap-8079	367	6	robotic	robotic	ADJ
ap-8079	367	7	orthosis	orthosis	NOUN
ap-8079	367	8	for	for	ADP
ap-8079	367	9	gait	gait	ADJ
ap-8079	367	10	rehabilitation	rehabilitation	NOUN
ap-8079	367	11	.	.	PUNCT
ap-8079	368	1	ieee	ieee	NOUN
ap-8079	368	2	transactions	transaction	NOUN
ap-8079	368	3	on	on	ADP
ap-8079	368	4	cybernetics	cybernetic	NOUN
ap-8079	368	5	43(3):1025–1034	43(3):1025–1034	NUM
ap-8079	368	6	,	,	PUNCT
ap-8079	368	7	2013	2013	NUM
ap-8079	368	8	.	.	PUNCT
ap-8079	369	1	https://doi.org/10.1109/tsmcb.2012.2222374	https://doi.org/10.1109/tsmcb.2012.2222374	PART
ap-8079	370	1	[	[	X
ap-8079	370	2	28	28	NUM
ap-8079	370	3	]	]	X
ap-8079	370	4	r.	r.	NOUN
ap-8079	370	5	uhrig	uhrig	PROPN
ap-8079	370	6	.	.	PUNCT
ap-8079	371	1	introduction	introduction	NOUN
ap-8079	371	2	to	to	ADP
ap-8079	371	3	artificial	artificial	ADJ
ap-8079	371	4	neural	neural	ADJ
ap-8079	371	5	networks	network	NOUN
ap-8079	371	6	.	.	PUNCT
ap-8079	372	1	in	in	ADP
ap-8079	372	2	proceedings	proceeding	NOUN
ap-8079	372	3	of	of	ADP
ap-8079	372	4	iecon	iecon	ADJ
ap-8079	372	5	’	'	PUNCT
ap-8079	372	6	95	95	NUM
ap-8079	372	7	–	–	PUNCT
ap-8079	372	8	21st	21st	ADJ
ap-8079	372	9	annual	annual	ADJ
ap-8079	372	10	conference	conference	NOUN
ap-8079	372	11	on	on	ADP
ap-8079	372	12	ieee	ieee	NOUN
ap-8079	372	13	industrial	industrial	ADJ
ap-8079	372	14	electronics	electronic	NOUN
ap-8079	372	15	,	,	PUNCT
ap-8079	372	16	vol	vol	NOUN
ap-8079	372	17	.	.	PROPN
ap-8079	372	18	1	1	NUM
ap-8079	372	19	,	,	PUNCT
ap-8079	372	20	pp	pp	ADJ
ap-8079	372	21	.	.	PUNCT
ap-8079	372	22	33–37	33–37	NUM
ap-8079	372	23	.	.	PUNCT
ap-8079	372	24	1995	1995	NUM
ap-8079	372	25	.	.	PUNCT
ap-8079	373	1	https://doi.org/10.1109/iecon.1995.483329	https://doi.org/10.1109/iecon.1995.483329	PROPN
ap-8079	374	1	[	[	X
ap-8079	374	2	29	29	NUM
ap-8079	374	3	]	]	PUNCT
ap-8079	374	4	t.-y	t.-y	NOUN
ap-8079	374	5	.	.	PUNCT
ap-8079	375	1	choi	choi	NOUN
ap-8079	375	2	,	,	PUNCT
ap-8079	375	3	j.-j	j.-j	PROPN
ap-8079	375	4	.	.	PUNCT
ap-8079	376	1	lee	lee	PROPN
ap-8079	376	2	.	.	PROPN
ap-8079	376	3	control	control	PROPN
ap-8079	376	4	of	of	ADP
ap-8079	376	5	manipulator	manipulator	NOUN
ap-8079	376	6	using	use	VERB
ap-8079	376	7	pneumatic	pneumatic	ADJ
ap-8079	376	8	muscles	muscle	NOUN
ap-8079	376	9	for	for	ADP
ap-8079	376	10	enhanced	enhanced	ADJ
ap-8079	376	11	safety	safety	NOUN
ap-8079	376	12	.	.	PUNCT
ap-8079	377	1	ieee	ieee	NOUN
ap-8079	377	2	transactions	transaction	NOUN
ap-8079	377	3	on	on	ADP
ap-8079	377	4	industrial	industrial	ADJ
ap-8079	377	5	electronics	electronic	NOUN
ap-8079	377	6	57(8):2815–2825	57(8):2815–2825	NUM
ap-8079	377	7	,	,	PUNCT
ap-8079	377	8	2010	2010	NUM
ap-8079	377	9	.	.	PUNCT
ap-8079	378	1	https://doi.org/10.1109/tie.2009.2036632	https://doi.org/10.1109/tie.2009.2036632	VERB
ap-8079	379	1	[	[	X
ap-8079	379	2	30	30	NUM
ap-8079	379	3	]	]	PUNCT
ap-8079	379	4	q.-t	q.-t	NOUN
ap-8079	379	5	.	.	PUNCT
ap-8079	380	1	dao	dao	AUX
ap-8079	380	2	,	,	PUNCT
ap-8079	380	3	v.	v.	PROPN
ap-8079	380	4	v.	v.	ADP
ap-8079	380	5	dinh	dinh	PROPN
ap-8079	380	6	,	,	PUNCT
ap-8079	380	7	c.	c.	PROPN
ap-8079	380	8	t.	t.	PROPN
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ap-8079	380	12	al	al	PROPN
ap-8079	380	13	.	.	PUNCT
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ap-8079	381	3	sliding	slide	VERB
ap-8079	381	4	mode	mode	NOUN
ap-8079	381	5	controller	controller	NOUN
ap-8079	381	6	for	for	ADP
ap-8079	381	7	a	a	DET
ap-8079	381	8	pam	pam	NOUN
ap-8079	381	9	-	-	PUNCT
ap-8079	381	10	based	base	VERB
ap-8079	381	11	actuator	actuator	NOUN
ap-8079	381	12	.	.	PUNCT
ap-8079	382	1	engineering	engineering	NOUN
ap-8079	382	2	,	,	PUNCT
ap-8079	382	3	technology	technology	NOUN
ap-8079	382	4	and	and	CCONJ
ap-8079	382	5	applied	apply	VERB
ap-8079	382	6	science	science	NOUN
ap-8079	382	7	research	research	NOUN
ap-8079	382	8	13(1):10086–10092	13(1):10086–10092	NUM
ap-8079	382	9	,	,	PUNCT
ap-8079	382	10	2023	2023	NUM
ap-8079	382	11	.	.	PUNCT
ap-8079	383	1	https://doi.org/10.48084/etasr.5539	https://doi.org/10.48084/etasr.5539	NOUN
ap-8079	383	2	187	187	NUM
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ap-8079	383	10	https://doi.org/10.1109/tie.2009.2036632	https://doi.org/10.1109/tie.2009.2036632	PROPN
ap-8079	383	11	https://doi.org/10.48084/etasr.5539	https://doi.org/10.48084/etasr.5539	NOUN
ap-8079	383	12	acta	acta	PROPN
ap-8079	383	13	polytechnica	polytechnica	PROPN
ap-8079	383	14	63(3):179–187	63(3):179–187	PROPN
ap-8079	383	15	,	,	PUNCT
ap-8079	383	16	2023	2023	NUM
ap-8079	383	17	1	1	NUM
ap-8079	383	18	introduction	introduction	NOUN
ap-8079	383	19	2	2	NUM
ap-8079	383	20	lower	low	ADJ
ap-8079	383	21	limb	limb	NOUN
ap-8079	383	22	rehabilitation	rehabilitation	NOUN
ap-8079	383	23	robot	robot	NOUN
ap-8079	383	24	system	system	NOUN
ap-8079	383	25	3	3	NUM
ap-8079	383	26	human	human	ADJ
ap-8079	383	27	torque	torque	NOUN
ap-8079	383	28	estimation	estimation	NOUN
ap-8079	383	29	3.1	3.1	NUM
ap-8079	383	30	calculating	calculate	VERB
ap-8079	383	31	the	the	DET
ap-8079	383	32	torque	torque	NOUN
ap-8079	383	33	generated	generate	VERB
ap-8079	383	34	by	by	ADP
ap-8079	383	35	pams	pams	PROPN
ap-8079	383	36	(	(	PUNCT
ap-8079	383	37	mpam	mpam	PROPN
ap-8079	383	38	)	)	PUNCT
ap-8079	383	39	3.2	3.2	NUM
ap-8079	383	40	estimating	estimate	VERB
ap-8079	383	41	the	the	DET
ap-8079	383	42	total	total	ADJ
ap-8079	383	43	torque	torque	NOUN
ap-8079	383	44	applied	apply	VERB
ap-8079	383	45	to	to	ADP
ap-8079	383	46	robot	robot	NOUN
ap-8079	383	47	joints	joint	NOUN
ap-8079	383	48	(	(	PUNCT
ap-8079	383	49	mnn	mnn	PROPN
ap-8079	383	50	)	)	PUNCT
ap-8079	383	51	3.3	3.3	NUM
ap-8079	383	52	estimation	estimation	NOUN
ap-8079	383	53	of	of	ADP
ap-8079	383	54	the	the	DET
ap-8079	383	55	patient	patient	NOUN
ap-8079	383	56	’s	’s	PART
ap-8079	383	57	recovery	recovery	NOUN
ap-8079	383	58	3.4	3.4	NUM
ap-8079	383	59	robot	robot	NOUN
ap-8079	383	60	impedance	impedance	NOUN
ap-8079	383	61	control	control	NOUN
ap-8079	383	62	4	4	NUM
ap-8079	383	63	experiments	experiment	NOUN
ap-8079	383	64	and	and	CCONJ
ap-8079	383	65	results	result	VERB
ap-8079	383	66	4.1	4.1	NUM
ap-8079	383	67	experiment	experiment	NOUN
ap-8079	383	68	setup	setup	NOUN
ap-8079	383	69	4.2	4.2	NUM
ap-8079	383	70	experimental	experimental	ADJ
ap-8079	383	71	results	result	NOUN
ap-8079	383	72	5	5	NUM
ap-8079	383	73	conclusion	conclusion	NOUN
ap-8079	383	74	acknowledgements	acknowledgement	NOUN
ap-8079	383	75	references	reference	NOUN