id	sid	tid	token	lemma	pos
aiti-808	1	1	template	template	NOUN
aiti-808	1	2	encit2010	encit2010	PROPN
aiti-808	1	3	advances	advance	VERB
aiti-808	1	4	in	in	ADP
aiti-808	1	5	technology	technology	NOUN
aiti-808	1	6	innovation	innovation	NOUN
aiti-808	1	7	,	,	PUNCT
aiti-808	1	8	vol	vol	NOUN
aiti-808	1	9	.	.	PROPN
aiti-808	1	10	4	4	NUM
aiti-808	1	11	,	,	PUNCT
aiti-808	1	12	no	no	INTJ
aiti-808	1	13	.	.	NOUN
aiti-808	1	14	2	2	NUM
aiti-808	1	15	,	,	PUNCT
aiti-808	1	16	2019	2019	NUM
aiti-808	1	17	,	,	PUNCT
aiti-808	1	18	pp	pp	ADJ
aiti-808	1	19	.	.	PUNCT
aiti-808	2	1	116	116	NUM
aiti-808	2	2	124	124	NUM
aiti-808	2	3	the	the	DET
aiti-808	2	4	innovative	innovative	ADJ
aiti-808	2	5	design	design	NOUN
aiti-808	2	6	of	of	ADP
aiti-808	2	7	the	the	DET
aiti-808	2	8	massage	massage	NOUN
aiti-808	2	9	mechanisms	mechanism	NOUN
aiti-808	2	10	for	for	ADP
aiti-808	2	11	massage	massage	NOUN
aiti-808	2	12	chair	chair	NOUN
aiti-808	2	13	tzu	tzu	PROPN
aiti-808	2	14	-	-	PROPN
aiti-808	2	15	hsia	hsia	PROPN
aiti-808	2	16	chen	chen	PROPN
aiti-808	2	17	1	1	NUM
aiti-808	2	18	*	*	NOUN
aiti-808	2	19	,	,	PUNCT
aiti-808	2	20	long	long	ADJ
aiti-808	2	21	-	-	PUNCT
aiti-808	2	22	chang	chang	PROPN
aiti-808	2	23	hsieh	hsieh	PROPN
aiti-808	2	24	2	2	NUM
aiti-808	2	25	1	1	NUM
aiti-808	2	26	department	department	NOUN
aiti-808	2	27	of	of	ADP
aiti-808	2	28	mechanical	mechanical	ADJ
aiti-808	2	29	engineering	engineering	NOUN
aiti-808	2	30	,	,	PUNCT
aiti-808	2	31	minghsin	minghsin	PROPN
aiti-808	2	32	university	university	PROPN
aiti-808	2	33	of	of	ADP
aiti-808	2	34	science	science	NOUN
aiti-808	2	35	and	and	CCONJ
aiti-808	2	36	technology	technology	NOUN
aiti-808	2	37	,	,	PUNCT
aiti-808	2	38	taiwan	taiwan	PROPN
aiti-808	2	39	,	,	PUNCT
aiti-808	2	40	roc	roc	PROPN
aiti-808	2	41	2	2	NUM
aiti-808	2	42	department	department	NOUN
aiti-808	2	43	of	of	ADP
aiti-808	2	44	power	power	NOUN
aiti-808	2	45	mechanical	mechanical	ADJ
aiti-808	2	46	engineering	engineering	NOUN
aiti-808	2	47	,	,	PUNCT
aiti-808	2	48	national	national	PROPN
aiti-808	2	49	formosa	formosa	PROPN
aiti-808	2	50	university	university	PROPN
aiti-808	2	51	,	,	PUNCT
aiti-808	2	52	yunlin	yunlin	PROPN
aiti-808	2	53	,	,	PUNCT
aiti-808	2	54	taiwan	taiwan	PROPN
aiti-808	2	55	,	,	PUNCT
aiti-808	2	56	roc	roc	PROPN
aiti-808	2	57	received	receive	VERB
aiti-808	2	58	05	05	NUM
aiti-808	2	59	june	june	PROPN
aiti-808	2	60	2017	2017	NUM
aiti-808	2	61	;	;	PUNCT
aiti-808	2	62	received	receive	VERB
aiti-808	2	63	in	in	ADP
aiti-808	2	64	revised	revise	VERB
aiti-808	2	65	form	form	NOUN
aiti-808	2	66	09	09	NUM
aiti-808	2	67	july	july	PROPN
aiti-808	2	68	2017	2017	NUM
aiti-808	2	69	;	;	PUNCT
aiti-808	2	70	accepted	accept	VERB
aiti-808	2	71	29	29	NUM
aiti-808	2	72	july	july	PROPN
aiti-808	2	73	2017	2017	NUM
aiti-808	2	74	abstract	abstract	NOUN
aiti-808	2	75	the	the	DET
aiti-808	2	76	purpose	purpose	NOUN
aiti-808	2	77	of	of	ADP
aiti-808	2	78	this	this	DET
aiti-808	2	79	paper	paper	NOUN
aiti-808	2	80	is	be	AUX
aiti-808	2	81	to	to	PART
aiti-808	2	82	synthesize	synthesize	VERB
aiti-808	2	83	all	all	DET
aiti-808	2	84	the	the	DET
aiti-808	2	85	feasible	feasible	ADJ
aiti-808	2	86	designs	design	NOUN
aiti-808	2	87	of	of	ADP
aiti-808	2	88	massage	massage	NOUN
aiti-808	2	89	mechanisms	mechanism	NOUN
aiti-808	2	90	(	(	PUNCT
aiti-808	2	91	including	include	VERB
aiti-808	2	92	dof=2	dof=2	NOUN
aiti-808	2	93	and	and	CCONJ
aiti-808	2	94	3	3	NUM
aiti-808	2	95	)	)	PUNCT
aiti-808	2	96	for	for	ADP
aiti-808	2	97	the	the	DET
aiti-808	2	98	massage	massage	NOUN
aiti-808	2	99	chair	chair	NOUN
aiti-808	2	100	,	,	PUNCT
aiti-808	2	101	based	base	VERB
aiti-808	2	102	on	on	ADP
aiti-808	2	103	the	the	DET
aiti-808	2	104	modified	modified	PROPN
aiti-808	2	105	yan	yan	PROPN
aiti-808	2	106	’s	’s	PART
aiti-808	2	107	creative	creative	ADJ
aiti-808	2	108	design	design	NOUN
aiti-808	2	109	methodology	methodology	NOUN
aiti-808	2	110	.	.	PUNCT
aiti-808	3	1	first	first	ADV
aiti-808	3	2	,	,	PUNCT
aiti-808	3	3	the	the	DET
aiti-808	3	4	topological	topological	ADJ
aiti-808	3	5	structure	structure	NOUN
aiti-808	3	6	and	and	CCONJ
aiti-808	3	7	motion	motion	NOUN
aiti-808	3	8	characteristics	characteristic	NOUN
aiti-808	3	9	of	of	ADP
aiti-808	3	10	existing	exist	VERB
aiti-808	3	11	massage	massage	NOUN
aiti-808	3	12	mechanisms	mechanism	NOUN
aiti-808	3	13	are	be	AUX
aiti-808	3	14	analyzed	analyze	VERB
aiti-808	3	15	and	and	CCONJ
aiti-808	3	16	its	its	PRON
aiti-808	3	17	design	design	NOUN
aiti-808	3	18	requirements	requirement	NOUN
aiti-808	3	19	and	and	CCONJ
aiti-808	3	20	constraints	constraint	NOUN
aiti-808	3	21	are	be	AUX
aiti-808	3	22	specified	specify	VERB
aiti-808	3	23	mechanisms	mechanism	NOUN
aiti-808	3	24	with	with	ADP
aiti-808	3	25	beating	beating	NOUN
aiti-808	3	26	and	and	CCONJ
aiti-808	3	27	kneading	kneading	NOUN
aiti-808	3	28	functions	function	NOUN
aiti-808	3	29	are	be	AUX
aiti-808	3	30	mechanisms	mechanism	NOUN
aiti-808	3	31	with	with	ADP
aiti-808	3	32	2	2	NUM
aiti-808	3	33	degrees	degree	NOUN
aiti-808	3	34	of	of	ADP
aiti-808	3	35	freedom	freedom	NOUN
aiti-808	3	36	(	(	PUNCT
aiti-808	3	37	dof	dof	NOUN
aiti-808	3	38	)	)	PUNCT
aiti-808	3	39	.	.	PUNCT
aiti-808	4	1	then	then	ADV
aiti-808	4	2	,	,	PUNCT
aiti-808	4	3	14	14	NUM
aiti-808	4	4	design	design	NOUN
aiti-808	4	5	concepts	concept	NOUN
aiti-808	4	6	are	be	AUX
aiti-808	4	7	generated	generate	VERB
aiti-808	4	8	.	.	PUNCT
aiti-808	5	1	one	one	NUM
aiti-808	5	2	of	of	ADP
aiti-808	5	3	the	the	DET
aiti-808	5	4	design	design	NOUN
aiti-808	5	5	concepts	concept	NOUN
aiti-808	5	6	is	be	AUX
aiti-808	5	7	curried	curry	VERB
aiti-808	5	8	cut	cut	VERB
aiti-808	5	9	,	,	PUNCT
aiti-808	5	10	including	include	VERB
aiti-808	5	11	kinematic	kinematic	ADJ
aiti-808	5	12	design	design	NOUN
aiti-808	5	13	,	,	PUNCT
aiti-808	5	14	engineering	engineering	NOUN
aiti-808	5	15	drawing	drawing	NOUN
aiti-808	5	16	,	,	PUNCT
aiti-808	5	17	and	and	CCONJ
aiti-808	5	18	the	the	DET
aiti-808	5	19	prototype	prototype	NOUN
aiti-808	5	20	manufacture	manufacture	NOUN
aiti-808	5	21	.	.	PUNCT
aiti-808	6	1	the	the	DET
aiti-808	6	2	simulation	simulation	NOUN
aiti-808	6	3	result	result	NOUN
aiti-808	6	4	showed	show	VERB
aiti-808	6	5	that	that	SCONJ
aiti-808	6	6	new	new	ADJ
aiti-808	6	7	design	design	NOUN
aiti-808	6	8	can	can	AUX
aiti-808	6	9	produce	produce	VERB
aiti-808	6	10	a	a	DET
aiti-808	6	11	wider	wide	ADJ
aiti-808	6	12	range	range	NOUN
aiti-808	6	13	of	of	ADP
aiti-808	6	14	non	non	ADJ
aiti-808	6	15	-	-	ADJ
aiti-808	6	16	uniform	uniform	ADJ
aiti-808	6	17	output	output	NOUN
aiti-808	6	18	motion	motion	NOUN
aiti-808	6	19	than	than	ADP
aiti-808	6	20	the	the	DET
aiti-808	6	21	extiting	extiting	NOUN
aiti-808	6	22	design	design	NOUN
aiti-808	6	23	.	.	PUNCT
aiti-808	7	1	keywords	keyword	NOUN
aiti-808	7	2	:	:	PUNCT
aiti-808	7	3	beating	beat	VERB
aiti-808	7	4	massage	massage	NOUN
aiti-808	7	5	,	,	PUNCT
aiti-808	7	6	innovative	innovative	ADJ
aiti-808	7	7	design	design	NOUN
aiti-808	7	8	,	,	PUNCT
aiti-808	7	9	kneading	kneading	NOUN
aiti-808	7	10	massage	massage	NOUN
aiti-808	7	11	,	,	PUNCT
aiti-808	7	12	massage	massage	NOUN
aiti-808	7	13	-	-	PUNCT
aiti-808	7	14	mechanism	mechanism	NOUN
aiti-808	7	15	,	,	PUNCT
aiti-808	7	16	yan	yan	PROPN
aiti-808	7	17	’s	’s	PART
aiti-808	7	18	creative	creative	ADJ
aiti-808	7	19	design	design	NOUN
aiti-808	7	20	methodology	methodology	NOUN
aiti-808	7	21	1	1	NUM
aiti-808	7	22	.	.	PUNCT
aiti-808	7	23	introduction	introduction	NOUN
aiti-808	7	24	due	due	ADP
aiti-808	7	25	to	to	ADP
aiti-808	7	26	busy	busy	ADJ
aiti-808	7	27	lifestyles	lifestyle	NOUN
aiti-808	7	28	in	in	ADP
aiti-808	7	29	modern	modern	ADJ
aiti-808	7	30	days	day	NOUN
aiti-808	7	31	,	,	PUNCT
aiti-808	7	32	insufficient	insufficient	ADJ
aiti-808	7	33	time	time	NOUN
aiti-808	7	34	for	for	ADP
aiti-808	7	35	sports	sport	NOUN
aiti-808	7	36	leads	lead	NOUN
aiti-808	7	37	to	to	ADP
aiti-808	7	38	physical	physical	ADJ
aiti-808	7	39	illness	illness	NOUN
aiti-808	7	40	.	.	PUNCT
aiti-808	8	1	recently	recently	ADV
aiti-808	8	2	,	,	PUNCT
aiti-808	8	3	because	because	SCONJ
aiti-808	8	4	of	of	ADP
aiti-808	8	5	the	the	DET
aiti-808	8	6	rising	rise	VERB
aiti-808	8	7	economic	economic	ADJ
aiti-808	8	8	level	level	NOUN
aiti-808	8	9	and	and	CCONJ
aiti-808	8	10	health	health	NOUN
aiti-808	8	11	awareness	awareness	NOUN
aiti-808	8	12	,	,	PUNCT
aiti-808	8	13	the	the	DET
aiti-808	8	14	concept	concept	NOUN
aiti-808	8	15	of	of	ADP
aiti-808	8	16	“	"	PUNCT
aiti-808	8	17	health	health	NOUN
aiti-808	8	18	protection	protection	NOUN
aiti-808	8	19	”	"	PUNCT
aiti-808	8	20	is	be	AUX
aiti-808	8	21	well	well	ADV
aiti-808	8	22	-	-	PUNCT
aiti-808	8	23	known	know	VERB
aiti-808	8	24	.	.	PUNCT
aiti-808	9	1	the	the	DET
aiti-808	9	2	massage	massage	NOUN
aiti-808	9	3	chair	chair	NOUN
aiti-808	9	4	is	be	AUX
aiti-808	9	5	one	one	NUM
aiti-808	9	6	of	of	ADP
aiti-808	9	7	the	the	DET
aiti-808	9	8	most	most	ADV
aiti-808	9	9	popular	popular	ADJ
aiti-808	9	10	health	health	NOUN
aiti-808	9	11	products	product	NOUN
aiti-808	9	12	.	.	PUNCT
aiti-808	10	1	the	the	DET
aiti-808	10	2	action	action	NOUN
aiti-808	10	3	of	of	ADP
aiti-808	10	4	the	the	DET
aiti-808	10	5	massage	massage	NOUN
aiti-808	10	6	chair	chair	NOUN
aiti-808	10	7	is	be	AUX
aiti-808	10	8	to	to	PART
aiti-808	10	9	mimic	mimic	VERB
aiti-808	10	10	the	the	DET
aiti-808	10	11	massage	massage	NOUN
aiti-808	10	12	therapist	therapist	NOUN
aiti-808	10	13	.	.	PUNCT
aiti-808	11	1	with	with	ADP
aiti-808	11	2	the	the	DET
aiti-808	11	3	progress	progress	NOUN
aiti-808	11	4	of	of	ADP
aiti-808	11	5	the	the	DET
aiti-808	11	6	society	society	NOUN
aiti-808	11	7	,	,	PUNCT
aiti-808	11	8	the	the	DET
aiti-808	11	9	demands	demand	NOUN
aiti-808	11	10	of	of	ADP
aiti-808	11	11	the	the	DET
aiti-808	11	12	massage	massage	NOUN
aiti-808	11	13	chair	chair	NOUN
aiti-808	11	14	became	become	VERB
aiti-808	11	15	more	more	ADV
aiti-808	11	16	diversified	diversified	ADJ
aiti-808	11	17	.	.	PUNCT
aiti-808	12	1	when	when	SCONJ
aiti-808	12	2	people	people	NOUN
aiti-808	12	3	lie	lie	VERB
aiti-808	12	4	on	on	ADP
aiti-808	12	5	the	the	DET
aiti-808	12	6	massage	massage	NOUN
aiti-808	12	7	chair	chair	NOUN
aiti-808	12	8	,	,	PUNCT
aiti-808	12	9	they	they	PRON
aiti-808	12	10	can	can	AUX
aiti-808	12	11	enjoy	enjoy	VERB
aiti-808	12	12	the	the	DET
aiti-808	12	13	massage	massage	NOUN
aiti-808	12	14	pressure	pressure	NOUN
aiti-808	12	15	to	to	PART
aiti-808	12	16	eliminate	eliminate	VERB
aiti-808	12	17	muscle	muscle	NOUN
aiti-808	12	18	fatigue	fatigue	NOUN
aiti-808	12	19	,	,	PUNCT
aiti-808	12	20	relieve	relieve	VERB
aiti-808	12	21	pressure	pressure	NOUN
aiti-808	12	22	,	,	PUNCT
aiti-808	12	23	and	and	CCONJ
aiti-808	12	24	relax	relax	VERB
aiti-808	12	25	.	.	PUNCT
aiti-808	13	1	in	in	ADP
aiti-808	13	2	general	general	ADJ
aiti-808	13	3	,	,	PUNCT
aiti-808	13	4	there	there	PRON
aiti-808	13	5	are	be	VERB
aiti-808	13	6	two	two	NUM
aiti-808	13	7	different	different	ADJ
aiti-808	13	8	modes	mode	NOUN
aiti-808	13	9	of	of	ADP
aiti-808	13	10	the	the	DET
aiti-808	13	11	massage	massage	NOUN
aiti-808	13	12	chairs	chair	NOUN
aiti-808	13	13	,	,	PUNCT
aiti-808	13	14	like	like	ADP
aiti-808	13	15	beating	beat	VERB
aiti-808	13	16	massage	massage	NOUN
aiti-808	13	17	and	and	CCONJ
aiti-808	13	18	kneading	kneading	NOUN
aiti-808	13	19	massage	massage	NOUN
aiti-808	13	20	,	,	PUNCT
aiti-808	13	21	and	and	CCONJ
aiti-808	13	22	both	both	PRON
aiti-808	13	23	of	of	ADP
aiti-808	13	24	them	they	PRON
aiti-808	13	25	promote	promote	VERB
aiti-808	13	26	the	the	DET
aiti-808	13	27	body	body	NOUN
aiti-808	13	28	health	health	NOUN
aiti-808	13	29	.	.	PUNCT
aiti-808	14	1	the	the	DET
aiti-808	14	2	massage	massage	NOUN
aiti-808	14	3	mechanism	mechanism	NOUN
aiti-808	14	4	can	can	AUX
aiti-808	14	5	be	be	AUX
aiti-808	14	6	a	a	DET
aiti-808	14	7	planar	planar	ADJ
aiti-808	14	8	mechanism	mechanism	NOUN
aiti-808	14	9	[	[	X
aiti-808	14	10	1	1	NUM
aiti-808	14	11	-	-	SYM
aiti-808	14	12	2	2	NUM
aiti-808	14	13	]	]	PUNCT
aiti-808	14	14	or	or	CCONJ
aiti-808	14	15	spatial	spatial	ADJ
aiti-808	14	16	mechanism	mechanism	NOUN
aiti-808	14	17	[	[	X
aiti-808	14	18	3	3	NUM
aiti-808	14	19	-	-	SYM
aiti-808	14	20	5	5	NUM
aiti-808	14	21	]	]	PUNCT
aiti-808	14	22	.	.	PUNCT
aiti-808	15	1	this	this	DET
aiti-808	15	2	paper	paper	NOUN
aiti-808	15	3	focuses	focus	VERB
aiti-808	15	4	on	on	ADP
aiti-808	15	5	the	the	DET
aiti-808	15	6	systematic	systematic	ADJ
aiti-808	15	7	design	design	NOUN
aiti-808	15	8	of	of	ADP
aiti-808	15	9	spatial	spatial	ADJ
aiti-808	15	10	massage	massage	NOUN
aiti-808	15	11	mechanism	mechanism	NOUN
aiti-808	15	12	which	which	PRON
aiti-808	15	13	provides	provide	VERB
aiti-808	15	14	beating	beat	VERB
aiti-808	15	15	massage	massage	NOUN
aiti-808	15	16	and	and	CCONJ
aiti-808	15	17	kneading	kneading	NOUN
aiti-808	15	18	massage	massage	NOUN
aiti-808	15	19	,	,	PUNCT
aiti-808	15	20	including	include	VERB
aiti-808	15	21	the	the	DET
aiti-808	15	22	concept	concept	NOUN
aiti-808	15	23	design	design	NOUN
aiti-808	15	24	,	,	PUNCT
aiti-808	15	25	the	the	DET
aiti-808	15	26	kinematic	kinematic	ADJ
aiti-808	15	27	analysis	analysis	NOUN
aiti-808	15	28	,	,	PUNCT
aiti-808	15	29	the	the	DET
aiti-808	15	30	engineering	engineering	NOUN
aiti-808	15	31	drawing	drawing	NOUN
aiti-808	15	32	,	,	PUNCT
aiti-808	15	33	engineering	engineering	NOUN
aiti-808	15	34	design	design	NOUN
aiti-808	15	35	and	and	CCONJ
aiti-808	15	36	manufacture	manufacture	NOUN
aiti-808	15	37	of	of	ADP
aiti-808	15	38	a	a	DET
aiti-808	15	39	prototype	prototype	NOUN
aiti-808	15	40	.	.	PUNCT
aiti-808	16	1	first	first	ADV
aiti-808	16	2	,	,	PUNCT
aiti-808	16	3	we	we	PRON
aiti-808	16	4	analyze	analyze	VERB
aiti-808	16	5	the	the	DET
aiti-808	16	6	topological	topological	ADJ
aiti-808	16	7	structure	structure	NOUN
aiti-808	16	8	and	and	CCONJ
aiti-808	16	9	motion	motion	NOUN
aiti-808	16	10	characteristics	characteristic	NOUN
aiti-808	16	11	of	of	ADP
aiti-808	16	12	the	the	DET
aiti-808	16	13	existing	exist	VERB
aiti-808	16	14	massage	massage	NOUN
aiti-808	16	15	mechanisms	mechanism	NOUN
aiti-808	16	16	and	and	CCONJ
aiti-808	16	17	conclude	conclude	VERB
aiti-808	16	18	its	its	PRON
aiti-808	16	19	design	design	NOUN
aiti-808	16	20	requirements	requirement	NOUN
aiti-808	16	21	and	and	CCONJ
aiti-808	16	22	constraints	constraint	NOUN
aiti-808	16	23	.	.	PUNCT
aiti-808	17	1	all	all	DET
aiti-808	17	2	existing	exist	VERB
aiti-808	17	3	massage	massage	NOUN
aiti-808	17	4	mechanisms	mechanism	NOUN
aiti-808	17	5	with	with	ADP
aiti-808	17	6	beating	beating	NOUN
aiti-808	17	7	and	and	CCONJ
aiti-808	17	8	kneading	kneading	NOUN
aiti-808	17	9	functions	function	NOUN
aiti-808	17	10	are	be	AUX
aiti-808	17	11	mechanisms	mechanism	NOUN
aiti-808	17	12	with	with	ADP
aiti-808	17	13	2	2	NUM
aiti-808	17	14	degrees	degree	NOUN
aiti-808	17	15	of	of	ADP
aiti-808	17	16	freedom	freedom	NOUN
aiti-808	17	17	(	(	PUNCT
aiti-808	17	18	dof	dof	NOUN
aiti-808	17	19	)	)	PUNCT
aiti-808	17	20	.	.	PUNCT
aiti-808	18	1	the	the	DET
aiti-808	18	2	purpose	purpose	NOUN
aiti-808	18	3	of	of	ADP
aiti-808	18	4	this	this	DET
aiti-808	18	5	paper	paper	NOUN
aiti-808	18	6	is	be	AUX
aiti-808	18	7	to	to	PART
aiti-808	18	8	synthesize	synthesize	VERB
aiti-808	18	9	all	all	DET
aiti-808	18	10	the	the	DET
aiti-808	18	11	feasible	feasible	ADJ
aiti-808	18	12	designs	design	NOUN
aiti-808	18	13	of	of	ADP
aiti-808	18	14	massage	massage	NOUN
aiti-808	18	15	mechanisms	mechanism	NOUN
aiti-808	18	16	(	(	PUNCT
aiti-808	18	17	including	include	VERB
aiti-808	18	18	dof	dof	NOUN
aiti-808	18	19	=	=	NOUN
aiti-808	18	20	2	2	NUM
aiti-808	18	21	and	and	CCONJ
aiti-808	18	22	dof	dof	NOUN
aiti-808	18	23	=3	=3	PROPN
aiti-808	18	24	)	)	PUNCT
aiti-808	18	25	.	.	PUNCT
aiti-808	19	1	then	then	ADV
aiti-808	19	2	,	,	PUNCT
aiti-808	19	3	based	base	VERB
aiti-808	19	4	on	on	ADP
aiti-808	19	5	the	the	DET
aiti-808	19	6	design	design	NOUN
aiti-808	19	7	requirements	requirement	NOUN
aiti-808	19	8	and	and	CCONJ
aiti-808	19	9	constraints	constraint	NOUN
aiti-808	19	10	also	also	ADV
aiti-808	19	11	modified	modify	VERB
aiti-808	19	12	yan	yan	PROPN
aiti-808	19	13	’s	’s	PART
aiti-808	19	14	creative	creative	ADJ
aiti-808	19	15	design	design	NOUN
aiti-808	19	16	methodology	methodology	NOUN
aiti-808	20	1	[	[	X
aiti-808	20	2	6	6	NUM
aiti-808	20	3	-	-	SYM
aiti-808	20	4	11	11	NUM
aiti-808	20	5	]	]	PUNCT
aiti-808	20	6	,	,	PUNCT
aiti-808	20	7	we	we	PRON
aiti-808	20	8	can	can	AUX
aiti-808	20	9	synthesize	synthesize	VERB
aiti-808	20	10	all	all	DET
aiti-808	20	11	feasible	feasible	ADJ
aiti-808	20	12	design	design	NOUN
aiti-808	20	13	concepts	concept	NOUN
aiti-808	20	14	of	of	ADP
aiti-808	20	15	massage	massage	NOUN
aiti-808	20	16	-	-	PUNCT
aiti-808	20	17	mechanisms	mechanism	NOUN
aiti-808	20	18	for	for	ADP
aiti-808	20	19	the	the	DET
aiti-808	20	20	massage	massage	NOUN
aiti-808	20	21	chair	chair	NOUN
aiti-808	20	22	.	.	PUNCT
aiti-808	21	1	therefore	therefore	ADV
aiti-808	21	2	,	,	PUNCT
aiti-808	21	3	one	one	NUM
aiti-808	21	4	design	design	NOUN
aiti-808	21	5	concept	concept	NOUN
aiti-808	21	6	is	be	AUX
aiti-808	21	7	chosen	choose	VERB
aiti-808	21	8	for	for	ADP
aiti-808	21	9	the	the	DET
aiti-808	21	10	engineering	engineering	NOUN
aiti-808	21	11	design	design	NOUN
aiti-808	21	12	and	and	CCONJ
aiti-808	21	13	prototype	prototype	NOUN
aiti-808	21	14	manufacture	manufacture	NOUN
aiti-808	21	15	.	.	PUNCT
aiti-808	22	1	the	the	DET
aiti-808	22	2	beating	beating	NOUN
aiti-808	22	3	and	and	CCONJ
aiti-808	22	4	kneading	knead	VERB
aiti-808	22	5	massage	massage	NOUN
aiti-808	22	6	traces	trace	NOUN
aiti-808	22	7	of	of	ADP
aiti-808	22	8	this	this	DET
aiti-808	22	9	new	new	ADJ
aiti-808	22	10	design	design	NOUN
aiti-808	22	11	is	be	AUX
aiti-808	22	12	simulated	simulate	VERB
aiti-808	22	13	by	by	ADP
aiti-808	22	14	“	"	PUNCT
aiti-808	22	15	cosmos	cosmos	PROPN
aiti-808	22	16	”	"	PUNCT
aiti-808	22	17	software	software	NOUN
aiti-808	22	18	to	to	PART
aiti-808	22	19	verify	verify	VERB
aiti-808	22	20	the	the	DET
aiti-808	22	21	new	new	ADJ
aiti-808	22	22	feasibility	feasibility	NOUN
aiti-808	22	23	of	of	ADP
aiti-808	22	24	design	design	NOUN
aiti-808	22	25	.	.	PUNCT
aiti-808	23	1	2	2	X
aiti-808	23	2	.	.	X
aiti-808	23	3	existing	exist	VERB
aiti-808	23	4	designs	design	NOUN
aiti-808	23	5	before	before	ADP
aiti-808	23	6	implementing	implement	VERB
aiti-808	23	7	an	an	DET
aiti-808	23	8	innovative	innovative	ADJ
aiti-808	23	9	design	design	NOUN
aiti-808	23	10	,	,	PUNCT
aiti-808	23	11	the	the	DET
aiti-808	23	12	structure	structure	NOUN
aiti-808	23	13	of	of	ADP
aiti-808	23	14	the	the	DET
aiti-808	23	15	massage	massage	NOUN
aiti-808	23	16	mechanism	mechanism	NOUN
aiti-808	23	17	must	must	AUX
aiti-808	23	18	be	be	AUX
aiti-808	23	19	collected	collect	VERB
aiti-808	23	20	and	and	CCONJ
aiti-808	23	21	analyzed	analyze	VERB
aiti-808	23	22	from	from	ADP
aiti-808	23	23	academic	academic	ADJ
aiti-808	23	24	papers	paper	NOUN
aiti-808	23	25	,	,	PUNCT
aiti-808	23	26	catalogues	catalogue	NOUN
aiti-808	23	27	,	,	PUNCT
aiti-808	23	28	and	and	CCONJ
aiti-808	23	29	technical	technical	ADJ
aiti-808	23	30	reports	report	NOUN
aiti-808	23	31	.	.	PUNCT
aiti-808	24	1	based	base	VERB
aiti-808	24	2	on	on	ADP
aiti-808	24	3	the	the	DET
aiti-808	24	4	analysis	analysis	NOUN
aiti-808	24	5	results	result	NOUN
aiti-808	24	6	,	,	PUNCT
aiti-808	24	7	the	the	DET
aiti-808	24	8	massage	massage	NOUN
aiti-808	24	9	mechanism	mechanism	NOUN
aiti-808	24	10	can	can	AUX
aiti-808	24	11	be	be	AUX
aiti-808	24	12	*	*	PUNCT
aiti-808	24	13	corresponding	correspond	VERB
aiti-808	24	14	author	author	NOUN
aiti-808	24	15	.	.	PUNCT
aiti-808	25	1	e	e	X
aiti-808	25	2	-	-	NOUN
aiti-808	25	3	mail	mail	NOUN
aiti-808	25	4	address	address	NOUN
aiti-808	25	5	:	:	PUNCT
aiti-808	25	6	summer34134@gmail.com	summer34134@gmail.com	X
aiti-808	26	1	tel	tel	PROPN
aiti-808	26	2	.	.	PUNCT
aiti-808	26	3	:	:	PUNCT
aiti-808	27	1	+886	+886	NUM
aiti-808	27	2	-	-	PUNCT
aiti-808	27	3	3	3	NUM
aiti-808	27	4	-	-	PUNCT
aiti-808	27	5	559	559	NUM
aiti-808	27	6	-	-	PUNCT
aiti-808	27	7	3142	3142	NUM
aiti-808	27	8	ext	ext	NOUN
aiti-808	27	9	.	.	PROPN
aiti-808	27	10	3023	3023	NUM
aiti-808	27	11	;	;	PUNCT
aiti-808	27	12	fax	fax	NOUN
aiti-808	27	13	:	:	PUNCT
aiti-808	27	14	+886	+886	NUM
aiti-808	27	15	-	-	PUNCT
aiti-808	27	16	3	3	NUM
aiti-808	27	17	-	-	PUNCT
aiti-808	27	18	557	557	NUM
aiti-808	27	19	-	-	PUNCT
aiti-808	27	20	3797	3797	NUM
aiti-808	27	21	advances	advance	NOUN
aiti-808	27	22	in	in	ADP
aiti-808	27	23	technology	technology	NOUN
aiti-808	27	24	innovation	innovation	NOUN
aiti-808	27	25	,	,	PUNCT
aiti-808	27	26	vol	vol	NOUN
aiti-808	27	27	.	.	PROPN
aiti-808	27	28	4	4	NUM
aiti-808	27	29	,	,	PUNCT
aiti-808	27	30	no	no	INTJ
aiti-808	27	31	.	.	NOUN
aiti-808	27	32	2	2	NUM
aiti-808	27	33	,	,	PUNCT
aiti-808	27	34	2019	2019	NUM
aiti-808	27	35	,	,	PUNCT
aiti-808	27	36	pp	pp	ADJ
aiti-808	27	37	.	.	PUNCT
aiti-808	28	1	116	116	NUM
aiti-808	28	2	124	124	NUM
aiti-808	28	3	2	2	NUM
aiti-808	28	4	classified	classify	VERB
aiti-808	28	5	as	as	ADP
aiti-808	28	6	the	the	DET
aiti-808	28	7	planar	planar	ADJ
aiti-808	28	8	mechanism	mechanism	NOUN
aiti-808	28	9	or	or	CCONJ
aiti-808	28	10	spatial	spatial	ADJ
aiti-808	28	11	mechanism	mechanism	NOUN
aiti-808	28	12	.	.	PUNCT
aiti-808	29	1	fig	fig	NOUN
aiti-808	29	2	.	.	PUNCT
aiti-808	30	1	1	1	NUM
aiti-808	30	2	shows	show	VERB
aiti-808	30	3	the	the	DET
aiti-808	30	4	patent	patent	NOUN
aiti-808	30	5	[	[	X
aiti-808	30	6	1	1	X
aiti-808	30	7	]	]	PUNCT
aiti-808	30	8	which	which	PRON
aiti-808	30	9	is	be	AUX
aiti-808	30	10	the	the	DET
aiti-808	30	11	planar	planar	ADJ
aiti-808	30	12	mechanism	mechanism	NOUN
aiti-808	30	13	and	and	CCONJ
aiti-808	30	14	provides	provide	VERB
aiti-808	30	15	the	the	DET
aiti-808	30	16	kneading	kneading	NOUN
aiti-808	30	17	massage	massage	NOUN
aiti-808	30	18	.	.	PUNCT
aiti-808	31	1	fig	fig	NOUN
aiti-808	31	2	.	.	PUNCT
aiti-808	32	1	1	1	NUM
aiti-808	32	2	improvement	improvement	NOUN
aiti-808	32	3	structure	structure	NOUN
aiti-808	32	4	of	of	ADP
aiti-808	32	5	massage	massage	NOUN
aiti-808	32	6	chair	chair	NOUN
aiti-808	32	7	[	[	X
aiti-808	32	8	1	1	X
aiti-808	32	9	]	]	PUNCT
aiti-808	32	10	fig	fig	NOUN
aiti-808	32	11	.	.	PUNCT
aiti-808	32	12	2	2	NUM
aiti-808	32	13	shows	show	VERB
aiti-808	32	14	the	the	DET
aiti-808	32	15	patent	patent	NOUN
aiti-808	32	16	[	[	X
aiti-808	32	17	3	3	X
aiti-808	32	18	]	]	PUNCT
aiti-808	32	19	which	which	PRON
aiti-808	32	20	is	be	AUX
aiti-808	32	21	a	a	DET
aiti-808	32	22	spatial	spatial	ADJ
aiti-808	32	23	mechanism	mechanism	NOUN
aiti-808	32	24	and	and	CCONJ
aiti-808	32	25	provides	provide	VERB
aiti-808	32	26	the	the	DET
aiti-808	32	27	beating	beating	NOUN
aiti-808	32	28	and	and	CCONJ
aiti-808	32	29	kneading	kneading	NOUN
aiti-808	32	30	massages	massage	NOUN
aiti-808	32	31	.	.	PUNCT
aiti-808	33	1	fig	fig	NOUN
aiti-808	33	2	.	.	PUNCT
aiti-808	34	1	2(c	2(c	NUM
aiti-808	34	2	)	)	PUNCT
aiti-808	35	1	shows	show	VERB
aiti-808	35	2	its	its	PRON
aiti-808	35	3	corresponding	correspond	VERB
aiti-808	35	4	kinematic	kinematic	ADJ
aiti-808	35	5	skeleton	skeleton	NOUN
aiti-808	35	6	.	.	PUNCT
aiti-808	36	1	according	accord	VERB
aiti-808	36	2	to	to	ADP
aiti-808	36	3	fig	fig	NOUN
aiti-808	36	4	.	.	PUNCT
aiti-808	37	1	2	2	NUM
aiti-808	37	2	,	,	PUNCT
aiti-808	37	3	the	the	DET
aiti-808	37	4	mechanism	mechanism	NOUN
aiti-808	37	5	has	have	VERB
aiti-808	37	6	6	6	NUM
aiti-808	37	7	links	link	NOUN
aiti-808	37	8	and	and	CCONJ
aiti-808	37	9	6	6	NUM
aiti-808	37	10	joints	joint	NOUN
aiti-808	37	11	(	(	PUNCT
aiti-808	37	12	5	5	NUM
aiti-808	37	13	revolute	revolute	ADJ
aiti-808	37	14	pairs	pair	NOUN
aiti-808	37	15	and	and	CCONJ
aiti-808	37	16	1	1	NUM
aiti-808	37	17	spherical	spherical	ADJ
aiti-808	37	18	pair	pair	NOUN
aiti-808	37	19	)	)	PUNCT
aiti-808	37	20	and	and	CCONJ
aiti-808	37	21	belongs	belong	VERB
aiti-808	37	22	to	to	ADP
aiti-808	37	23	the	the	DET
aiti-808	37	24	spatial	spatial	ADJ
aiti-808	37	25	mechanism	mechanism	NOUN
aiti-808	37	26	.	.	PUNCT
aiti-808	38	1	in	in	ADP
aiti-808	38	2	the	the	DET
aiti-808	38	3	1st	1st	ADJ
aiti-808	38	4	input	input	NOUN
aiti-808	38	5	motion	motion	NOUN
aiti-808	38	6	,	,	PUNCT
aiti-808	38	7	link	link	NOUN
aiti-808	38	8	2	2	NUM
aiti-808	38	9	provides	provide	VERB
aiti-808	38	10	a	a	DET
aiti-808	38	11	beating	beating	NOUN
aiti-808	38	12	function	function	NOUN
aiti-808	38	13	and	and	CCONJ
aiti-808	38	14	in	in	ADP
aiti-808	38	15	the	the	DET
aiti-808	38	16	2nd	2nd	ADJ
aiti-808	38	17	input	input	NOUN
aiti-808	38	18	motion	motion	NOUN
aiti-808	38	19	,	,	PUNCT
aiti-808	38	20	link	link	VERB
aiti-808	38	21	6	6	NUM
aiti-808	38	22	provides	provide	VERB
aiti-808	38	23	a	a	DET
aiti-808	38	24	kneading	kneading	NOUN
aiti-808	38	25	function	function	NOUN
aiti-808	38	26	.	.	PUNCT
aiti-808	39	1	(	(	PUNCT
aiti-808	39	2	a	a	X
aiti-808	39	3	)	)	PUNCT
aiti-808	39	4	beating	beat	VERB
aiti-808	39	5	massage	massage	NOUN
aiti-808	39	6	(	(	PUNCT
aiti-808	39	7	b	b	NOUN
aiti-808	39	8	)	)	PUNCT
aiti-808	39	9	kneading	knead	VERB
aiti-808	39	10	massage	massage	NOUN
aiti-808	39	11	(	(	PUNCT
aiti-808	39	12	c	c	NOUN
aiti-808	39	13	)	)	PUNCT
aiti-808	39	14	kinematic	kinematic	ADJ
aiti-808	39	15	skeleton	skeleton	NOUN
aiti-808	39	16	fig	fig	NOUN
aiti-808	39	17	.	.	PUNCT
aiti-808	40	1	2	2	NUM
aiti-808	40	2	improved	improve	VERB
aiti-808	40	3	double	double	ADJ
aiti-808	40	4	drive	drive	NOUN
aiti-808	40	5	system	system	NOUN
aiti-808	40	6	of	of	ADP
aiti-808	40	7	massage	massage	NOUN
aiti-808	40	8	chair	chair	NOUN
aiti-808	40	9	[	[	X
aiti-808	40	10	3	3	X
aiti-808	40	11	]	]	PUNCT
aiti-808	40	12	the	the	DET
aiti-808	40	13	mobility	mobility	NOUN
aiti-808	40	14	of	of	ADP
aiti-808	40	15	the	the	DET
aiti-808	40	16	spatial	spatial	ADJ
aiti-808	40	17	mechanism	mechanism	NOUN
aiti-808	40	18	can	can	AUX
aiti-808	40	19	be	be	AUX
aiti-808	40	20	obtained	obtain	VERB
aiti-808	40	21	by	by	ADP
aiti-808	40	22	following	follow	VERB
aiti-808	40	23	eq	eq	ADP
aiti-808	40	24	.	.	PUNCT
aiti-808	41	1	(	(	PUNCT
aiti-808	41	2	1	1	NUM
aiti-808	41	3	)	)	PUNCT
aiti-808	41	4	.	.	PUNCT
aiti-808	42	1	f	f	PROPN
aiti-808	42	2	6	6	NUM
aiti-808	42	3	(	(	PUNCT
aiti-808	42	4	)	)	PUNCT
aiti-808	42	5	in	in	ADP
aiti-808	42	6	j	j	PROPN
aiti-808	42	7	i	i	PRON
aiti-808	42	8	f	f	VERB
aiti-808	42	9			PROPN
aiti-808	42	10			PROPN
aiti-808	42	11			NOUN
aiti-808	42	12	(	(	PUNCT
aiti-808	42	13	1	1	NUM
aiti-808	42	14	)	)	PUNCT
aiti-808	42	15	where	where	SCONJ
aiti-808	42	16	n	n	PRON
aiti-808	42	17	is	be	AUX
aiti-808	42	18	the	the	DET
aiti-808	42	19	number	number	NOUN
aiti-808	42	20	of	of	ADP
aiti-808	42	21	links	link	NOUN
aiti-808	42	22	,	,	PUNCT
aiti-808	42	23	j	j	PROPN
aiti-808	42	24	is	be	AUX
aiti-808	42	25	number	number	NOUN
aiti-808	42	26	of	of	ADP
aiti-808	42	27	joints	joint	NOUN
aiti-808	42	28	,	,	PUNCT
aiti-808	42	29	and	and	CCONJ
aiti-808	42	30	fi	fi	NOUN
aiti-808	42	31	is	be	AUX
aiti-808	42	32	the	the	DET
aiti-808	42	33	degrees	degree	NOUN
aiti-808	42	34	of	of	ADP
aiti-808	42	35	freedom	freedom	NOUN
aiti-808	42	36	of	of	ADP
aiti-808	42	37	joint	joint	ADJ
aiti-808	42	38	i.	i.	NOUN
aiti-808	42	39	the	the	DET
aiti-808	42	40	mechanism	mechanism	NOUN
aiti-808	42	41	shown	show	VERB
aiti-808	42	42	in	in	ADP
aiti-808	42	43	fig	fig	NOUN
aiti-808	42	44	.	.	PUNCT
aiti-808	43	1	2	2	NUM
aiti-808	43	2	has	have	VERB
aiti-808	43	3	6	6	NUM
aiti-808	43	4	links	link	NOUN
aiti-808	43	5	,	,	PUNCT
aiti-808	43	6	6	6	NUM
aiti-808	43	7	joints	joint	NOUN
aiti-808	43	8	(	(	PUNCT
aiti-808	43	9	5	5	NUM
aiti-808	43	10	revolute	revolute	ADJ
aiti-808	43	11	pairs	pair	NOUN
aiti-808	43	12	and	and	CCONJ
aiti-808	43	13	1	1	NUM
aiti-808	43	14	spherical	spherical	ADJ
aiti-808	43	15	pair	pair	NOUN
aiti-808	43	16	)	)	PUNCT
aiti-808	43	17	,	,	PUNCT
aiti-808	43	18	according	accord	VERB
aiti-808	43	19	to	to	ADP
aiti-808	43	20	the	the	DET
aiti-808	43	21	equation	equation	NOUN
aiti-808	43	22	of	of	ADP
aiti-808	43	23	mobility	mobility	NOUN
aiti-808	43	24	,	,	PUNCT
aiti-808	43	25	we	we	PRON
aiti-808	43	26	get	get	VERB
aiti-808	43	27	:	:	PUNCT
aiti-808	43	28	6	6	NUM
aiti-808	43	29	(	(	PUNCT
aiti-808	43	30	)	)	PUNCT
aiti-808	43	31	6(6	6(6	ADV
aiti-808	43	32	6	6	NUM
aiti-808	43	33	1	1	NUM
aiti-808	43	34	)	)	PUNCT
aiti-808	43	35	8	8	NUM
aiti-808	43	36	2f	2f	NUM
aiti-808	44	1	n	n	PRON
aiti-808	44	2	j	j	NOUN
aiti-808	45	1	i	i	PRON
aiti-808	45	2	f	f	PROPN
aiti-808	46	1	i	i	PRON
aiti-808	46	2			PROPN
aiti-808	46	3			PROPN
aiti-808	46	4			PROPN
aiti-808	46	5			PART
aiti-808	46	6			NUM
aiti-808	46	7			PROPN
aiti-808	46	8			PROPN
aiti-808	46	9			PART
aiti-808	46	10			PROPN
aiti-808	46	11			NOUN
aiti-808	46	12	(	(	PUNCT
aiti-808	46	13	2	2	NUM
aiti-808	46	14	)	)	PUNCT
aiti-808	46	15	3	3	NUM
aiti-808	46	16	.	.	NOUN
aiti-808	46	17	creative	creative	ADJ
aiti-808	46	18	mechanism	mechanism	NOUN
aiti-808	46	19	design	design	NOUN
aiti-808	46	20	methodology	methodology	NOUN
aiti-808	46	21	the	the	DET
aiti-808	46	22	design	design	NOUN
aiti-808	46	23	concept	concept	NOUN
aiti-808	46	24	is	be	AUX
aiti-808	46	25	the	the	DET
aiti-808	46	26	initial	initial	ADJ
aiti-808	46	27	stage	stage	NOUN
aiti-808	46	28	of	of	ADP
aiti-808	46	29	the	the	DET
aiti-808	46	30	engineering	engineering	NOUN
aiti-808	46	31	design	design	NOUN
aiti-808	46	32	process	process	NOUN
aiti-808	46	33	and	and	CCONJ
aiti-808	46	34	also	also	ADV
aiti-808	46	35	the	the	DET
aiti-808	46	36	most	most	ADV
aiti-808	46	37	difficult	difficult	ADJ
aiti-808	46	38	part	part	NOUN
aiti-808	46	39	.	.	PUNCT
aiti-808	47	1	all	all	DET
aiti-808	47	2	existing	exist	VERB
aiti-808	47	3	massage	massage	NOUN
aiti-808	47	4	mechanisms	mechanism	NOUN
aiti-808	47	5	with	with	ADP
aiti-808	47	6	beating	beating	NOUN
aiti-808	47	7	and	and	CCONJ
aiti-808	47	8	kneading	kneading	NOUN
aiti-808	47	9	functions	function	NOUN
aiti-808	47	10	are	be	AUX
aiti-808	47	11	mechanisms	mechanism	NOUN
aiti-808	47	12	with	with	ADP
aiti-808	47	13	2	2	NUM
aiti-808	47	14	degrees	degree	NOUN
aiti-808	47	15	of	of	ADP
aiti-808	47	16	freedoms	freedom	NOUN
aiti-808	47	17	(	(	PUNCT
aiti-808	47	18	dof	dof	NOUN
aiti-808	47	19	)	)	PUNCT
aiti-808	47	20	.	.	PUNCT
aiti-808	48	1	the	the	DET
aiti-808	48	2	purpose	purpose	NOUN
aiti-808	48	3	of	of	ADP
aiti-808	48	4	this	this	DET
aiti-808	48	5	paper	paper	NOUN
aiti-808	48	6	is	be	AUX
aiti-808	48	7	to	to	PART
aiti-808	48	8	synthesize	synthesize	VERB
aiti-808	48	9	all	all	DET
aiti-808	48	10	the	the	DET
aiti-808	48	11	feasible	feasible	ADJ
aiti-808	48	12	designs	design	NOUN
aiti-808	48	13	of	of	ADP
aiti-808	48	14	the	the	DET
aiti-808	48	15	massage	massage	NOUN
aiti-808	48	16	mechanism	mechanism	NOUN
aiti-808	48	17	(	(	PUNCT
aiti-808	48	18	including	include	VERB
aiti-808	48	19	dof	dof	NOUN
aiti-808	48	20	=	=	NOUN
aiti-808	48	21	2	2	NUM
aiti-808	48	22	and	and	CCONJ
aiti-808	48	23	dof	dof	NOUN
aiti-808	48	24	=3	=3	PROPN
aiti-808	48	25	)	)	PUNCT
aiti-808	48	26	.	.	PUNCT
aiti-808	49	1	for	for	ADP
aiti-808	49	2	the	the	DET
aiti-808	49	3	mechanisms	mechanism	NOUN
aiti-808	49	4	with	with	ADP
aiti-808	49	5	3	3	NUM
aiti-808	49	6	dof	dof	NOUN
aiti-808	49	7	,	,	PUNCT
aiti-808	49	8	there	there	PRON
aiti-808	49	9	must	must	AUX
aiti-808	49	10	be	be	AUX
aiti-808	49	11	1	1	NUM
aiti-808	49	12	redundant	redundant	ADJ
aiti-808	49	13	degree	degree	NOUN
aiti-808	49	14	of	of	ADP
aiti-808	49	15	freedom	freedom	NOUN
aiti-808	49	16	.	.	PUNCT
aiti-808	50	1	there	there	PRON
aiti-808	50	2	is	be	VERB
aiti-808	50	3	no	no	DET
aiti-808	50	4	existing	exist	VERB
aiti-808	50	5	mechanism	mechanism	NOUN
aiti-808	50	6	dof	dof	NOUN
aiti-808	50	7	=3	=3	PROPN
aiti-808	50	8	)	)	PUNCT
aiti-808	50	9	which	which	PRON
aiti-808	50	10	can	can	AUX
aiti-808	50	11	provide	provide	VERB
aiti-808	50	12	beating	beat	VERB
aiti-808	50	13	massage	massage	NOUN
aiti-808	50	14	and	and	CCONJ
aiti-808	50	15	kneading	kneading	NOUN
aiti-808	50	16	massage	massage	NOUN
aiti-808	50	17	,	,	PUNCT
aiti-808	50	18	therefore	therefore	ADV
aiti-808	50	19	,	,	PUNCT
aiti-808	50	20	yan	yan	PROPN
aiti-808	50	21	’s	’s	PART
aiti-808	50	22	creative	creative	ADJ
aiti-808	50	23	design	design	NOUN
aiti-808	50	24	methodology	methodology	NOUN
aiti-808	50	25	[	[	X
aiti-808	50	26	6	6	NUM
aiti-808	50	27	-	-	SYM
aiti-808	50	28	10	10	NUM
aiti-808	50	29	]	]	PUNCT
aiti-808	50	30	must	must	AUX
aiti-808	50	31	be	be	AUX
aiti-808	50	32	modified	modify	VERB
aiti-808	50	33	.	.	PUNCT
aiti-808	51	1	fig	fig	NOUN
aiti-808	51	2	.	.	PUNCT
aiti-808	52	1	3	3	NUM
aiti-808	52	2	shows	show	VERB
aiti-808	52	3	the	the	DET
aiti-808	52	4	modification	modification	NOUN
aiti-808	52	5	of	of	ADP
aiti-808	52	6	yan	yan	PROPN
aiti-808	52	7	’s	’s	PART
aiti-808	52	8	creative	creative	ADJ
aiti-808	52	9	design	design	NOUN
aiti-808	52	10	methodology	methodology	NOUN
aiti-808	52	11	,	,	PUNCT
aiti-808	52	12	and	and	CCONJ
aiti-808	52	13	the	the	DET
aiti-808	52	14	steps	step	NOUN
aiti-808	52	15	are	be	AUX
aiti-808	52	16	as	as	SCONJ
aiti-808	52	17	follows	follow	VERB
aiti-808	52	18	:	:	PUNCT
aiti-808	52	19	advances	advance	NOUN
aiti-808	52	20	in	in	ADP
aiti-808	52	21	technology	technology	NOUN
aiti-808	52	22	innovation	innovation	NOUN
aiti-808	52	23	,	,	PUNCT
aiti-808	52	24	vol	vol	NOUN
aiti-808	52	25	.	.	PROPN
aiti-808	53	1	4	4	NUM
aiti-808	53	2	,	,	PUNCT
aiti-808	53	3	no	no	INTJ
aiti-808	53	4	.	.	NOUN
aiti-808	53	5	2	2	NUM
aiti-808	53	6	,	,	PUNCT
aiti-808	53	7	2019	2019	NUM
aiti-808	53	8	,	,	PUNCT
aiti-808	53	9	pp	pp	ADJ
aiti-808	53	10	.	.	PUNCT
aiti-808	54	1	116	116	NUM
aiti-808	54	2	124	124	NUM
aiti-808	54	3	3	3	NUM
aiti-808	54	4	fig	fig	NOUN
aiti-808	54	5	.	.	PUNCT
aiti-808	55	1	3	3	NUM
aiti-808	55	2	modified	modify	VERB
aiti-808	55	3	yan	yan	PROPN
aiti-808	55	4	’s	’s	PART
aiti-808	55	5	creative	creative	ADJ
aiti-808	55	6	design	design	NOUN
aiti-808	55	7	methodology	methodology	NOUN
aiti-808	55	8	[	[	X
aiti-808	55	9	7	7	NUM
aiti-808	55	10	]	]	SYM
aiti-808	55	11	(	(	PUNCT
aiti-808	55	12	1	1	X
aiti-808	55	13	)	)	PUNCT
aiti-808	55	14	identify	identify	VERB
aiti-808	55	15	the	the	DET
aiti-808	55	16	existing	exist	VERB
aiti-808	55	17	designs	design	NOUN
aiti-808	55	18	(	(	PUNCT
aiti-808	55	19	dof	dof	NOUN
aiti-808	55	20	=	=	NOUN
aiti-808	55	21	2	2	NUM
aiti-808	55	22	)	)	PUNCT
aiti-808	55	23	with	with	ADP
aiti-808	55	24	required	require	VERB
aiti-808	55	25	design	design	NOUN
aiti-808	55	26	specifications	specification	NOUN
aiti-808	55	27	that	that	SCONJ
aiti-808	55	28	designers	designer	NOUN
aiti-808	55	29	would	would	AUX
aiti-808	55	30	like	like	VERB
aiti-808	55	31	to	to	PART
aiti-808	55	32	have	have	VERB
aiti-808	55	33	,	,	PUNCT
aiti-808	55	34	and	and	CCONJ
aiti-808	55	35	conclude	conclude	VERB
aiti-808	55	36	the	the	DET
aiti-808	55	37	topological	topological	ADJ
aiti-808	55	38	characteristics	characteristic	NOUN
aiti-808	55	39	of	of	ADP
aiti-808	55	40	these	these	DET
aiti-808	55	41	designs	design	NOUN
aiti-808	55	42	.	.	PUNCT
aiti-808	56	1	(	(	PUNCT
aiti-808	56	2	2	2	NUM
aiti-808	56	3	)	)	PUNCT
aiti-808	56	4	according	accord	VERB
aiti-808	56	5	to	to	ADP
aiti-808	56	6	the	the	DET
aiti-808	56	7	topological	topological	ADJ
aiti-808	56	8	characteristics	characteristic	NOUN
aiti-808	56	9	,	,	PUNCT
aiti-808	56	10	identify	identify	VERB
aiti-808	56	11	the	the	DET
aiti-808	56	12	mobility	mobility	NOUN
aiti-808	56	13	of	of	ADP
aiti-808	56	14	the	the	DET
aiti-808	56	15	mechanism	mechanism	NOUN
aiti-808	56	16	and	and	CCONJ
aiti-808	56	17	its	its	PRON
aiti-808	56	18	corresponding	correspond	VERB
aiti-808	56	19	link	link	NOUN
aiti-808	56	20	and	and	CCONJ
aiti-808	56	21	joint	joint	ADJ
aiti-808	56	22	types	type	NOUN
aiti-808	56	23	.	.	PUNCT
aiti-808	57	1	(	(	PUNCT
aiti-808	57	2	3	3	X
aiti-808	57	3	)	)	PUNCT
aiti-808	57	4	synthesize	synthesize	VERB
aiti-808	57	5	the	the	DET
aiti-808	57	6	atlas	atlas	PROPN
aiti-808	57	7	of	of	ADP
aiti-808	57	8	generalized	generalized	ADJ
aiti-808	57	9	chains	chain	NOUN
aiti-808	57	10	that	that	PRON
aiti-808	57	11	can	can	AUX
aiti-808	57	12	be	be	AUX
aiti-808	57	13	used	use	VERB
aiti-808	57	14	to	to	PART
aiti-808	57	15	design	design	VERB
aiti-808	57	16	massage	massage	NOUN
aiti-808	57	17	mechanism	mechanism	NOUN
aiti-808	57	18	with	with	ADP
aiti-808	57	19	beating	beating	NOUN
aiti-808	57	20	and	and	CCONJ
aiti-808	57	21	kneading	knead	VERB
aiti-808	57	22	massages	massage	NOUN
aiti-808	57	23	for	for	ADP
aiti-808	57	24	the	the	DET
aiti-808	57	25	massage	massage	NOUN
aiti-808	57	26	chair	chair	NOUN
aiti-808	57	27	.	.	PUNCT
aiti-808	58	1	(	(	PUNCT
aiti-808	58	2	4	4	X
aiti-808	58	3	)	)	PUNCT
aiti-808	58	4	assign	assign	NOUN
aiti-808	58	5	types	type	NOUN
aiti-808	58	6	of	of	ADP
aiti-808	58	7	members	member	NOUN
aiti-808	58	8	and	and	CCONJ
aiti-808	58	9	joints	joint	NOUN
aiti-808	58	10	to	to	ADP
aiti-808	58	11	each	each	DET
aiti-808	58	12	generalized	generalize	VERB
aiti-808	58	13	chain	chain	NOUN
aiti-808	58	14	obtained	obtain	VERB
aiti-808	58	15	in	in	ADP
aiti-808	58	16	step	step	NOUN
aiti-808	58	17	3	3	NUM
aiti-808	58	18	,	,	PUNCT
aiti-808	58	19	to	to	PART
aiti-808	58	20	have	have	VERB
aiti-808	58	21	the	the	DET
aiti-808	58	22	atlas	atlas	PROPN
aiti-808	58	23	of	of	ADP
aiti-808	58	24	feasible	feasible	ADJ
aiti-808	58	25	specialized	specialized	ADJ
aiti-808	58	26	chains	chain	NOUN
aiti-808	58	27	based	base	VERB
aiti-808	58	28	on	on	ADP
aiti-808	58	29	the	the	DET
aiti-808	58	30	algorithm	algorithm	NOUN
aiti-808	58	31	of	of	ADP
aiti-808	58	32	specialization	specialization	NOUN
aiti-808	58	33	to	to	PART
aiti-808	58	34	meet	meet	VERB
aiti-808	58	35	needed	need	VERB
aiti-808	58	36	design	design	NOUN
aiti-808	58	37	requirements	requirement	NOUN
aiti-808	58	38	and	and	CCONJ
aiti-808	58	39	constraints	constraint	NOUN
aiti-808	58	40	.	.	PUNCT
aiti-808	59	1	(	(	PUNCT
aiti-808	59	2	5	5	X
aiti-808	59	3	)	)	PUNCT
aiti-808	59	4	particularize	particularize	VERB
aiti-808	59	5	each	each	DET
aiti-808	59	6	feasible	feasible	ADJ
aiti-808	59	7	specialized	specialized	ADJ
aiti-808	59	8	chain	chain	NOUN
aiti-808	59	9	obtained	obtain	VERB
aiti-808	59	10	from	from	ADP
aiti-808	59	11	step	step	NOUN
aiti-808	59	12	4	4	NUM
aiti-808	59	13	to	to	ADP
aiti-808	59	14	its	its	PRON
aiti-808	59	15	corresponding	corresponding	ADJ
aiti-808	59	16	kinematic	kinematic	ADJ
aiti-808	59	17	skeleton	skeleton	NOUN
aiti-808	59	18	,	,	PUNCT
aiti-808	59	19	to	to	PART
aiti-808	59	20	have	have	VERB
aiti-808	59	21	the	the	DET
aiti-808	59	22	atlas	atlas	PROPN
aiti-808	59	23	of	of	ADP
aiti-808	59	24	massage	massage	NOUN
aiti-808	59	25	mechanism	mechanism	NOUN
aiti-808	59	26	with	with	ADP
aiti-808	59	27	beating	beating	NOUN
aiti-808	59	28	and	and	CCONJ
aiti-808	59	29	kneading	knead	VERB
aiti-808	59	30	massages	massage	NOUN
aiti-808	59	31	for	for	ADP
aiti-808	59	32	the	the	DET
aiti-808	59	33	massage	massage	NOUN
aiti-808	59	34	chair	chair	NOUN
aiti-808	59	35	.	.	PUNCT
aiti-808	60	1	3.1	3.1	NUM
aiti-808	60	2	.	.	PUNCT
aiti-808	61	1	topological	topological	ADJ
aiti-808	61	2	characteristics	characteristic	NOUN
aiti-808	61	3	the	the	DET
aiti-808	61	4	first	first	ADJ
aiti-808	61	5	step	step	NOUN
aiti-808	61	6	of	of	ADP
aiti-808	61	7	the	the	DET
aiti-808	61	8	modified	modify	VERB
aiti-808	61	9	creative	creative	ADJ
aiti-808	61	10	design	design	NOUN
aiti-808	61	11	methodology	methodology	NOUN
aiti-808	61	12	is	be	AUX
aiti-808	61	13	to	to	PART
aiti-808	61	14	define	define	VERB
aiti-808	61	15	the	the	DET
aiti-808	61	16	design	design	NOUN
aiti-808	61	17	specifications	specification	NOUN
aiti-808	61	18	of	of	ADP
aiti-808	61	19	mechanical	mechanical	ADJ
aiti-808	61	20	devices	device	NOUN
aiti-808	61	21	that	that	PRON
aiti-808	61	22	design	design	NOUN
aiti-808	61	23	engineers	engineer	NOUN
aiti-808	61	24	would	would	AUX
aiti-808	61	25	like	like	VERB
aiti-808	61	26	to	to	PART
aiti-808	61	27	generate	generate	VERB
aiti-808	61	28	.	.	PUNCT
aiti-808	62	1	if	if	SCONJ
aiti-808	62	2	there	there	PRON
aiti-808	62	3	is	be	VERB
aiti-808	62	4	no	no	DET
aiti-808	62	5	special	special	ADJ
aiti-808	62	6	consideration	consideration	NOUN
aiti-808	62	7	,	,	PUNCT
aiti-808	62	8	the	the	DET
aiti-808	62	9	degree	degree	NOUN
aiti-808	62	10	of	of	ADP
aiti-808	62	11	freedom	freedom	NOUN
aiti-808	62	12	of	of	ADP
aiti-808	62	13	a	a	DET
aiti-808	62	14	mechanism	mechanism	NOUN
aiti-808	62	15	is	be	AUX
aiti-808	62	16	equal	equal	ADJ
aiti-808	62	17	to	to	ADP
aiti-808	62	18	the	the	DET
aiti-808	62	19	number	number	NOUN
aiti-808	62	20	of	of	ADP
aiti-808	62	21	independent	independent	ADJ
aiti-808	62	22	inputs	input	NOUN
aiti-808	62	23	for	for	ADP
aiti-808	62	24	the	the	DET
aiti-808	62	25	constraint	constraint	NOUN
aiti-808	62	26	motion	motion	NOUN
aiti-808	62	27	.	.	PUNCT
aiti-808	63	1	if	if	SCONJ
aiti-808	63	2	the	the	DET
aiti-808	63	3	degree	degree	NOUN
aiti-808	63	4	of	of	ADP
aiti-808	63	5	freedom	freedom	NOUN
aiti-808	63	6	is	be	AUX
aiti-808	63	7	larger	large	ADJ
aiti-808	63	8	than	than	ADP
aiti-808	63	9	the	the	DET
aiti-808	63	10	number	number	NOUN
aiti-808	63	11	of	of	ADP
aiti-808	63	12	independent	independent	ADJ
aiti-808	63	13	inputs	input	NOUN
aiti-808	63	14	,	,	PUNCT
aiti-808	63	15	in	in	ADP
aiti-808	63	16	general	general	ADJ
aiti-808	63	17	,	,	PUNCT
aiti-808	63	18	the	the	DET
aiti-808	63	19	mechanism	mechanism	NOUN
aiti-808	63	20	will	will	AUX
aiti-808	63	21	have	have	VERB
aiti-808	63	22	unconstraint	unconstraint	ADJ
aiti-808	63	23	motion	motion	NOUN
aiti-808	63	24	.	.	PUNCT
aiti-808	64	1	nevertheless	nevertheless	ADV
aiti-808	64	2	,	,	PUNCT
aiti-808	64	3	if	if	SCONJ
aiti-808	64	4	the	the	DET
aiti-808	64	5	excess	excess	ADJ
aiti-808	64	6	degree	degree	NOUN
aiti-808	64	7	of	of	ADP
aiti-808	64	8	freedom	freedom	NOUN
aiti-808	64	9	is	be	AUX
aiti-808	64	10	the	the	DET
aiti-808	64	11	redundant	redundant	ADJ
aiti-808	64	12	degree	degree	NOUN
aiti-808	64	13	of	of	ADP
aiti-808	64	14	freedom	freedom	NOUN
aiti-808	64	15	,	,	PUNCT
aiti-808	64	16	it	it	PRON
aiti-808	64	17	will	will	AUX
aiti-808	64	18	not	not	PART
aiti-808	64	19	affect	affect	VERB
aiti-808	64	20	the	the	DET
aiti-808	64	21	moving	moving	NOUN
aiti-808	64	22	of	of	ADP
aiti-808	64	23	other	other	ADJ
aiti-808	64	24	links	link	NOUN
aiti-808	64	25	,	,	PUNCT
aiti-808	64	26	the	the	DET
aiti-808	64	27	mechanism	mechanism	NOUN
aiti-808	64	28	will	will	AUX
aiti-808	64	29	still	still	ADV
aiti-808	64	30	have	have	VERB
aiti-808	64	31	constraint	constraint	NOUN
aiti-808	64	32	motion	motion	NOUN
aiti-808	64	33	and	and	CCONJ
aiti-808	64	34	will	will	AUX
aiti-808	64	35	still	still	ADV
aiti-808	64	36	be	be	AUX
aiti-808	64	37	useful	useful	ADJ
aiti-808	64	38	.	.	PUNCT
aiti-808	65	1	the	the	DET
aiti-808	65	2	purpose	purpose	NOUN
aiti-808	65	3	of	of	ADP
aiti-808	65	4	this	this	DET
aiti-808	65	5	paper	paper	NOUN
aiti-808	65	6	is	be	AUX
aiti-808	65	7	to	to	PART
aiti-808	65	8	invent	invent	VERB
aiti-808	65	9	the	the	DET
aiti-808	65	10	massage	massage	NOUN
aiti-808	65	11	mechanism	mechanism	NOUN
aiti-808	65	12	with	with	ADP
aiti-808	65	13	2	2	NUM
aiti-808	65	14	and	and	CCONJ
aiti-808	65	15	3	3	NUM
aiti-808	65	16	degrees	degree	NOUN
aiti-808	65	17	of	of	ADP
aiti-808	65	18	freedoms	freedom	NOUN
aiti-808	65	19	(	(	PUNCT
aiti-808	65	20	dof	dof	NOUN
aiti-808	65	21	)	)	PUNCT
aiti-808	65	22	to	to	PART
aiti-808	65	23	provide	provide	VERB
aiti-808	65	24	beating	beating	NOUN
aiti-808	65	25	and	and	CCONJ
aiti-808	65	26	kneading	kneading	NOUN
aiti-808	65	27	functions	function	NOUN
aiti-808	65	28	.	.	PUNCT
aiti-808	66	1	in	in	ADP
aiti-808	66	2	this	this	DET
aiti-808	66	3	paper	paper	NOUN
aiti-808	66	4	,	,	PUNCT
aiti-808	66	5	we	we	PRON
aiti-808	66	6	only	only	ADV
aiti-808	66	7	concern	concern	VERB
aiti-808	66	8	the	the	DET
aiti-808	66	9	mechanism	mechanism	NOUN
aiti-808	66	10	with	with	ADP
aiti-808	66	11	revolute	revolute	ADJ
aiti-808	66	12	and	and	CCONJ
aiti-808	66	13	spherical	spherical	ADJ
aiti-808	66	14	pairs	pair	NOUN
aiti-808	66	15	.	.	PUNCT
aiti-808	67	1	according	accord	VERB
aiti-808	67	2	to	to	ADP
aiti-808	67	3	eq	eq	PROPN
aiti-808	67	4	.	.	PUNCT
aiti-808	68	1	(	(	PUNCT
aiti-808	68	2	1	1	NUM
aiti-808	68	3	)	)	PUNCT
aiti-808	68	4	,	,	PUNCT
aiti-808	68	5	if	if	SCONJ
aiti-808	68	6	n=6	n=6	NUM
aiti-808	68	7	,	,	PUNCT
aiti-808	68	8	j=6	j=6	PROPN
aiti-808	68	9	,	,	PUNCT
aiti-808	68	10	jr=5	jr=5	PROPN
aiti-808	68	11	,	,	PUNCT
aiti-808	68	12	and	and	CCONJ
aiti-808	68	13	js=1	js=1	PROPN
aiti-808	68	14	,	,	PUNCT
aiti-808	68	15	the	the	DET
aiti-808	68	16	corresponding	corresponding	ADJ
aiti-808	68	17	generalized	generalized	ADJ
aiti-808	68	18	chain	chain	NOUN
aiti-808	68	19	(	(	PUNCT
aiti-808	68	20	6	6	NUM
aiti-808	68	21	,	,	PUNCT
aiti-808	68	22	6	6	NUM
aiti-808	68	23	)	)	PUNCT
aiti-808	68	24	has	have	VERB
aiti-808	68	25	2	2	NUM
aiti-808	68	26	degrees	degree	NOUN
aiti-808	68	27	of	of	ADP
aiti-808	68	28	freedom	freedom	NOUN
aiti-808	68	29	.	.	PUNCT
aiti-808	69	1	and	and	CCONJ
aiti-808	69	2	,	,	PUNCT
aiti-808	69	3	according	accord	VERB
aiti-808	69	4	to	to	ADP
aiti-808	69	5	eq	eq	PROPN
aiti-808	69	6	.	.	PUNCT
aiti-808	70	1	(	(	PUNCT
aiti-808	70	2	1	1	NUM
aiti-808	70	3	)	)	PUNCT
aiti-808	70	4	,	,	PUNCT
aiti-808	70	5	if	if	SCONJ
aiti-808	70	6	n=5	n=5	PROPN
aiti-808	70	7	,	,	PUNCT
aiti-808	70	8	j=5	j=5	PROPN
aiti-808	70	9	,	,	PUNCT
aiti-808	70	10	jr	jr	PROPN
aiti-808	70	11	=3	=3	PROPN
aiti-808	70	12	,	,	PUNCT
aiti-808	70	13	and	and	CCONJ
aiti-808	70	14	js	js	X
aiti-808	71	1	=	=	NOUN
aiti-808	71	2	2	2	NUM
aiti-808	71	3	,	,	PUNCT
aiti-808	71	4	the	the	DET
aiti-808	71	5	corresponding	corresponding	ADJ
aiti-808	71	6	generalized	generalized	ADJ
aiti-808	71	7	chain	chain	NOUN
aiti-808	71	8	(	(	PUNCT
aiti-808	71	9	5	5	NUM
aiti-808	71	10	,	,	PUNCT
aiti-808	71	11	5	5	NUM
aiti-808	71	12	)	)	PUNCT
aiti-808	71	13	has	have	VERB
aiti-808	71	14	3	3	NUM
aiti-808	71	15	degrees	degree	NOUN
aiti-808	71	16	of	of	ADP
aiti-808	71	17	freedom	freedom	NOUN
aiti-808	71	18	.	.	PUNCT
aiti-808	72	1	the	the	DET
aiti-808	72	2	results	result	NOUN
aiti-808	72	3	are	be	AUX
aiti-808	72	4	shown	show	VERB
aiti-808	72	5	in	in	ADP
aiti-808	72	6	table	table	NOUN
aiti-808	72	7	1	1	NUM
aiti-808	72	8	.	.	PUNCT
aiti-808	73	1	advances	advance	NOUN
aiti-808	73	2	in	in	ADP
aiti-808	73	3	technology	technology	NOUN
aiti-808	73	4	innovation	innovation	NOUN
aiti-808	73	5	,	,	PUNCT
aiti-808	73	6	vol	vol	NOUN
aiti-808	73	7	.	.	PROPN
aiti-808	73	8	4	4	NUM
aiti-808	73	9	,	,	PUNCT
aiti-808	73	10	no	no	INTJ
aiti-808	73	11	.	.	NOUN
aiti-808	73	12	2	2	NUM
aiti-808	73	13	,	,	PUNCT
aiti-808	73	14	2019	2019	NUM
aiti-808	73	15	,	,	PUNCT
aiti-808	73	16	pp	pp	ADJ
aiti-808	73	17	.	.	PUNCT
aiti-808	74	1	116	116	NUM
aiti-808	74	2	124	124	NUM
aiti-808	74	3	4	4	NUM
aiti-808	74	4	table	table	NOUN
aiti-808	74	5	1	1	NUM
aiti-808	74	6	taxonomy	taxonomy	NOUN
aiti-808	74	7	of	of	ADP
aiti-808	74	8	swarm	swarm	NOUN
aiti-808	74	9	-	-	PUNCT
aiti-808	74	10	based	base	VERB
aiti-808	74	11	routing	routing	NOUN
aiti-808	74	12	protocols	protocol	NOUN
aiti-808	74	13	degrees	degree	NOUN
aiti-808	74	14	of	of	ADP
aiti-808	74	15	freedom	freedom	NOUN
aiti-808	74	16	(	(	PUNCT
aiti-808	74	17	f	f	X
aiti-808	74	18	)	)	PUNCT
aiti-808	74	19	number	number	NOUN
aiti-808	74	20	of	of	ADP
aiti-808	74	21	links	link	NOUN
aiti-808	74	22	(	(	PUNCT
aiti-808	74	23	n	n	CCONJ
aiti-808	74	24	)	)	PUNCT
aiti-808	74	25	number	number	NOUN
aiti-808	74	26	of	of	ADP
aiti-808	74	27	joints	joint	NOUN
aiti-808	74	28	(	(	PUNCT
aiti-808	74	29	j	j	NOUN
aiti-808	74	30	)	)	PUNCT
aiti-808	74	31	number	number	NOUN
aiti-808	74	32	of	of	ADP
aiti-808	74	33	revolute	revolute	ADJ
aiti-808	74	34	pairs	pair	NOUN
aiti-808	74	35	(	(	PUNCT
aiti-808	74	36	jr	jr	NOUN
aiti-808	74	37	)	)	PUNCT
aiti-808	74	38	number	number	NOUN
aiti-808	74	39	of	of	ADP
aiti-808	74	40	spherical	spherical	ADJ
aiti-808	74	41	pairs	pair	NOUN
aiti-808	74	42	(	(	PUNCT
aiti-808	74	43	js	js	NOUN
aiti-808	74	44	)	)	PUNCT
aiti-808	74	45	2	2	NUM
aiti-808	74	46	6	6	NUM
aiti-808	74	47	6	6	NUM
aiti-808	74	48	5	5	NUM
aiti-808	74	49	1	1	NUM
aiti-808	74	50	3	3	NUM
aiti-808	74	51	5	5	NUM
aiti-808	74	52	5	5	NUM
aiti-808	74	53	3	3	NUM
aiti-808	74	54	2	2	NUM
aiti-808	74	55	next	next	ADV
aiti-808	74	56	,	,	PUNCT
aiti-808	74	57	the	the	DET
aiti-808	74	58	massage	massage	NOUN
aiti-808	74	59	mechanisms	mechanism	NOUN
aiti-808	74	60	with	with	ADP
aiti-808	74	61	beating	beating	NOUN
aiti-808	74	62	and	and	CCONJ
aiti-808	74	63	kneading	kneading	NOUN
aiti-808	74	64	functions	function	NOUN
aiti-808	74	65	should	should	AUX
aiti-808	74	66	have	have	VERB
aiti-808	74	67	the	the	DET
aiti-808	74	68	following	follow	VERB
aiti-808	74	69	topological	topological	ADJ
aiti-808	74	70	characteristics	characteristic	NOUN
aiti-808	74	71	:	:	PUNCT
aiti-808	74	72	(	(	PUNCT
aiti-808	74	73	1	1	X
aiti-808	74	74	)	)	PUNCT
aiti-808	74	75	it	it	PRON
aiti-808	74	76	must	must	AUX
aiti-808	74	77	be	be	AUX
aiti-808	74	78	a	a	DET
aiti-808	74	79	spatial	spatial	ADJ
aiti-808	74	80	mechanism	mechanism	NOUN
aiti-808	74	81	(	(	PUNCT
aiti-808	74	82	l	l	NOUN
aiti-808	74	83	=	=	SYM
aiti-808	74	84	6	6	NUM
aiti-808	74	85	)	)	PUNCT
aiti-808	74	86	.	.	PUNCT
aiti-808	75	1	(	(	PUNCT
aiti-808	75	2	2	2	X
aiti-808	75	3	)	)	PUNCT
aiti-808	75	4	it	it	PRON
aiti-808	75	5	must	must	AUX
aiti-808	75	6	have	have	VERB
aiti-808	75	7	2	2	NUM
aiti-808	75	8	input	input	NOUN
aiti-808	75	9	links	link	NOUN
aiti-808	75	10	and	and	CCONJ
aiti-808	75	11	1	1	NUM
aiti-808	75	12	output	output	NOUN
aiti-808	75	13	link	link	NOUN
aiti-808	75	14	(	(	PUNCT
aiti-808	75	15	massage	massage	NOUN
aiti-808	75	16	link	link	NOUN
aiti-808	75	17	)	)	PUNCT
aiti-808	75	18	.	.	PUNCT
aiti-808	76	1	(	(	PUNCT
aiti-808	76	2	3	3	X
aiti-808	76	3	)	)	PUNCT
aiti-808	76	4	it	it	PRON
aiti-808	76	5	has	have	VERB
aiti-808	76	6	a	a	DET
aiti-808	76	7	ground	ground	NOUN
aiti-808	76	8	link	link	NOUN
aiti-808	76	9	to	to	PART
aiti-808	76	10	support	support	VERB
aiti-808	76	11	or	or	CCONJ
aiti-808	76	12	constrain	constrain	VERB
aiti-808	76	13	other	other	ADJ
aiti-808	76	14	links	link	NOUN
aiti-808	76	15	.	.	PUNCT
aiti-808	77	1	(	(	PUNCT
aiti-808	77	2	4	4	X
aiti-808	77	3	)	)	PUNCT
aiti-808	77	4	the	the	DET
aiti-808	77	5	joints	joint	NOUN
aiti-808	77	6	are	be	AUX
aiti-808	77	7	constrained	constrain	VERB
aiti-808	77	8	to	to	PART
aiti-808	77	9	be	be	AUX
aiti-808	77	10	revolute	revolute	ADJ
aiti-808	77	11	and	and	CCONJ
aiti-808	77	12	spherical	spherical	ADJ
aiti-808	77	13	pairs	pair	NOUN
aiti-808	77	14	.	.	PUNCT
aiti-808	78	1	(	(	PUNCT
aiti-808	78	2	5	5	NUM
aiti-808	78	3	)	)	PUNCT
aiti-808	78	4	for	for	ADP
aiti-808	78	5	the	the	DET
aiti-808	78	6	mechanism	mechanism	NOUN
aiti-808	78	7	with	with	ADP
aiti-808	78	8	2	2	NUM
aiti-808	78	9	dof	dof	NOUN
aiti-808	78	10	,	,	PUNCT
aiti-808	78	11	it	it	PRON
aiti-808	78	12	will	will	AUX
aiti-808	78	13	have	have	VERB
aiti-808	78	14	at	at	ADV
aiti-808	78	15	least	least	ADJ
aiti-808	78	16	1	1	NUM
aiti-808	78	17	spherical	spherical	ADJ
aiti-808	78	18	pair	pair	NOUN
aiti-808	78	19	.	.	PUNCT
aiti-808	79	1	(	(	PUNCT
aiti-808	79	2	6	6	NUM
aiti-808	79	3	)	)	PUNCT
aiti-808	79	4	for	for	ADP
aiti-808	79	5	the	the	DET
aiti-808	79	6	mechanism	mechanism	NOUN
aiti-808	79	7	with	with	ADP
aiti-808	79	8	3	3	NUM
aiti-808	79	9	dof	dof	NOUN
aiti-808	79	10	,	,	PUNCT
aiti-808	79	11	it	it	PRON
aiti-808	79	12	will	will	AUX
aiti-808	79	13	have	have	VERB
aiti-808	79	14	at	at	ADV
aiti-808	79	15	least	least	ADJ
aiti-808	79	16	2	2	NUM
aiti-808	79	17	spherical	spherical	ADJ
aiti-808	79	18	pairs	pair	NOUN
aiti-808	79	19	.	.	PUNCT
aiti-808	80	1	3.2	3.2	NUM
aiti-808	80	2	.	.	PUNCT
aiti-808	81	1	atlas	atlas	PROPN
aiti-808	81	2	of	of	ADP
aiti-808	81	3	generalized	generalized	ADJ
aiti-808	81	4	chain	chain	NOUN
aiti-808	81	5	(	(	PUNCT
aiti-808	81	6	a	a	NOUN
aiti-808	81	7	)	)	PUNCT
aiti-808	81	8	(	(	PUNCT
aiti-808	81	9	5	5	NUM
aiti-808	81	10	,	,	PUNCT
aiti-808	81	11	5	5	NUM
aiti-808	81	12	)	)	PUNCT
aiti-808	81	13	generalized	generalized	ADJ
aiti-808	81	14	chain	chain	NOUN
aiti-808	81	15	(	(	PUNCT
aiti-808	81	16	b	b	NOUN
aiti-808	81	17	)	)	PUNCT
aiti-808	81	18	(	(	PUNCT
aiti-808	81	19	6	6	NUM
aiti-808	81	20	,	,	PUNCT
aiti-808	81	21	6	6	NUM
aiti-808	81	22	)	)	PUNCT
aiti-808	81	23	generalized	generalize	VERB
aiti-808	81	24	chain	chain	NOUN
aiti-808	81	25	fig	fig	NOUN
aiti-808	81	26	.	.	PUNCT
aiti-808	82	1	4	4	NUM
aiti-808	82	2	generalized	generalize	VERB
aiti-808	82	3	chains	chain	NOUN
aiti-808	82	4	for	for	ADP
aiti-808	82	5	massage	massage	NOUN
aiti-808	82	6	mechanism	mechanism	NOUN
aiti-808	82	7	the	the	DET
aiti-808	82	8	second	second	ADJ
aiti-808	82	9	step	step	NOUN
aiti-808	82	10	of	of	ADP
aiti-808	82	11	the	the	DET
aiti-808	82	12	modified	modify	VERB
aiti-808	82	13	creative	creative	ADJ
aiti-808	82	14	design	design	NOUN
aiti-808	82	15	methodology	methodology	NOUN
aiti-808	82	16	is	be	AUX
aiti-808	82	17	to	to	PART
aiti-808	82	18	synthesize	synthesize	VERB
aiti-808	82	19	all	all	DET
aiti-808	82	20	possible	possible	ADJ
aiti-808	82	21	generalized	generalized	ADJ
aiti-808	82	22	chains	chain	NOUN
aiti-808	82	23	which	which	PRON
aiti-808	82	24	can	can	AUX
aiti-808	82	25	be	be	AUX
aiti-808	82	26	used	use	VERB
aiti-808	82	27	to	to	PART
aiti-808	82	28	synthesize	synthesize	VERB
aiti-808	82	29	the	the	DET
aiti-808	82	30	desired	desire	VERB
aiti-808	82	31	mechanism	mechanism	NOUN
aiti-808	82	32	.	.	PUNCT
aiti-808	83	1	there	there	PRON
aiti-808	83	2	is	be	VERB
aiti-808	83	3	only	only	ADV
aiti-808	83	4	1	1	NUM
aiti-808	83	5	generalized	generalized	ADJ
aiti-808	83	6	chain	chain	NOUN
aiti-808	83	7	with	with	ADP
aiti-808	83	8	5	5	NUM
aiti-808	83	9	links	link	NOUN
aiti-808	83	10	and	and	CCONJ
aiti-808	83	11	5	5	NUM
aiti-808	83	12	joints	joint	NOUN
aiti-808	83	13	and	and	CCONJ
aiti-808	83	14	only	only	ADV
aiti-808	83	15	1	1	NUM
aiti-808	83	16	generalized	generalized	ADJ
aiti-808	83	17	chain	chain	NOUN
aiti-808	83	18	with	with	ADP
aiti-808	83	19	6	6	NUM
aiti-808	83	20	links	link	NOUN
aiti-808	83	21	and	and	CCONJ
aiti-808	83	22	6	6	NUM
aiti-808	83	23	joints	joint	NOUN
aiti-808	83	24	.	.	PUNCT
aiti-808	84	1	fig	fig	NOUN
aiti-808	84	2	.	.	PUNCT
aiti-808	85	1	4	4	NUM
aiti-808	85	2	shows	show	VERB
aiti-808	85	3	the	the	DET
aiti-808	85	4	generalized	generalize	VERB
aiti-808	85	5	chains	chain	NOUN
aiti-808	85	6	for	for	ADP
aiti-808	85	7	massage	massage	NOUN
aiti-808	85	8	mechanisms	mechanism	NOUN
aiti-808	85	9	.	.	PUNCT
aiti-808	86	1	3.3	3.3	NUM
aiti-808	86	2	.	.	PUNCT
aiti-808	87	1	design	design	NOUN
aiti-808	87	2	requirements	requirement	NOUN
aiti-808	87	3	and	and	CCONJ
aiti-808	87	4	design	design	NOUN
aiti-808	87	5	constraints	constraint	NOUN
aiti-808	87	6	design	design	NOUN
aiti-808	87	7	requirements	requirement	NOUN
aiti-808	87	8	and	and	CCONJ
aiti-808	87	9	constraints	constraint	NOUN
aiti-808	87	10	are	be	AUX
aiti-808	87	11	determined	determine	VERB
aiti-808	87	12	based	base	VERB
aiti-808	87	13	on	on	ADP
aiti-808	87	14	the	the	DET
aiti-808	87	15	concluded	conclude	VERB
aiti-808	87	16	topological	topological	ADJ
aiti-808	87	17	structures	structure	NOUN
aiti-808	87	18	.	.	PUNCT
aiti-808	88	1	the	the	DET
aiti-808	88	2	design	design	NOUN
aiti-808	88	3	requirements	requirement	NOUN
aiti-808	88	4	and	and	CCONJ
aiti-808	88	5	constraints	constraint	NOUN
aiti-808	88	6	of	of	ADP
aiti-808	88	7	massage	massage	NOUN
aiti-808	88	8	mechanisms	mechanism	NOUN
aiti-808	88	9	for	for	ADP
aiti-808	88	10	massage	massage	NOUN
aiti-808	88	11	chair	chair	NOUN
aiti-808	88	12	are	be	AUX
aiti-808	88	13	:	:	PUNCT
aiti-808	88	14	(	(	PUNCT
aiti-808	88	15	1	1	X
aiti-808	88	16	)	)	PUNCT
aiti-808	88	17	there	there	PRON
aiti-808	88	18	must	must	AUX
aiti-808	88	19	be	be	AUX
aiti-808	88	20	a	a	DET
aiti-808	88	21	ground	ground	NOUN
aiti-808	88	22	link	link	NOUN
aiti-808	88	23	(	(	PUNCT
aiti-808	88	24	gr	gr	NOUN
aiti-808	88	25	)	)	PUNCT
aiti-808	88	26	,	,	PUNCT
aiti-808	88	27	first	first	ADJ
aiti-808	88	28	input	input	NOUN
aiti-808	88	29	link	link	NOUN
aiti-808	88	30	for	for	ADP
aiti-808	88	31	kneading	kneading	NOUN
aiti-808	88	32	function	function	NOUN
aiti-808	88	33	(	(	PUNCT
aiti-808	88	34	i1	i1	PROPN
aiti-808	88	35	)	)	PUNCT
aiti-808	88	36	,	,	PUNCT
aiti-808	88	37	second	second	ADJ
aiti-808	88	38	input	input	NOUN
aiti-808	88	39	link	link	NOUN
aiti-808	88	40	for	for	ADP
aiti-808	88	41	beating	beat	VERB
aiti-808	88	42	function	function	NOUN
aiti-808	88	43	(	(	PUNCT
aiti-808	88	44	i2	i2	PROPN
aiti-808	88	45	)	)	PUNCT
aiti-808	88	46	,	,	PUNCT
aiti-808	88	47	output	output	NOUN
aiti-808	88	48	link	link	NOUN
aiti-808	88	49	(	(	PUNCT
aiti-808	88	50	massage	massage	NOUN
aiti-808	88	51	link	link	NOUN
aiti-808	88	52	)	)	PUNCT
aiti-808	88	53	(	(	PUNCT
aiti-808	88	54	om	om	NOUN
aiti-808	88	55	)	)	PUNCT
aiti-808	88	56	.	.	PUNCT
aiti-808	89	1	(	(	PUNCT
aiti-808	89	2	2	2	X
aiti-808	89	3	)	)	PUNCT
aiti-808	89	4	the	the	DET
aiti-808	89	5	ground	ground	NOUN
aiti-808	89	6	link	link	NOUN
aiti-808	89	7	(	(	PUNCT
aiti-808	89	8	gr	gr	NOUN
aiti-808	89	9	)	)	PUNCT
aiti-808	89	10	must	must	AUX
aiti-808	89	11	be	be	AUX
aiti-808	89	12	adjacent	adjacent	ADJ
aiti-808	89	13	to	to	ADP
aiti-808	89	14	2	2	NUM
aiti-808	89	15	input	input	NOUN
aiti-808	89	16	links	link	NOUN
aiti-808	89	17	(	(	PUNCT
aiti-808	89	18	i1	i1	PROPN
aiti-808	89	19	and	and	CCONJ
aiti-808	89	20	i2	i2	PROPN
aiti-808	89	21	)	)	PUNCT
aiti-808	89	22	with	with	ADP
aiti-808	89	23	revolute	revolute	ADJ
aiti-808	89	24	pairs	pair	NOUN
aiti-808	89	25	.	.	PUNCT
aiti-808	90	1	(	(	PUNCT
aiti-808	90	2	3	3	X
aiti-808	90	3	)	)	PUNCT
aiti-808	90	4	the	the	DET
aiti-808	90	5	ground	ground	NOUN
aiti-808	90	6	link	link	NOUN
aiti-808	90	7	(	(	PUNCT
aiti-808	90	8	gr	gr	NOUN
aiti-808	90	9	)	)	PUNCT
aiti-808	90	10	can	can	AUX
aiti-808	90	11	not	not	PART
aiti-808	90	12	be	be	AUX
aiti-808	90	13	incident	incident	NOUN
aiti-808	90	14	to	to	ADP
aiti-808	90	15	spherical	spherical	ADJ
aiti-808	90	16	pair	pair	NOUN
aiti-808	90	17	.	.	PUNCT
aiti-808	91	1	(	(	PUNCT
aiti-808	91	2	4	4	X
aiti-808	91	3	)	)	PUNCT
aiti-808	91	4	the	the	DET
aiti-808	91	5	output	output	NOUN
aiti-808	91	6	link	link	NOUN
aiti-808	91	7	(	(	PUNCT
aiti-808	91	8	om	om	PROPN
aiti-808	91	9	)	)	PUNCT
aiti-808	91	10	ca	can	AUX
aiti-808	91	11	n’t	not	PART
aiti-808	91	12	be	be	AUX
aiti-808	91	13	incident	incident	NOUN
aiti-808	91	14	to	to	ADP
aiti-808	91	15	2	2	NUM
aiti-808	91	16	spherical	spherical	ADJ
aiti-808	91	17	pairs	pair	NOUN
aiti-808	91	18	at	at	ADP
aiti-808	91	19	the	the	DET
aiti-808	91	20	same	same	ADJ
aiti-808	91	21	time	time	NOUN
aiti-808	91	22	.	.	PUNCT
aiti-808	92	1	(	(	PUNCT
aiti-808	92	2	5	5	NUM
aiti-808	92	3	)	)	PUNCT
aiti-808	92	4	for	for	ADP
aiti-808	92	5	the	the	DET
aiti-808	92	6	mechanism	mechanism	NOUN
aiti-808	92	7	with	with	ADP
aiti-808	92	8	2	2	NUM
aiti-808	92	9	dof	dof	NOUN
aiti-808	92	10	,	,	PUNCT
aiti-808	92	11	(	(	PUNCT
aiti-808	92	12	6	6	NUM
aiti-808	92	13	,	,	PUNCT
aiti-808	92	14	6	6	NUM
aiti-808	92	15	)	)	PUNCT
aiti-808	92	16	generalized	generalized	ADJ
aiti-808	92	17	chain	chain	NOUN
aiti-808	92	18	must	must	AUX
aiti-808	92	19	have	have	VERB
aiti-808	92	20	5	5	NUM
aiti-808	92	21	joints	joint	NOUN
aiti-808	92	22	(	(	PUNCT
aiti-808	92	23	jr	jr	NOUN
aiti-808	92	24	)	)	PUNCT
aiti-808	92	25	and	and	CCONJ
aiti-808	92	26	1	1	NUM
aiti-808	92	27	spherical	spherical	ADJ
aiti-808	92	28	pair	pair	NOUN
aiti-808	92	29	(	(	PUNCT
aiti-808	92	30	js	js	PROPN
aiti-808	92	31	)	)	PUNCT
aiti-808	92	32	.	.	PUNCT
aiti-808	93	1	(	(	PUNCT
aiti-808	93	2	6	6	NUM
aiti-808	93	3	)	)	PUNCT
aiti-808	93	4	for	for	ADP
aiti-808	93	5	the	the	DET
aiti-808	93	6	mechanism	mechanism	NOUN
aiti-808	93	7	with	with	ADP
aiti-808	93	8	2	2	NUM
aiti-808	93	9	dof	dof	NOUN
aiti-808	93	10	,	,	PUNCT
aiti-808	93	11	(	(	PUNCT
aiti-808	93	12	5	5	NUM
aiti-808	93	13	,	,	PUNCT
aiti-808	93	14	5	5	NUM
aiti-808	93	15	)	)	PUNCT
aiti-808	93	16	generalized	generalized	ADJ
aiti-808	93	17	chain	chain	NOUN
aiti-808	93	18	must	must	AUX
aiti-808	93	19	have	have	VERB
aiti-808	93	20	3	3	NUM
aiti-808	93	21	joints	joint	NOUN
aiti-808	93	22	(	(	PUNCT
aiti-808	93	23	jr	jr	NOUN
aiti-808	93	24	)	)	PUNCT
aiti-808	93	25	and	and	CCONJ
aiti-808	93	26	2	2	NUM
aiti-808	93	27	spherical	spherical	ADJ
aiti-808	93	28	pairs	pair	NOUN
aiti-808	93	29	(	(	PUNCT
aiti-808	93	30	jr	jr	NOUN
aiti-808	93	31	)	)	PUNCT
aiti-808	93	32	.	.	PUNCT
aiti-808	94	1	(	(	PUNCT
aiti-808	94	2	7	7	X
aiti-808	94	3	)	)	PUNCT
aiti-808	94	4	for	for	ADP
aiti-808	94	5	the	the	DET
aiti-808	94	6	mechanism	mechanism	NOUN
aiti-808	94	7	with	with	ADP
aiti-808	94	8	3	3	NUM
aiti-808	94	9	dof	dof	NOUN
aiti-808	94	10	,	,	PUNCT
aiti-808	94	11	2	2	NUM
aiti-808	94	12	spherical	spherical	ADJ
aiti-808	94	13	pairs	pair	NOUN
aiti-808	94	14	must	must	AUX
aiti-808	94	15	be	be	AUX
aiti-808	94	16	adjacent	adjacent	ADJ
aiti-808	94	17	and	and	CCONJ
aiti-808	94	18	cause	cause	VERB
aiti-808	94	19	1	1	NUM
aiti-808	94	20	redundant	redundant	ADJ
aiti-808	94	21	degree	degree	NOUN
aiti-808	94	22	of	of	ADP
aiti-808	94	23	freedom	freedom	NOUN
aiti-808	94	24	.	.	PUNCT
aiti-808	95	1	3.4	3.4	NUM
aiti-808	95	2	.	.	PUNCT
aiti-808	95	3	specialization	specialization	NOUN
aiti-808	95	4	the	the	DET
aiti-808	95	5	third	third	ADJ
aiti-808	95	6	step	step	NOUN
aiti-808	95	7	of	of	ADP
aiti-808	95	8	the	the	DET
aiti-808	95	9	modified	modify	VERB
aiti-808	95	10	creative	creative	ADJ
aiti-808	95	11	design	design	NOUN
aiti-808	95	12	methodology	methodology	NOUN
aiti-808	95	13	is	be	AUX
aiti-808	95	14	to	to	PART
aiti-808	95	15	assign	assign	VERB
aiti-808	95	16	specific	specific	ADJ
aiti-808	95	17	types	type	NOUN
aiti-808	95	18	of	of	ADP
aiti-808	95	19	members	member	NOUN
aiti-808	95	20	and	and	CCONJ
aiti-808	95	21	joints	joint	NOUN
aiti-808	95	22	to	to	ADP
aiti-808	95	23	each	each	DET
aiti-808	95	24	available	available	ADJ
aiti-808	95	25	kinematic	kinematic	NOUN
aiti-808	95	26	chain	chain	NOUN
aiti-808	95	27	,	,	PUNCT
aiti-808	95	28	subject	subject	ADJ
aiti-808	95	29	to	to	ADP
aiti-808	95	30	certain	certain	ADJ
aiti-808	95	31	design	design	NOUN
aiti-808	95	32	requirements	requirement	NOUN
aiti-808	95	33	to	to	PART
aiti-808	95	34	have	have	VERB
aiti-808	95	35	specialized	specialized	ADJ
aiti-808	95	36	chains	chain	NOUN
aiti-808	95	37	.	.	PUNCT
aiti-808	96	1	the	the	DET
aiti-808	96	2	specializing	specialize	VERB
aiti-808	96	3	steps	step	NOUN
aiti-808	96	4	for	for	ADP
aiti-808	96	5	massage	massage	NOUN
aiti-808	96	6	mechanism	mechanism	NOUN
aiti-808	96	7	are	be	AUX
aiti-808	96	8	:	:	PUNCT
aiti-808	96	9	advances	advance	NOUN
aiti-808	96	10	in	in	ADP
aiti-808	96	11	technology	technology	NOUN
aiti-808	96	12	innovation	innovation	NOUN
aiti-808	96	13	,	,	PUNCT
aiti-808	96	14	vol	vol	NOUN
aiti-808	96	15	.	.	PROPN
aiti-808	97	1	4	4	NUM
aiti-808	97	2	,	,	PUNCT
aiti-808	97	3	no	no	INTJ
aiti-808	97	4	.	.	NOUN
aiti-808	97	5	2	2	NUM
aiti-808	97	6	,	,	PUNCT
aiti-808	97	7	2019	2019	NUM
aiti-808	97	8	,	,	PUNCT
aiti-808	97	9	pp	pp	ADJ
aiti-808	97	10	.	.	PUNCT
aiti-808	98	1	116	116	NUM
aiti-808	98	2	124	124	NUM
aiti-808	98	3	5	5	NUM
aiti-808	98	4	(	(	PUNCT
aiti-808	98	5	1	1	NUM
aiti-808	98	6	)	)	PUNCT
aiti-808	98	7	for	for	ADP
aiti-808	98	8	each	each	DET
aiti-808	98	9	generalized	generalize	VERB
aiti-808	98	10	chain	chain	NOUN
aiti-808	98	11	,	,	PUNCT
aiti-808	98	12	identify	identify	VERB
aiti-808	98	13	the	the	DET
aiti-808	98	14	ground	ground	NOUN
aiti-808	98	15	link	link	NOUN
aiti-808	98	16	(	(	PUNCT
aiti-808	98	17	gr	gr	NOUN
aiti-808	98	18	)	)	PUNCT
aiti-808	98	19	for	for	ADP
aiti-808	98	20	all	all	DET
aiti-808	98	21	possible	possible	ADJ
aiti-808	98	22	cases	case	NOUN
aiti-808	98	23	.	.	PUNCT
aiti-808	99	1	there	there	PRON
aiti-808	99	2	are	be	VERB
aiti-808	99	3	2	2	NUM
aiti-808	99	4	possible	possible	ADJ
aiti-808	99	5	identifications	identification	NOUN
aiti-808	99	6	as	as	SCONJ
aiti-808	99	7	shown	show	VERB
aiti-808	99	8	in	in	ADP
aiti-808	99	9	figs	fig	NOUN
aiti-808	99	10	.	.	PUNCT
aiti-808	100	1	5(a	5(a	NUM
aiti-808	100	2	)	)	PUNCT
aiti-808	100	3	and	and	CCONJ
aiti-808	100	4	5(b	5(b	NUM
aiti-808	100	5	)	)	PUNCT
aiti-808	100	6	.	.	PUNCT
aiti-808	101	1	(	(	PUNCT
aiti-808	101	2	2	2	X
aiti-808	101	3	)	)	PUNCT
aiti-808	101	4	for	for	ADP
aiti-808	101	5	each	each	DET
aiti-808	101	6	case	case	NOUN
aiti-808	101	7	obtained	obtain	VERB
aiti-808	101	8	in	in	ADP
aiti-808	101	9	step	step	NOUN
aiti-808	101	10	1	1	NUM
aiti-808	101	11	,	,	PUNCT
aiti-808	101	12	identify	identify	VERB
aiti-808	101	13	the	the	DET
aiti-808	101	14	first	first	ADJ
aiti-808	101	15	input	input	NOUN
aiti-808	101	16	link	link	NOUN
aiti-808	101	17	(	(	PUNCT
aiti-808	101	18	kneading	kneading	NOUN
aiti-808	101	19	function	function	NOUN
aiti-808	101	20	)	)	PUNCT
aiti-808	101	21	(	(	PUNCT
aiti-808	101	22	i1	i1	PROPN
aiti-808	101	23	)	)	PUNCT
aiti-808	101	24	and	and	CCONJ
aiti-808	101	25	the	the	DET
aiti-808	101	26	second	second	ADJ
aiti-808	101	27	input	input	NOUN
aiti-808	101	28	link	link	NOUN
aiti-808	101	29	(	(	PUNCT
aiti-808	101	30	beating	beat	VERB
aiti-808	101	31	function	function	NOUN
aiti-808	101	32	)	)	PUNCT
aiti-808	101	33	(	(	PUNCT
aiti-808	101	34	i2	i2	PROPN
aiti-808	101	35	)	)	PUNCT
aiti-808	101	36	.	.	PUNCT
aiti-808	102	1	for	for	ADP
aiti-808	102	2	the	the	DET
aiti-808	102	3	specialized	specialized	ADJ
aiti-808	102	4	chains	chain	NOUN
aiti-808	102	5	as	as	SCONJ
aiti-808	102	6	shown	show	VERB
aiti-808	102	7	in	in	ADP
aiti-808	102	8	figs	fig	NOUN
aiti-808	102	9	.	.	PUNCT
aiti-808	103	1	5(a	5(a	NUM
aiti-808	103	2	)	)	PUNCT
aiti-808	103	3	and	and	CCONJ
aiti-808	103	4	5(b	5(b	NUM
aiti-808	103	5	)	)	PUNCT
aiti-808	103	6	,	,	PUNCT
aiti-808	103	7	based	base	VERB
aiti-808	103	8	on	on	ADP
aiti-808	103	9	the	the	DET
aiti-808	103	10	design	design	NOUN
aiti-808	103	11	requirements	requirement	NOUN
aiti-808	103	12	,	,	PUNCT
aiti-808	103	13	there	there	PRON
aiti-808	103	14	are	be	VERB
aiti-808	103	15	2	2	NUM
aiti-808	103	16	possible	possible	ADJ
aiti-808	103	17	identifications	identification	NOUN
aiti-808	103	18	show	show	VERB
aiti-808	103	19	in	in	ADP
aiti-808	103	20	figs	fig	NOUN
aiti-808	103	21	.	.	PUNCT
aiti-808	104	1	6(a	6(a	NUM
aiti-808	104	2	)	)	PUNCT
aiti-808	104	3	and	and	CCONJ
aiti-808	104	4	6(b	6(b	NUM
aiti-808	104	5	)	)	PUNCT
aiti-808	104	6	.	.	PUNCT
aiti-808	105	1	(	(	PUNCT
aiti-808	105	2	3	3	X
aiti-808	105	3	)	)	PUNCT
aiti-808	105	4	for	for	ADP
aiti-808	105	5	each	each	DET
aiti-808	105	6	case	case	NOUN
aiti-808	105	7	obtained	obtain	VERB
aiti-808	105	8	in	in	ADP
aiti-808	105	9	step	step	NOUN
aiti-808	105	10	2	2	NUM
aiti-808	105	11	,	,	PUNCT
aiti-808	105	12	identify	identify	VERB
aiti-808	105	13	the	the	DET
aiti-808	105	14	output	output	NOUN
aiti-808	105	15	link	link	NOUN
aiti-808	105	16	(	(	PUNCT
aiti-808	105	17	massage	massage	NOUN
aiti-808	105	18	link	link	NOUN
aiti-808	105	19	om	om	PROPN
aiti-808	105	20	)	)	PUNCT
aiti-808	105	21	.	.	PUNCT
aiti-808	106	1	for	for	ADP
aiti-808	106	2	the	the	DET
aiti-808	106	3	specialized	specialized	ADJ
aiti-808	106	4	chains	chain	NOUN
aiti-808	106	5	shown	show	VERB
aiti-808	106	6	in	in	ADP
aiti-808	106	7	figs	fig	NOUN
aiti-808	106	8	.	.	PUNCT
aiti-808	107	1	5	5	NUM
aiti-808	107	2	(	(	PUNCT
aiti-808	107	3	a	a	NOUN
aiti-808	107	4	)	)	PUNCT
aiti-808	107	5	and	and	CCONJ
aiti-808	107	6	5(b	5(b	NUM
aiti-808	107	7	)	)	PUNCT
aiti-808	107	8	,	,	PUNCT
aiti-808	107	9	based	base	VERB
aiti-808	107	10	on	on	ADP
aiti-808	107	11	the	the	DET
aiti-808	107	12	design	design	NOUN
aiti-808	107	13	requirements	requirement	NOUN
aiti-808	107	14	,	,	PUNCT
aiti-808	107	15	there	there	PRON
aiti-808	107	16	are	be	VERB
aiti-808	107	17	5	5	NUM
aiti-808	107	18	possible	possible	ADJ
aiti-808	107	19	identifications	identification	NOUN
aiti-808	107	20	show	show	VERB
aiti-808	107	21	in	in	ADP
aiti-808	107	22	figs	fig	NOUN
aiti-808	107	23	.	.	PUNCT
aiti-808	108	1	7(a)-7(e	7(a)-7(e	X
aiti-808	108	2	)	)	PUNCT
aiti-808	108	3	(	(	PUNCT
aiti-808	108	4	4	4	X
aiti-808	108	5	)	)	PUNCT
aiti-808	108	6	for	for	ADP
aiti-808	108	7	each	each	DET
aiti-808	108	8	case	case	NOUN
aiti-808	108	9	obtained	obtain	VERB
aiti-808	108	10	in	in	ADP
aiti-808	108	11	step	step	NOUN
aiti-808	108	12	3	3	NUM
aiti-808	108	13	,	,	PUNCT
aiti-808	108	14	identify	identify	VERB
aiti-808	108	15	the	the	DET
aiti-808	108	16	corresponding	corresponding	ADJ
aiti-808	108	17	revolute	revolute	ADJ
aiti-808	108	18	pairs	pair	NOUN
aiti-808	108	19	(	(	PUNCT
aiti-808	108	20	denoted	denote	VERB
aiti-808	108	21	by	by	ADP
aiti-808	108	22	○	○	PROPN
aiti-808	108	23	)	)	PUNCT
aiti-808	108	24	and	and	CCONJ
aiti-808	108	25	spherical	spherical	ADJ
aiti-808	108	26	pairs	pair	NOUN
aiti-808	108	27	(	(	PUNCT
aiti-808	108	28	denoted	denote	VERB
aiti-808	108	29	by	by	ADP
aiti-808	108	30	●	●	NOUN
aiti-808	108	31	)	)	PUNCT
aiti-808	108	32	.	.	PUNCT
aiti-808	109	1	for	for	ADP
aiti-808	109	2	(	(	PUNCT
aiti-808	109	3	5	5	NUM
aiti-808	109	4	,	,	PUNCT
aiti-808	109	5	5	5	NUM
aiti-808	109	6	)	)	PUNCT
aiti-808	109	7	generalized	generalized	ADJ
aiti-808	109	8	chain	chain	NOUN
aiti-808	109	9	,	,	PUNCT
aiti-808	109	10	there	there	PRON
aiti-808	109	11	are	be	VERB
aiti-808	109	12	2	2	NUM
aiti-808	109	13	feasible	feasible	ADJ
aiti-808	109	14	specialized	specialized	ADJ
aiti-808	109	15	chains	chain	NOUN
aiti-808	109	16	shown	show	VERB
aiti-808	109	17	in	in	ADP
aiti-808	109	18	figs	fig	NOUN
aiti-808	109	19	.	.	PUNCT
aiti-808	110	1	8(a	8(a	NUM
aiti-808	110	2	)	)	PUNCT
aiti-808	110	3	and	and	CCONJ
aiti-808	110	4	8(b	8(b	NUM
aiti-808	110	5	)	)	PUNCT
aiti-808	110	6	.	.	PUNCT
aiti-808	111	1	for	for	ADP
aiti-808	111	2	(	(	PUNCT
aiti-808	111	3	6	6	NUM
aiti-808	111	4	,	,	PUNCT
aiti-808	111	5	6	6	NUM
aiti-808	111	6	)	)	PUNCT
aiti-808	111	7	generalized	generalized	ADJ
aiti-808	111	8	chain	chain	NOUN
aiti-808	111	9	,	,	PUNCT
aiti-808	111	10	there	there	PRON
aiti-808	111	11	are	be	VERB
aiti-808	111	12	12	12	NUM
aiti-808	111	13	feasible	feasible	ADJ
aiti-808	111	14	specialized	specialized	ADJ
aiti-808	111	15	chains	chain	NOUN
aiti-808	111	16	shown	show	VERB
aiti-808	111	17	in	in	ADP
aiti-808	111	18	figs	fig	NOUN
aiti-808	111	19	.	.	PUNCT
aiti-808	112	1	9(a)-9(e	9(a)-9(e	NUM
aiti-808	112	2	)	)	PUNCT
aiti-808	112	3	.	.	PUNCT
aiti-808	113	1	(	(	PUNCT
aiti-808	113	2	a	a	X
aiti-808	113	3	)	)	PUNCT
aiti-808	113	4	(	(	PUNCT
aiti-808	113	5	b	b	X
aiti-808	113	6	)	)	PUNCT
aiti-808	113	7	fig	fig	NOUN
aiti-808	113	8	.	.	PUNCT
aiti-808	114	1	5	5	NUM
aiti-808	114	2	identify	identify	VERB
aiti-808	114	3	ground	ground	NOUN
aiti-808	114	4	link	link	NOUN
aiti-808	114	5	(	(	PUNCT
aiti-808	114	6	gr	gr	PROPN
aiti-808	114	7	)	)	PUNCT
aiti-808	114	8	(	(	PUNCT
aiti-808	114	9	a	a	X
aiti-808	114	10	)	)	PUNCT
aiti-808	114	11	(	(	PUNCT
aiti-808	114	12	b	b	X
aiti-808	114	13	)	)	PUNCT
aiti-808	114	14	fig	fig	NOUN
aiti-808	114	15	.	.	PUNCT
aiti-808	115	1	6	6	NUM
aiti-808	115	2	identify	identify	VERB
aiti-808	115	3	first	first	ADJ
aiti-808	115	4	input	input	NOUN
aiti-808	115	5	link	link	NOUN
aiti-808	115	6	(	(	PUNCT
aiti-808	115	7	kneading	kneading	NOUN
aiti-808	115	8	function	function	NOUN
aiti-808	115	9	)	)	PUNCT
aiti-808	115	10	(	(	PUNCT
aiti-808	115	11	i1	i1	PROPN
aiti-808	115	12	)	)	PUNCT
aiti-808	115	13	and	and	CCONJ
aiti-808	115	14	second	second	ADJ
aiti-808	115	15	input	input	NOUN
aiti-808	115	16	link	link	NOUN
aiti-808	115	17	(	(	PUNCT
aiti-808	115	18	beating	beat	VERB
aiti-808	115	19	function	function	NOUN
aiti-808	115	20	)	)	PUNCT
aiti-808	115	21	(	(	PUNCT
aiti-808	115	22	i2	i2	PROPN
aiti-808	115	23	)	)	PUNCT
aiti-808	115	24	(	(	PUNCT
aiti-808	115	25	a	a	X
aiti-808	115	26	)	)	PUNCT
aiti-808	115	27	(	(	PUNCT
aiti-808	115	28	b	b	X
aiti-808	115	29	)	)	PUNCT
aiti-808	115	30	(	(	PUNCT
aiti-808	115	31	c	c	X
aiti-808	115	32	)	)	PUNCT
aiti-808	115	33	(	(	PUNCT
aiti-808	115	34	d	d	X
aiti-808	115	35	)	)	PUNCT
aiti-808	115	36	(	(	PUNCT
aiti-808	115	37	e	e	NOUN
aiti-808	115	38	)	)	PUNCT
aiti-808	115	39	fig	fig	NOUN
aiti-808	115	40	.	.	PUNCT
aiti-808	116	1	7	7	NUM
aiti-808	116	2	identify	identify	VERB
aiti-808	116	3	output	output	NOUN
aiti-808	116	4	link	link	NOUN
aiti-808	116	5	(	(	PUNCT
aiti-808	116	6	massage	massage	NOUN
aiti-808	116	7	link	link	NOUN
aiti-808	116	8	)	)	PUNCT
aiti-808	116	9	(	(	PUNCT
aiti-808	116	10	om	om	PROPN
aiti-808	116	11	)	)	PUNCT
aiti-808	116	12	(	(	PUNCT
aiti-808	116	13	a	a	X
aiti-808	116	14	)	)	PUNCT
aiti-808	116	15	(	(	PUNCT
aiti-808	116	16	b	b	X
aiti-808	116	17	)	)	PUNCT
aiti-808	116	18	fig	fig	NOUN
aiti-808	116	19	.	.	PUNCT
aiti-808	117	1	8	8	NUM
aiti-808	117	2	atlas	atla	NOUN
aiti-808	117	3	of	of	ADP
aiti-808	117	4	feasible	feasible	ADJ
aiti-808	117	5	specialized	specialized	ADJ
aiti-808	117	6	chain	chain	NOUN
aiti-808	117	7	of	of	ADP
aiti-808	117	8	(	(	PUNCT
aiti-808	117	9	5	5	NUM
aiti-808	117	10	,	,	PUNCT
aiti-808	117	11	5	5	NUM
aiti-808	117	12	)	)	PUNCT
aiti-808	117	13	generalized	generalized	ADJ
aiti-808	117	14	chain	chain	NOUN
aiti-808	117	15	advances	advance	NOUN
aiti-808	117	16	in	in	ADP
aiti-808	117	17	technology	technology	NOUN
aiti-808	117	18	innovation	innovation	NOUN
aiti-808	117	19	,	,	PUNCT
aiti-808	117	20	vol	vol	NOUN
aiti-808	117	21	.	.	PROPN
aiti-808	117	22	4	4	NUM
aiti-808	117	23	,	,	PUNCT
aiti-808	117	24	no	no	INTJ
aiti-808	117	25	.	.	NOUN
aiti-808	117	26	2	2	NUM
aiti-808	117	27	,	,	PUNCT
aiti-808	117	28	2019	2019	NUM
aiti-808	117	29	,	,	PUNCT
aiti-808	117	30	pp	pp	ADJ
aiti-808	117	31	.	.	PUNCT
aiti-808	118	1	116	116	NUM
aiti-808	118	2	124	124	NUM
aiti-808	118	3	6	6	NUM
aiti-808	118	4	(	(	PUNCT
aiti-808	118	5	a	a	NOUN
aiti-808	118	6	)	)	PUNCT
aiti-808	118	7	(	(	PUNCT
aiti-808	118	8	b	b	X
aiti-808	118	9	)	)	PUNCT
aiti-808	118	10	(	(	PUNCT
aiti-808	118	11	c	c	X
aiti-808	118	12	)	)	PUNCT
aiti-808	118	13	(	(	PUNCT
aiti-808	118	14	d	d	X
aiti-808	118	15	)	)	PUNCT
aiti-808	118	16	(	(	PUNCT
aiti-808	118	17	e	e	NOUN
aiti-808	118	18	)	)	PUNCT
aiti-808	118	19	(	(	PUNCT
aiti-808	118	20	f	f	X
aiti-808	118	21	)	)	PUNCT
aiti-808	118	22	(	(	PUNCT
aiti-808	118	23	g	g	NOUN
aiti-808	118	24	)	)	PUNCT
aiti-808	118	25	(	(	PUNCT
aiti-808	118	26	i	i	NOUN
aiti-808	118	27	)	)	PUNCT
aiti-808	118	28	(	(	PUNCT
aiti-808	118	29	j	j	NOUN
aiti-808	118	30	)	)	PUNCT
aiti-808	118	31	(	(	PUNCT
aiti-808	118	32	k	k	NOUN
aiti-808	118	33	)	)	PUNCT
aiti-808	118	34	(	(	PUNCT
aiti-808	118	35	l	l	NOUN
aiti-808	118	36	)	)	PUNCT
aiti-808	118	37	(	(	PUNCT
aiti-808	118	38	m	m	NOUN
aiti-808	118	39	)	)	PUNCT
aiti-808	118	40	fig	fig	NOUN
aiti-808	118	41	.	.	PUNCT
aiti-808	119	1	9	9	NUM
aiti-808	119	2	atlas	atla	NOUN
aiti-808	119	3	of	of	ADP
aiti-808	119	4	feasible	feasible	ADJ
aiti-808	119	5	specialized	specialized	ADJ
aiti-808	119	6	chain	chain	NOUN
aiti-808	119	7	of	of	ADP
aiti-808	119	8	(	(	PUNCT
aiti-808	119	9	6	6	NUM
aiti-808	119	10	,	,	PUNCT
aiti-808	119	11	6	6	NUM
aiti-808	119	12	)	)	PUNCT
aiti-808	119	13	generalized	generalized	ADJ
aiti-808	119	14	chain	chain	NOUN
aiti-808	119	15	3.5	3.5	NUM
aiti-808	119	16	.	.	PUNCT
aiti-808	120	1	particularization	particularization	NOUN
aiti-808	120	2	(	(	PUNCT
aiti-808	120	3	a	a	NOUN
aiti-808	120	4	)	)	PUNCT
aiti-808	120	5	(	(	PUNCT
aiti-808	120	6	b	b	X
aiti-808	120	7	)	)	PUNCT
aiti-808	120	8	fig	fig	NOUN
aiti-808	120	9	.	.	PUNCT
aiti-808	121	1	10	10	NUM
aiti-808	121	2	atlas	atla	NOUN
aiti-808	121	3	of	of	ADP
aiti-808	121	4	feasible	feasible	ADJ
aiti-808	121	5	massage	massage	NOUN
aiti-808	121	6	mechanisms	mechanism	NOUN
aiti-808	121	7	of	of	ADP
aiti-808	121	8	(	(	PUNCT
aiti-808	121	9	5	5	NUM
aiti-808	121	10	,	,	PUNCT
aiti-808	121	11	5	5	NUM
aiti-808	121	12	)	)	PUNCT
aiti-808	121	13	generalized	generalized	ADJ
aiti-808	121	14	chain	chain	NOUN
aiti-808	121	15	(	(	PUNCT
aiti-808	121	16	a	a	NOUN
aiti-808	121	17	)	)	PUNCT
aiti-808	121	18	(	(	PUNCT
aiti-808	121	19	b	b	X
aiti-808	121	20	)	)	PUNCT
aiti-808	121	21	(	(	PUNCT
aiti-808	121	22	c	c	X
aiti-808	121	23	)	)	PUNCT
aiti-808	121	24	(	(	PUNCT
aiti-808	121	25	d	d	X
aiti-808	121	26	)	)	PUNCT
aiti-808	121	27	(	(	PUNCT
aiti-808	121	28	e	e	NOUN
aiti-808	121	29	)	)	PUNCT
aiti-808	121	30	(	(	PUNCT
aiti-808	121	31	f	f	X
aiti-808	121	32	)	)	PUNCT
aiti-808	121	33	(	(	PUNCT
aiti-808	121	34	g	g	NOUN
aiti-808	121	35	)	)	PUNCT
aiti-808	121	36	(	(	PUNCT
aiti-808	121	37	h	h	NOUN
aiti-808	121	38	)	)	PUNCT
aiti-808	121	39	(	(	PUNCT
aiti-808	121	40	i	i	NOUN
aiti-808	121	41	)	)	PUNCT
aiti-808	121	42	(	(	PUNCT
aiti-808	121	43	j	j	NOUN
aiti-808	121	44	)	)	PUNCT
aiti-808	121	45	(	(	PUNCT
aiti-808	121	46	k	k	NOUN
aiti-808	121	47	)	)	PUNCT
aiti-808	121	48	(	(	PUNCT
aiti-808	121	49	l	l	NOUN
aiti-808	121	50	)	)	PUNCT
aiti-808	121	51	fig	fig	NOUN
aiti-808	121	52	.	.	PUNCT
aiti-808	122	1	11	11	NUM
aiti-808	122	2	atlas	atla	NOUN
aiti-808	122	3	of	of	ADP
aiti-808	122	4	feasible	feasible	ADJ
aiti-808	122	5	designs	design	NOUN
aiti-808	122	6	for	for	ADP
aiti-808	122	7	massage	massage	NOUN
aiti-808	122	8	mechanism	mechanism	NOUN
aiti-808	122	9	of	of	ADP
aiti-808	122	10	(	(	PUNCT
aiti-808	122	11	6	6	NUM
aiti-808	122	12	,	,	PUNCT
aiti-808	122	13	6	6	NUM
aiti-808	122	14	)	)	PUNCT
aiti-808	122	15	generalized	generalized	ADJ
aiti-808	122	16	chain	chain	NOUN
aiti-808	122	17	advances	advance	NOUN
aiti-808	122	18	in	in	ADP
aiti-808	122	19	technology	technology	NOUN
aiti-808	122	20	innovation	innovation	NOUN
aiti-808	122	21	,	,	PUNCT
aiti-808	122	22	vol	vol	NOUN
aiti-808	122	23	.	.	PROPN
aiti-808	122	24	4	4	NUM
aiti-808	122	25	,	,	PUNCT
aiti-808	122	26	no	no	INTJ
aiti-808	122	27	.	.	NOUN
aiti-808	122	28	2	2	NUM
aiti-808	122	29	,	,	PUNCT
aiti-808	122	30	2019	2019	NUM
aiti-808	122	31	,	,	PUNCT
aiti-808	122	32	pp	pp	ADJ
aiti-808	122	33	.	.	PUNCT
aiti-808	123	1	116	116	NUM
aiti-808	123	2	124	124	NUM
aiti-808	123	3	7	7	NUM
aiti-808	123	4	for	for	ADP
aiti-808	123	5	each	each	DET
aiti-808	123	6	feasible	feasible	ADJ
aiti-808	123	7	specialized	specialized	ADJ
aiti-808	123	8	chain	chain	NOUN
aiti-808	123	9	,	,	PUNCT
aiti-808	123	10	it	it	PRON
aiti-808	123	11	can	can	AUX
aiti-808	123	12	be	be	AUX
aiti-808	123	13	particularized	particularize	VERB
aiti-808	123	14	into	into	ADP
aiti-808	123	15	its	its	PRON
aiti-808	123	16	corresponding	correspond	VERB
aiti-808	123	17	kinematic	kinematic	ADJ
aiti-808	123	18	skeleton	skeleton	NOUN
aiti-808	123	19	.	.	PUNCT
aiti-808	124	1	particularization	particularization	NOUN
aiti-808	124	2	is	be	AUX
aiti-808	124	3	the	the	DET
aiti-808	124	4	reverse	reverse	ADJ
aiti-808	124	5	process	process	NOUN
aiti-808	124	6	of	of	ADP
aiti-808	124	7	generalization	generalization	NOUN
aiti-808	124	8	and	and	CCONJ
aiti-808	124	9	can	can	AUX
aiti-808	124	10	be	be	AUX
aiti-808	124	11	done	do	VERB
aiti-808	124	12	by	by	ADP
aiti-808	124	13	applying	apply	VERB
aiti-808	124	14	the	the	DET
aiti-808	124	15	generalizing	generalize	VERB
aiti-808	124	16	rules	rule	NOUN
aiti-808	124	17	in	in	ADP
aiti-808	124	18	reverse	reverse	ADJ
aiti-808	124	19	order	order	NOUN
aiti-808	124	20	.	.	PUNCT
aiti-808	125	1	figs	fig	NOUN
aiti-808	125	2	.	.	PUNCT
aiti-808	126	1	10(a	10(a	NUM
aiti-808	126	2	)	)	PUNCT
aiti-808	126	3	and	and	CCONJ
aiti-808	126	4	10(b	10(b	NUM
aiti-808	126	5	)	)	PUNCT
aiti-808	126	6	show	show	VERB
aiti-808	126	7	2	2	NUM
aiti-808	126	8	feasible	feasible	ADJ
aiti-808	126	9	massage	massage	NOUN
aiti-808	126	10	mechanisms	mechanism	NOUN
aiti-808	126	11	of	of	ADP
aiti-808	126	12	(	(	PUNCT
aiti-808	126	13	5	5	NUM
aiti-808	126	14	,	,	PUNCT
aiti-808	126	15	5	5	NUM
aiti-808	126	16	)	)	PUNCT
aiti-808	126	17	generalized	generalized	ADJ
aiti-808	126	18	chain	chain	NOUN
aiti-808	126	19	and	and	CCONJ
aiti-808	126	20	figs	fig	NOUN
aiti-808	126	21	.	.	PUNCT
aiti-808	127	1	11(a)-11(l	11(a)-11(l	NUM
aiti-808	127	2	)	)	PUNCT
aiti-808	127	3	show	show	VERB
aiti-808	127	4	12	12	NUM
aiti-808	127	5	feasible	feasible	ADJ
aiti-808	127	6	massage	massage	NOUN
aiti-808	127	7	mechanisms	mechanism	NOUN
aiti-808	127	8	of	of	ADP
aiti-808	127	9	(	(	PUNCT
aiti-808	127	10	6	6	NUM
aiti-808	127	11	,	,	PUNCT
aiti-808	127	12	6	6	NUM
aiti-808	127	13	)	)	PUNCT
aiti-808	127	14	generalized	generalized	ADJ
aiti-808	127	15	chain	chain	NOUN
aiti-808	127	16	.	.	PUNCT
aiti-808	128	1	the	the	DET
aiti-808	128	2	design	design	NOUN
aiti-808	128	3	concept	concept	NOUN
aiti-808	128	4	,	,	PUNCT
aiti-808	128	5	shown	show	VERB
aiti-808	128	6	fig	fig	NOUN
aiti-808	128	7	.	.	PUNCT
aiti-808	129	1	11(a	11(a	NUM
aiti-808	129	2	)	)	PUNCT
aiti-808	129	3	,	,	PUNCT
aiti-808	129	4	is	be	AUX
aiti-808	129	5	the	the	DET
aiti-808	129	6	same	same	ADJ
aiti-808	129	7	as	as	ADP
aiti-808	129	8	the	the	DET
aiti-808	129	9	existing	exist	VERB
aiti-808	129	10	design	design	NOUN
aiti-808	129	11	in	in	ADP
aiti-808	129	12	fig	fig	NOUN
aiti-808	129	13	.	.	PUNCT
aiti-808	130	1	2	2	X
aiti-808	130	2	.	.	X
aiti-808	130	3	therefore	therefore	ADV
aiti-808	130	4	,	,	PUNCT
aiti-808	130	5	only	only	ADV
aiti-808	130	6	11	11	NUM
aiti-808	130	7	new	new	ADJ
aiti-808	130	8	designs	design	NOUN
aiti-808	130	9	are	be	AUX
aiti-808	130	10	synthesized	synthesize	VERB
aiti-808	130	11	from	from	ADP
aiti-808	130	12	(	(	PUNCT
aiti-808	130	13	6	6	NUM
aiti-808	130	14	,	,	PUNCT
aiti-808	130	15	6	6	NUM
aiti-808	130	16	)	)	PUNCT
aiti-808	130	17	generalized	generalized	ADJ
aiti-808	130	18	chain	chain	NOUN
aiti-808	130	19	and	and	CCONJ
aiti-808	130	20	2	2	NUM
aiti-808	130	21	new	new	ADJ
aiti-808	130	22	designs	design	NOUN
aiti-808	130	23	are	be	AUX
aiti-808	130	24	synthesized	synthesize	VERB
aiti-808	130	25	from	from	ADP
aiti-808	130	26	(	(	PUNCT
aiti-808	130	27	5	5	NUM
aiti-808	130	28	,	,	PUNCT
aiti-808	130	29	5	5	NUM
aiti-808	130	30	)	)	PUNCT
aiti-808	130	31	generalized	generalized	ADJ
aiti-808	130	32	chain	chain	NOUN
aiti-808	130	33	.	.	PUNCT
aiti-808	131	1	in	in	ADP
aiti-808	131	2	this	this	DET
aiti-808	131	3	paper	paper	NOUN
aiti-808	131	4	,	,	PUNCT
aiti-808	131	5	we	we	PRON
aiti-808	131	6	synthesize	synthesize	VERB
aiti-808	131	7	13	13	NUM
aiti-808	131	8	new	new	ADJ
aiti-808	131	9	designs	design	NOUN
aiti-808	131	10	of	of	ADP
aiti-808	131	11	massage	massage	NOUN
aiti-808	131	12	mechanisms	mechanism	NOUN
aiti-808	131	13	for	for	ADP
aiti-808	131	14	the	the	DET
aiti-808	131	15	massage	massage	NOUN
aiti-808	131	16	chair	chair	NOUN
aiti-808	131	17	.	.	PUNCT
aiti-808	132	1	4	4	X
aiti-808	132	2	.	.	X
aiti-808	132	3	engineering	engineering	NOUN
aiti-808	132	4	design	design	NOUN
aiti-808	132	5	and	and	CCONJ
aiti-808	132	6	dynamic	dynamic	ADJ
aiti-808	132	7	simulation	simulation	NOUN
aiti-808	132	8	after	after	ADP
aiti-808	132	9	an	an	DET
aiti-808	132	10	innovative	innovative	ADJ
aiti-808	132	11	design	design	NOUN
aiti-808	132	12	,	,	PUNCT
aiti-808	132	13	the	the	DET
aiti-808	132	14	next	next	ADJ
aiti-808	132	15	step	step	NOUN
aiti-808	132	16	is	be	AUX
aiti-808	132	17	engineering	engineering	NOUN
aiti-808	132	18	design	design	NOUN
aiti-808	132	19	.	.	PUNCT
aiti-808	133	1	due	due	ADP
aiti-808	133	2	to	to	ADP
aiti-808	133	3	the	the	DET
aiti-808	133	4	reason	reason	NOUN
aiti-808	133	5	of	of	ADP
aiti-808	133	6	manufacture	manufacture	NOUN
aiti-808	133	7	cost	cost	NOUN
aiti-808	133	8	,	,	PUNCT
aiti-808	133	9	fig.10	fig.10	PRON
aiti-808	133	10	(	(	PUNCT
aiti-808	133	11	a	a	NOUN
aiti-808	133	12	)	)	PUNCT
aiti-808	133	13	is	be	AUX
aiti-808	133	14	selected	select	VERB
aiti-808	133	15	as	as	ADP
aiti-808	133	16	a	a	DET
aiti-808	133	17	design	design	NOUN
aiti-808	133	18	example	example	NOUN
aiti-808	133	19	to	to	PART
aiti-808	133	20	carry	carry	VERB
aiti-808	133	21	out	out	ADP
aiti-808	133	22	,	,	PUNCT
aiti-808	133	23	and	and	CCONJ
aiti-808	133	24	its	its	PRON
aiti-808	133	25	solid	solid	ADJ
aiti-808	133	26	model	model	NOUN
aiti-808	133	27	is	be	AUX
aiti-808	133	28	drawn	draw	VERB
aiti-808	133	29	and	and	CCONJ
aiti-808	133	30	shown	show	VERB
aiti-808	133	31	in	in	ADP
aiti-808	133	32	fig	fig	NOUN
aiti-808	133	33	.	.	PUNCT
aiti-808	134	1	12	12	NUM
aiti-808	134	2	.	.	PUNCT
aiti-808	134	3	fig	fig	NOUN
aiti-808	134	4	.	.	PUNCT
aiti-808	135	1	13	13	NUM
aiti-808	135	2	shows	show	VERB
aiti-808	135	3	its	its	PRON
aiti-808	135	4	trace	trace	NOUN
aiti-808	135	5	which	which	PRON
aiti-808	135	6	is	be	AUX
aiti-808	135	7	simulated	simulate	VERB
aiti-808	135	8	by	by	ADP
aiti-808	135	9	“	"	PUNCT
aiti-808	135	10	cosmos	cosmos	PROPN
aiti-808	135	11	”	"	PUNCT
aiti-808	135	12	.	.	PUNCT
aiti-808	136	1	table	table	NOUN
aiti-808	136	2	2	2	NUM
aiti-808	136	3	shows	show	VERB
aiti-808	136	4	the	the	DET
aiti-808	136	5	comparisons	comparison	NOUN
aiti-808	136	6	of	of	ADP
aiti-808	136	7	existing	exist	VERB
aiti-808	136	8	design	design	NOUN
aiti-808	136	9	and	and	CCONJ
aiti-808	136	10	new	new	ADJ
aiti-808	136	11	design	design	NOUN
aiti-808	136	12	.	.	PUNCT
aiti-808	137	1	according	accord	VERB
aiti-808	137	2	to	to	ADP
aiti-808	137	3	table	table	NOUN
aiti-808	137	4	2	2	NUM
aiti-808	137	5	,	,	PUNCT
aiti-808	137	6	we	we	PRON
aiti-808	137	7	get	get	VERB
aiti-808	137	8	that	that	DET
aiti-808	137	9	new	new	ADJ
aiti-808	137	10	design	design	NOUN
aiti-808	137	11	has	have	VERB
aiti-808	137	12	larger	large	ADJ
aiti-808	137	13	massage	massage	NOUN
aiti-808	137	14	trace	trace	NOUN
aiti-808	137	15	than	than	ADP
aiti-808	137	16	the	the	DET
aiti-808	137	17	existing	exist	VERB
aiti-808	137	18	design	design	NOUN
aiti-808	137	19	.	.	PUNCT
aiti-808	138	1	if	if	SCONJ
aiti-808	138	2	we	we	PRON
aiti-808	138	3	adjust	adjust	VERB
aiti-808	138	4	the	the	DET
aiti-808	138	5	initial	initial	ADJ
aiti-808	138	6	phase	phase	NOUN
aiti-808	138	7	of	of	ADP
aiti-808	138	8	the	the	DET
aiti-808	138	9	kneading	kneading	NOUN
aiti-808	138	10	input	input	NOUN
aiti-808	138	11	,	,	PUNCT
aiti-808	138	12	the	the	DET
aiti-808	138	13	range	range	NOUN
aiti-808	138	14	of	of	ADP
aiti-808	138	15	massage	massage	NOUN
aiti-808	138	16	trace	trace	NOUN
aiti-808	138	17	will	will	AUX
aiti-808	138	18	become	become	VERB
aiti-808	138	19	smaller	small	ADJ
aiti-808	138	20	.	.	PUNCT
aiti-808	139	1	table	table	NOUN
aiti-808	139	2	2	2	NUM
aiti-808	139	3	also	also	ADV
aiti-808	139	4	shows	show	VERB
aiti-808	139	5	that	that	SCONJ
aiti-808	139	6	if	if	SCONJ
aiti-808	139	7	the	the	DET
aiti-808	139	8	initial	initial	ADJ
aiti-808	139	9	phase	phase	NOUN
aiti-808	139	10	of	of	ADP
aiti-808	139	11	the	the	DET
aiti-808	139	12	kneading	kneading	NOUN
aiti-808	139	13	input	input	NOUN
aiti-808	139	14	is	be	AUX
aiti-808	139	15	increased	increase	VERB
aiti-808	139	16	7⁰	7⁰	NUM
aiti-808	139	17	,	,	PUNCT
aiti-808	139	18	the	the	DET
aiti-808	139	19	corresponding	correspond	VERB
aiti-808	139	20	kneading	kneading	NOUN
aiti-808	139	21	trace	trace	NOUN
aiti-808	139	22	is	be	AUX
aiti-808	139	23	almost	almost	ADV
aiti-808	139	24	close	close	ADJ
aiti-808	139	25	to	to	ADP
aiti-808	139	26	the	the	DET
aiti-808	139	27	existing	exist	VERB
aiti-808	139	28	design	design	NOUN
aiti-808	139	29	.	.	PUNCT
aiti-808	140	1	fig	fig	NOUN
aiti-808	140	2	.	.	PUNCT
aiti-808	141	1	14	14	NUM
aiti-808	141	2	~16	~16	AUX
aiti-808	141	3	shows	show	VERB
aiti-808	141	4	the	the	DET
aiti-808	141	5	traces	trace	NOUN
aiti-808	141	6	of	of	ADP
aiti-808	141	7	the	the	DET
aiti-808	141	8	new	new	ADJ
aiti-808	141	9	design	design	NOUN
aiti-808	141	10	,	,	PUNCT
aiti-808	141	11	respectly	respectly	ADV
aiti-808	141	12	.	.	PUNCT
aiti-808	142	1	fig	fig	NOUN
aiti-808	142	2	.	.	PUNCT
aiti-808	143	1	12	12	NUM
aiti-808	143	2	engineering	engineering	NOUN
aiti-808	143	3	drawing	drawing	NOUN
aiti-808	143	4	of	of	ADP
aiti-808	143	5	the	the	DET
aiti-808	143	6	design	design	NOUN
aiti-808	143	7	concept	concept	NOUN
aiti-808	143	8	shown	show	VERB
aiti-808	143	9	in	in	ADP
aiti-808	143	10	fig	fig	NOUN
aiti-808	143	11	.	.	PUNCT
aiti-808	144	1	10(a	10(a	NUM
aiti-808	144	2	)	)	PUNCT
aiti-808	144	3	(	(	PUNCT
aiti-808	144	4	a	a	X
aiti-808	144	5	)	)	PUNCT
aiti-808	144	6	projection	projection	NOUN
aiti-808	144	7	on	on	ADP
aiti-808	144	8	xy	xy	PROPN
aiti-808	144	9	plane	plane	NOUN
aiti-808	144	10	(	(	PUNCT
aiti-808	144	11	b	b	NOUN
aiti-808	144	12	)	)	PUNCT
aiti-808	144	13	projection	projection	NOUN
aiti-808	144	14	on	on	ADP
aiti-808	144	15	xz	xz	PROPN
aiti-808	144	16	plane	plane	NOUN
aiti-808	144	17	fig	fig	NOUN
aiti-808	144	18	.	.	PUNCT
aiti-808	145	1	13	13	NUM
aiti-808	145	2	kneading	kneading	NOUN
aiti-808	145	3	trace	trace	NOUN
aiti-808	145	4	of	of	ADP
aiti-808	145	5	upper	upper	ADJ
aiti-808	145	6	roller	roller	NOUN
aiti-808	145	7	table	table	NOUN
aiti-808	145	8	2	2	NUM
aiti-808	145	9	the	the	DET
aiti-808	145	10	comparisons	comparison	NOUN
aiti-808	145	11	of	of	ADP
aiti-808	145	12	existing	exist	VERB
aiti-808	145	13	design	design	NOUN
aiti-808	145	14	and	and	CCONJ
aiti-808	145	15	new	new	ADJ
aiti-808	145	16	design	design	NOUN
aiti-808	145	17	kneading	knead	VERB
aiti-808	145	18	massage	massage	NOUN
aiti-808	145	19	dispalcement	dispalcement	NOUN
aiti-808	145	20	location	location	NOUN
aiti-808	145	21	existing	exist	VERB
aiti-808	145	22	design	design	NOUN
aiti-808	145	23	(	(	PUNCT
aiti-808	145	24	initial	initial	ADJ
aiti-808	145	25	phase	phase	NOUN
aiti-808	145	26	0	0	NUM
aiti-808	145	27	)	)	PUNCT
aiti-808	145	28	new	new	ADJ
aiti-808	145	29	design	design	NOUN
aiti-808	145	30	(	(	PUNCT
aiti-808	145	31	initial	initial	ADJ
aiti-808	145	32	phase	phase	NOUN
aiti-808	145	33	0	0	NUM
aiti-808	145	34	)	)	PUNCT
aiti-808	145	35	new	new	ADJ
aiti-808	145	36	design	design	NOUN
aiti-808	145	37	(	(	PUNCT
aiti-808	145	38	initial	initial	ADJ
aiti-808	145	39	phase	phase	NOUN
aiti-808	145	40	7	7	NUM
aiti-808	145	41	of	of	ADP
aiti-808	145	42	kneading	knead	VERB
aiti-808	145	43	input	input	NOUN
aiti-808	145	44	)	)	PUNCT
aiti-808	145	45	x	x	SYM
aiti-808	145	46	upper	upper	ADJ
aiti-808	145	47	roller	roller	NOUN
aiti-808	145	48	2(mm	2(mm	NOUN
aiti-808	145	49	)	)	PUNCT
aiti-808	145	50	2(mm	2(mm	NOUN
aiti-808	145	51	)	)	PUNCT
aiti-808	145	52	2(mm	2(mm	NUM
aiti-808	145	53	)	)	PUNCT
aiti-808	145	54	lower	low	ADJ
aiti-808	145	55	roller	roller	NOUN
aiti-808	145	56	2(mm	2(mm	NUM
aiti-808	145	57	)	)	PUNCT
aiti-808	145	58	8(mm	8(mm	PROPN
aiti-808	145	59	)	)	PUNCT
aiti-808	145	60	2(mm	2(mm	NUM
aiti-808	145	61	)	)	PUNCT
aiti-808	146	1	y	y	PROPN
aiti-808	146	2	upper	upper	ADJ
aiti-808	146	3	roller	roller	NOUN
aiti-808	146	4	7(mm	7(mm	NOUN
aiti-808	146	5	)	)	PUNCT
aiti-808	146	6	11(mm	11(mm	NUM
aiti-808	146	7	)	)	PUNCT
aiti-808	146	8	7(mm	7(mm	NOUN
aiti-808	146	9	)	)	PUNCT
aiti-808	146	10	lower	low	ADJ
aiti-808	146	11	roller	roller	NOUN
aiti-808	146	12	7(mm	7(mm	NOUN
aiti-808	146	13	)	)	PUNCT
aiti-808	146	14	11(mm	11(mm	NUM
aiti-808	146	15	)	)	PUNCT
aiti-808	146	16	7(mm	7(mm	NOUN
aiti-808	146	17	)	)	PUNCT
aiti-808	146	18	z	z	NOUN
aiti-808	146	19	upper	upper	ADJ
aiti-808	146	20	roller	roller	NOUN
aiti-808	146	21	21(mm	21(mm	NUM
aiti-808	146	22	)	)	PUNCT
aiti-808	146	23	41(mm	41(mm	NUM
aiti-808	146	24	)	)	PUNCT
aiti-808	146	25	22(mm	22(mm	NUM
aiti-808	146	26	)	)	PUNCT
aiti-808	146	27	lower	low	ADJ
aiti-808	146	28	roller	roller	NOUN
aiti-808	146	29	33(mm	33(mm	NUM
aiti-808	146	30	)	)	PUNCT
aiti-808	146	31	50(mm	50(mm	NUM
aiti-808	146	32	)	)	PUNCT
aiti-808	146	33	33(mm	33(mm	NUM
aiti-808	146	34	)	)	PUNCT
aiti-808	146	35	beating	beat	VERB
aiti-808	146	36	massage	massage	NOUN
aiti-808	146	37	x	x	NOUN
aiti-808	146	38	upper	upper	ADJ
aiti-808	146	39	roller	roller	NOUN
aiti-808	146	40	2(mm	2(mm	NOUN
aiti-808	146	41	)	)	PUNCT
aiti-808	146	42	2(mm	2(mm	NUM
aiti-808	146	43	)	)	PUNCT
aiti-808	146	44	lower	low	ADJ
aiti-808	146	45	roller	roller	NOUN
aiti-808	146	46	2(mm	2(mm	NUM
aiti-808	146	47	)	)	PUNCT
aiti-808	146	48	8(mm	8(mm	PROPN
aiti-808	146	49	)	)	PUNCT
aiti-808	147	1	y	y	PROPN
aiti-808	147	2	upper	upper	ADJ
aiti-808	147	3	roller	roller	NOUN
aiti-808	147	4	10(mm	10(mm	NOUN
aiti-808	147	5	)	)	PUNCT
aiti-808	147	6	11(mm	11(mm	NUM
aiti-808	147	7	)	)	PUNCT
aiti-808	147	8	lower	low	ADJ
aiti-808	147	9	roller	roller	NOUN
aiti-808	147	10	10(mm	10(mm	NOUN
aiti-808	147	11	)	)	PUNCT
aiti-808	147	12	11(mm	11(mm	NUM
aiti-808	147	13	)	)	PUNCT
aiti-808	147	14	z	z	NOUN
aiti-808	147	15	upper	upper	ADJ
aiti-808	147	16	roller	roller	NOUN
aiti-808	147	17	1(mm	1(mm	NOUN
aiti-808	147	18	)	)	PUNCT
aiti-808	147	19	1(mm	1(mm	NOUN
aiti-808	147	20	)	)	PUNCT
aiti-808	147	21	lower	low	ADJ
aiti-808	147	22	roller	roller	NOUN
aiti-808	147	23	1(mm	1(mm	NOUN
aiti-808	147	24	)	)	PUNCT
aiti-808	147	25	1(mm	1(mm	NOUN
aiti-808	147	26	)	)	PUNCT
aiti-808	148	1	ｘ	ｘ	NOUN
aiti-808	148	2	-	-	PUNCT
aiti-808	148	3	ｙ	ｙ	X
aiti-808	148	4	平面軌跡圖	平面軌跡圖	NOUN
aiti-808	148	5	126	126	NUM
aiti-808	148	6	128	128	NUM
aiti-808	148	7	130	130	NUM
aiti-808	148	8	132	132	NUM
aiti-808	148	9	134	134	NUM
aiti-808	148	10	136	136	NUM
aiti-808	148	11	138	138	NUM
aiti-808	148	12	140	140	NUM
aiti-808	148	13	179	179	NUM
aiti-808	148	14	181	181	NUM
aiti-808	148	15	183	183	NUM
aiti-808	148	16	185	185	NUM
aiti-808	148	17	187	187	NUM
aiti-808	148	18	189	189	NUM
aiti-808	148	19	191	191	NUM
aiti-808	148	20	193	193	NUM
aiti-808	148	21	ｘ	ｘ	NOUN
aiti-808	148	22	ｙ	ｙ	PRON
aiti-808	148	23	ｚ	ｚ	NOUN
aiti-808	148	24	-	-	PUNCT
aiti-808	148	25	ｙ平面軌跡圖	ｙ平面軌跡圖	NOUN
aiti-808	148	26	108	108	NUM
aiti-808	148	27	113	113	NUM
aiti-808	148	28	118	118	NUM
aiti-808	148	29	123	123	NUM
aiti-808	148	30	128	128	NUM
aiti-808	148	31	133	133	NUM
aiti-808	148	32	138	138	NUM
aiti-808	148	33	143	143	NUM
aiti-808	148	34	148	148	NUM
aiti-808	148	35	153	153	NUM
aiti-808	148	36	158	158	NUM
aiti-808	148	37	-85	-85	PROPN
aiti-808	148	38	-80	-80	PUNCT
aiti-808	148	39	-75	-75	PROPN
aiti-808	148	40	-70	-70	PROPN
aiti-808	148	41	-65	-65	PUNCT
aiti-808	148	42	-60	-60	PROPN
aiti-808	148	43	-55	-55	PROPN
aiti-808	148	44	-50	-50	PUNCT
aiti-808	148	45	-45	-45	PUNCT
aiti-808	148	46	-40	-40	NUM
aiti-808	148	47	-35	-35	PUNCT
aiti-808	148	48	z	z	NOUN
aiti-808	148	49	y	y	PROPN
aiti-808	148	50	advances	advance	VERB
aiti-808	148	51	in	in	ADP
aiti-808	148	52	technology	technology	NOUN
aiti-808	148	53	innovation	innovation	NOUN
aiti-808	148	54	,	,	PUNCT
aiti-808	148	55	vol	vol	NOUN
aiti-808	148	56	.	.	PROPN
aiti-808	148	57	4	4	NUM
aiti-808	148	58	,	,	PUNCT
aiti-808	148	59	no	no	INTJ
aiti-808	148	60	.	.	NOUN
aiti-808	148	61	2	2	NUM
aiti-808	148	62	,	,	PUNCT
aiti-808	148	63	2019	2019	NUM
aiti-808	148	64	,	,	PUNCT
aiti-808	148	65	pp	pp	ADJ
aiti-808	148	66	.	.	PUNCT
aiti-808	149	1	116	116	NUM
aiti-808	149	2	124	124	NUM
aiti-808	149	3	8	8	NUM
aiti-808	149	4	(	(	PUNCT
aiti-808	149	5	a	a	NOUN
aiti-808	149	6	)	)	PUNCT
aiti-808	149	7	projection	projection	NOUN
aiti-808	149	8	on	on	ADP
aiti-808	149	9	xy	xy	PROPN
aiti-808	149	10	plane	plane	NOUN
aiti-808	149	11	(	(	PUNCT
aiti-808	149	12	b	b	NOUN
aiti-808	149	13	)	)	PUNCT
aiti-808	149	14	projection	projection	NOUN
aiti-808	149	15	on	on	ADP
aiti-808	149	16	xz	xz	PROPN
aiti-808	149	17	plane	plane	NOUN
aiti-808	149	18	fig	fig	NOUN
aiti-808	149	19	.	.	PUNCT
aiti-808	150	1	14	14	NUM
aiti-808	150	2	kneading	kneading	NOUN
aiti-808	150	3	trace	trace	NOUN
aiti-808	150	4	of	of	ADP
aiti-808	150	5	lower	low	ADJ
aiti-808	150	6	roller	roller	NOUN
aiti-808	150	7	(	(	PUNCT
aiti-808	150	8	a	a	NOUN
aiti-808	150	9	)	)	PUNCT
aiti-808	150	10	projection	projection	NOUN
aiti-808	150	11	on	on	ADP
aiti-808	150	12	xy	xy	PROPN
aiti-808	150	13	plane	plane	NOUN
aiti-808	150	14	(	(	PUNCT
aiti-808	150	15	b	b	NOUN
aiti-808	150	16	)	)	PUNCT
aiti-808	150	17	projection	projection	NOUN
aiti-808	150	18	on	on	ADP
aiti-808	150	19	xz	xz	PROPN
aiti-808	150	20	plane	plane	NOUN
aiti-808	150	21	fig	fig	NOUN
aiti-808	150	22	.	.	PUNCT
aiti-808	151	1	15	15	NUM
aiti-808	151	2	beating	beat	VERB
aiti-808	151	3	trace	trace	NOUN
aiti-808	151	4	of	of	ADP
aiti-808	151	5	upper	upper	ADJ
aiti-808	151	6	roller	roller	NOUN
aiti-808	151	7	(	(	PUNCT
aiti-808	151	8	a	a	NOUN
aiti-808	151	9	)	)	PUNCT
aiti-808	151	10	projection	projection	NOUN
aiti-808	151	11	on	on	ADP
aiti-808	151	12	xy	xy	PROPN
aiti-808	151	13	plane	plane	NOUN
aiti-808	151	14	(	(	PUNCT
aiti-808	151	15	b	b	NOUN
aiti-808	151	16	)	)	PUNCT
aiti-808	151	17	projection	projection	NOUN
aiti-808	151	18	on	on	ADP
aiti-808	151	19	xz	xz	PROPN
aiti-808	151	20	plane	plane	NOUN
aiti-808	151	21	fig	fig	NOUN
aiti-808	151	22	.	.	PUNCT
aiti-808	152	1	16	16	NUM
aiti-808	152	2	beating	beat	VERB
aiti-808	152	3	trace	trace	NOUN
aiti-808	152	4	of	of	ADP
aiti-808	152	5	lower	low	ADJ
aiti-808	152	6	roller	roller	NOUN
aiti-808	152	7	5	5	NUM
aiti-808	152	8	.	.	PUNCT
aiti-808	153	1	conclusions	conclusion	NOUN
aiti-808	153	2	in	in	ADP
aiti-808	153	3	this	this	DET
aiti-808	153	4	paper	paper	NOUN
aiti-808	153	5	,	,	PUNCT
aiti-808	153	6	the	the	DET
aiti-808	153	7	new	new	ADJ
aiti-808	153	8	designs	design	NOUN
aiti-808	153	9	of	of	ADP
aiti-808	153	10	massage	massage	NOUN
aiti-808	153	11	mechanisms	mechanism	NOUN
aiti-808	153	12	have	have	AUX
aiti-808	153	13	been	be	AUX
aiti-808	153	14	generated	generate	VERB
aiti-808	153	15	by	by	ADP
aiti-808	153	16	the	the	DET
aiti-808	153	17	systematic	systematic	ADJ
aiti-808	153	18	design	design	NOUN
aiti-808	153	19	methodology	methodology	NOUN
aiti-808	153	20	.	.	PUNCT
aiti-808	154	1	first	first	ADV
aiti-808	154	2	,	,	PUNCT
aiti-808	154	3	the	the	DET
aiti-808	154	4	design	design	NOUN
aiti-808	154	5	requirements	requirement	NOUN
aiti-808	154	6	and	and	CCONJ
aiti-808	154	7	design	design	NOUN
aiti-808	154	8	constraints	constraint	NOUN
aiti-808	154	9	are	be	AUX
aiti-808	154	10	summarized	summarize	VERB
aiti-808	154	11	based	base	VERB
aiti-808	154	12	on	on	ADP
aiti-808	154	13	existing	exist	VERB
aiti-808	154	14	designs	design	NOUN
aiti-808	154	15	.	.	PUNCT
aiti-808	155	1	then	then	ADV
aiti-808	155	2	,	,	PUNCT
aiti-808	155	3	according	accord	VERB
aiti-808	155	4	to	to	ADP
aiti-808	155	5	modified	modified	PROPN
aiti-808	155	6	yan	yan	PROPN
aiti-808	155	7	’s	’s	PART
aiti-808	155	8	design	design	NOUN
aiti-808	155	9	methodology	methodology	NOUN
aiti-808	155	10	,	,	PUNCT
aiti-808	155	11	13	13	NUM
aiti-808	155	12	new	new	ADJ
aiti-808	155	13	design	design	NOUN
aiti-808	155	14	concepts	concept	NOUN
aiti-808	155	15	synthesized	synthesize	VERB
aiti-808	155	16	.	.	PUNCT
aiti-808	156	1	one	one	NUM
aiti-808	156	2	of	of	ADP
aiti-808	156	3	the	the	DET
aiti-808	156	4	new	new	ADJ
aiti-808	156	5	design	design	NOUN
aiti-808	156	6	concepts	concept	NOUN
aiti-808	156	7	is	be	AUX
aiti-808	156	8	selected	select	VERB
aiti-808	156	9	as	as	ADP
aiti-808	156	10	a	a	DET
aiti-808	156	11	design	design	NOUN
aiti-808	156	12	example	example	NOUN
aiti-808	156	13	and	and	CCONJ
aiti-808	156	14	verified	verify	VERB
aiti-808	156	15	by	by	ADP
aiti-808	156	16	kinematic	kinematic	ADJ
aiti-808	156	17	simulation	simulation	NOUN
aiti-808	156	18	.	.	PUNCT
aiti-808	157	1	the	the	DET
aiti-808	157	2	simulation	simulation	NOUN
aiti-808	157	3	result	result	NOUN
aiti-808	157	4	showed	show	VERB
aiti-808	157	5	that	that	SCONJ
aiti-808	157	6	the	the	DET
aiti-808	157	7	new	new	ADJ
aiti-808	157	8	design	design	NOUN
aiti-808	157	9	can	can	AUX
aiti-808	157	10	produced	produce	VERB
aiti-808	157	11	a	a	DET
aiti-808	157	12	wider	wide	ADJ
aiti-808	157	13	range	range	NOUN
aiti-808	157	14	of	of	ADP
aiti-808	157	15	non	non	ADJ
aiti-808	157	16	-	-	ADJ
aiti-808	157	17	uniform	uniform	ADJ
aiti-808	157	18	output	output	NOUN
aiti-808	157	19	motion	motion	NOUN
aiti-808	157	20	than	than	ADP
aiti-808	157	21	the	the	DET
aiti-808	157	22	existing	exist	VERB
aiti-808	157	23	design	design	NOUN
aiti-808	157	24	.	.	PUNCT
aiti-808	158	1	conflicts	conflict	NOUN
aiti-808	158	2	of	of	ADP
aiti-808	158	3	interest	interest	NOUN
aiti-808	158	4	the	the	DET
aiti-808	158	5	authors	author	NOUN
aiti-808	158	6	declare	declare	VERB
aiti-808	158	7	no	no	DET
aiti-808	158	8	conflict	conflict	NOUN
aiti-808	158	9	of	of	ADP
aiti-808	158	10	interest	interest	NOUN
aiti-808	158	11	.	.	PUNCT
aiti-808	159	1	x	x	X
aiti-808	159	2	-	-	PUNCT
aiti-808	159	3	y	y	PRON
aiti-808	159	4	平面軌跡圖	平面軌跡圖	PROPN
aiti-808	159	5	6	6	NUM
aiti-808	159	6	8	8	NUM
aiti-808	159	7	10	10	NUM
aiti-808	159	8	12	12	NUM
aiti-808	159	9	14	14	NUM
aiti-808	159	10	16	16	NUM
aiti-808	159	11	18	18	NUM
aiti-808	159	12	20	20	NUM
aiti-808	159	13	180	180	NUM
aiti-808	159	14	182	182	NUM
aiti-808	159	15	184	184	NUM
aiti-808	159	16	186	186	NUM
aiti-808	159	17	188	188	NUM
aiti-808	159	18	190	190	NUM
aiti-808	159	19	192	192	NUM
aiti-808	159	20	194	194	NUM
aiti-808	159	21	x	x	SYM
aiti-808	159	22	y	y	PROPN
aiti-808	159	23	z	z	PROPN
aiti-808	159	24	-	-	PROPN
aiti-808	159	25	y	y	PROPN
aiti-808	159	26	平面軌跡圖	平面軌跡圖	PROPN
aiti-808	159	27	-20	-20	PUNCT
aiti-808	159	28	-10	-10	SYM
aiti-808	159	29	0	0	NUM
aiti-808	159	30	10	10	NUM
aiti-808	159	31	20	20	NUM
aiti-808	159	32	30	30	NUM
aiti-808	159	33	40	40	NUM
aiti-808	159	34	-90	-90	PUNCT
aiti-808	159	35	-80	-80	PUNCT
aiti-808	159	36	-70	-70	PROPN
aiti-808	159	37	-60	-60	NUM
aiti-808	159	38	-50	-50	PUNCT
aiti-808	159	39	-40	-40	PROPN
aiti-808	159	40	-30	-30	PUNCT
aiti-808	160	1	z	z	PUNCT
aiti-808	160	2	y	y	PROPN
aiti-808	160	3	x	x	PROPN
aiti-808	160	4	-	-	PROPN
aiti-808	160	5	y	y	ADJ
aiti-808	160	6	平面軌跡圖	平面軌跡圖	NOUN
aiti-808	160	7	128	128	NUM
aiti-808	160	8	130	130	NUM
aiti-808	160	9	132	132	NUM
aiti-808	160	10	134	134	NUM
aiti-808	160	11	136	136	NUM
aiti-808	160	12	138	138	NUM
aiti-808	160	13	140	140	NUM
aiti-808	160	14	142	142	NUM
aiti-808	160	15	179	179	NUM
aiti-808	160	16	181	181	NUM
aiti-808	160	17	183	183	NUM
aiti-808	160	18	185	185	NUM
aiti-808	160	19	187	187	NUM
aiti-808	160	20	189	189	NUM
aiti-808	160	21	191	191	NUM
aiti-808	160	22	193	193	NUM
aiti-808	160	23	x	x	SYM
aiti-808	160	24	y	y	PROPN
aiti-808	160	25	z	z	PROPN
aiti-808	160	26	-	-	PROPN
aiti-808	160	27	y	y	PROPN
aiti-808	160	28	平面軌跡圖	平面軌跡圖	NOUN
aiti-808	160	29	128	128	NUM
aiti-808	161	1	130	130	NUM
aiti-808	161	2	132	132	NUM
aiti-808	161	3	134	134	NUM
aiti-808	161	4	136	136	NUM
aiti-808	161	5	138	138	NUM
aiti-808	161	6	140	140	NUM
aiti-808	161	7	142	142	NUM
aiti-808	161	8	-66	-66	PUNCT
aiti-808	161	9	-64	-64	PUNCT
aiti-808	161	10	-62	-62	PUNCT
aiti-808	162	1	-60	-60	PUNCT
aiti-808	162	2	-58	-58	PROPN
aiti-808	163	1	-56	-56	PROPN
aiti-808	163	2	-54	-54	PROPN
aiti-808	164	1	-52	-52	PUNCT
aiti-808	165	1	z	z	PUNCT
aiti-808	166	1	y	y	PROPN
aiti-808	166	2	x	x	PROPN
aiti-808	166	3	-	-	PROPN
aiti-808	166	4	y	y	ADJ
aiti-808	166	5	平面軌跡圖	平面軌跡圖	NOUN
aiti-808	166	6	8	8	NUM
aiti-808	166	7	10	10	NUM
aiti-808	166	8	12	12	NUM
aiti-808	166	9	14	14	NUM
aiti-808	166	10	16	16	NUM
aiti-808	166	11	18	18	NUM
aiti-808	166	12	20	20	NUM
aiti-808	166	13	22	22	NUM
aiti-808	166	14	180	180	NUM
aiti-808	166	15	182	182	NUM
aiti-808	166	16	184	184	NUM
aiti-808	166	17	186	186	NUM
aiti-808	166	18	188	188	NUM
aiti-808	166	19	190	190	NUM
aiti-808	166	20	192	192	NUM
aiti-808	166	21	194	194	NUM
aiti-808	166	22	x	x	SYM
aiti-808	166	23	y	y	PROPN
aiti-808	166	24	z	z	PROPN
aiti-808	166	25	-	-	PROPN
aiti-808	166	26	y	y	PROPN
aiti-808	166	27	平面軌跡圖	平面軌跡圖	NOUN
aiti-808	166	28	8	8	NUM
aiti-808	166	29	10	10	NUM
aiti-808	166	30	12	12	NUM
aiti-808	166	31	14	14	NUM
aiti-808	166	32	16	16	NUM
aiti-808	166	33	18	18	NUM
aiti-808	166	34	20	20	NUM
aiti-808	166	35	22	22	NUM
aiti-808	166	36	-81	-81	NUM
aiti-808	166	37	-79	-79	PUNCT
aiti-808	166	38	-77	-77	PUNCT
aiti-808	166	39	-75	-75	PUNCT
aiti-808	167	1	-73	-73	PROPN
aiti-808	167	2	-71	-71	PROPN
aiti-808	167	3	-69	-69	PUNCT
aiti-808	167	4	-67	-67	PUNCT
aiti-808	167	5	z	z	X
aiti-808	167	6	y	y	PROPN
aiti-808	167	7	advances	advance	VERB
aiti-808	167	8	in	in	ADP
aiti-808	167	9	technology	technology	NOUN
aiti-808	167	10	innovation	innovation	NOUN
aiti-808	167	11	,	,	PUNCT
aiti-808	167	12	vol	vol	NOUN
aiti-808	167	13	.	.	PROPN
aiti-808	168	1	4	4	NUM
aiti-808	168	2	,	,	PUNCT
aiti-808	168	3	no	no	INTJ
aiti-808	168	4	.	.	NOUN
aiti-808	168	5	2	2	NUM
aiti-808	168	6	,	,	PUNCT
aiti-808	168	7	2019	2019	NUM
aiti-808	168	8	,	,	PUNCT
aiti-808	168	9	pp	pp	ADJ
aiti-808	168	10	.	.	PUNCT
aiti-808	169	1	116	116	NUM
aiti-808	169	2	124	124	NUM
aiti-808	169	3	9	9	NUM
aiti-808	169	4	references	reference	NOUN
aiti-808	169	5	[	[	X
aiti-808	169	6	1	1	NUM
aiti-808	169	7	]	]	PUNCT
aiti-808	169	8	h.	h.	PROPN
aiti-808	169	9	c.	c.	PROPN
aiti-808	169	10	chen	chen	PROPN
aiti-808	169	11	,	,	PUNCT
aiti-808	169	12	improvement	improvement	NOUN
aiti-808	169	13	of	of	ADP
aiti-808	169	14	massage	massage	NOUN
aiti-808	169	15	chair	chair	NOUN
aiti-808	169	16	structure	structure	NOUN
aiti-808	169	17	,	,	PUNCT
aiti-808	169	18	roc	roc	PROPN
aiti-808	169	19	patent	patent	NOUN
aiti-808	169	20	,	,	PUNCT
aiti-808	169	21	m268028	m268028	PROPN
aiti-808	169	22	,	,	PUNCT
aiti-808	169	23	june	june	PROPN
aiti-808	169	24	21	21	NUM
aiti-808	169	25	,	,	PUNCT
aiti-808	169	26	2005	2005	NUM
aiti-808	169	27	.	.	PUNCT
aiti-808	170	1	[	[	X
aiti-808	170	2	2	2	NUM
aiti-808	170	3	]	]	PUNCT
aiti-808	170	4	r.	r.	PROPN
aiti-808	170	5	c.	c.	PROPN
aiti-808	170	6	bai	bai	PROPN
aiti-808	170	7	,	,	PUNCT
aiti-808	170	8	massage	massage	NOUN
aiti-808	170	9	chair	chair	NOUN
aiti-808	170	10	with	with	ADP
aiti-808	170	11	3d	3d	NUM
aiti-808	170	12	kneading	kneading	NOUN
aiti-808	170	13	,	,	PUNCT
aiti-808	170	14	beating	beat	VERB
aiti-808	170	15	and	and	CCONJ
aiti-808	170	16	pressing	press	VERB
aiti-808	170	17	functions	function	NOUN
aiti-808	170	18	,	,	PUNCT
aiti-808	170	19	roc	roc	PROPN
aiti-808	170	20	patent	patent	NOUN
aiti-808	170	21	,	,	PUNCT
aiti-808	170	22	m518561	m518561	PROPN
aiti-808	170	23	,	,	PUNCT
aiti-808	170	24	march	march	PROPN
aiti-808	170	25	11	11	NUM
aiti-808	170	26	,	,	PUNCT
aiti-808	170	27	2016	2016	NUM
aiti-808	170	28	.	.	PUNCT
aiti-808	171	1	[	[	X
aiti-808	171	2	3	3	X
aiti-808	171	3	]	]	X
aiti-808	171	4	h.	h.	PROPN
aiti-808	171	5	j.	j.	PROPN
aiti-808	171	6	chang	chang	PROPN
aiti-808	171	7	,	,	PUNCT
aiti-808	171	8	improved	improve	VERB
aiti-808	171	9	double	double	ADJ
aiti-808	171	10	drive	drive	NOUN
aiti-808	171	11	system	system	NOUN
aiti-808	171	12	of	of	ADP
aiti-808	171	13	massage	massage	NOUN
aiti-808	171	14	chair	chair	NOUN
aiti-808	171	15	,	,	PUNCT
aiti-808	171	16	roc	roc	PROPN
aiti-808	171	17	patent	patent	NOUN
aiti-808	171	18	,	,	PUNCT
aiti-808	171	19	m289645	m289645	PROPN
aiti-808	171	20	,	,	PUNCT
aiti-808	171	21	april	april	PROPN
aiti-808	171	22	21	21	NUM
aiti-808	171	23	,	,	PUNCT
aiti-808	171	24	2006	2006	NUM
aiti-808	171	25	.	.	PUNCT
aiti-808	172	1	[	[	X
aiti-808	172	2	4	4	X
aiti-808	172	3	]	]	PUNCT
aiti-808	172	4	k.	k.	PROPN
aiti-808	172	5	b.	b.	PROPN
aiti-808	172	6	chen	chen	PROPN
aiti-808	172	7	and	and	CCONJ
aiti-808	172	8	m.	m.	PROPN
aiti-808	172	9	g.	g.	PROPN
aiti-808	172	10	fang	fang	PROPN
aiti-808	172	11	,	,	PUNCT
aiti-808	172	12	massaging	massaging	NOUN
aiti-808	172	13	apparatus	apparatus	NOUN
aiti-808	172	14	for	for	ADP
aiti-808	172	15	massage	massage	NOUN
aiti-808	172	16	chair	chair	NOUN
aiti-808	172	17	,	,	PUNCT
aiti-808	172	18	roc	roc	PROPN
aiti-808	172	19	patent	patent	NOUN
aiti-808	172	20	,	,	PUNCT
aiti-808	172	21	i542341	i542341	PROPN
aiti-808	172	22	,	,	PUNCT
aiti-808	172	23	july	july	PROPN
aiti-808	172	24	21	21	NUM
aiti-808	172	25	,	,	PUNCT
aiti-808	172	26	2016	2016	NUM
aiti-808	172	27	.	.	PUNCT
aiti-808	173	1	[	[	X
aiti-808	173	2	5	5	X
aiti-808	173	3	]	]	PUNCT
aiti-808	173	4	r.	r.	PROPN
aiti-808	173	5	y.	y.	PROPN
aiti-808	173	6	chen	chen	PROPN
aiti-808	173	7	,	,	PUNCT
aiti-808	173	8	massaging	massage	VERB
aiti-808	173	9	apparatus	apparatus	NOUN
aiti-808	173	10	for	for	ADP
aiti-808	173	11	massage	massage	NOUN
aiti-808	173	12	chair	chair	NOUN
aiti-808	173	13	,	,	PUNCT
aiti-808	173	14	roc	roc	PROPN
aiti-808	173	15	patent	patent	NOUN
aiti-808	173	16	,	,	PUNCT
aiti-808	173	17	i547273	i547273	PROPN
aiti-808	173	18	,	,	PUNCT
aiti-808	173	19	september	september	PROPN
aiti-808	173	20	01	01	NUM
aiti-808	173	21	,	,	PUNCT
aiti-808	173	22	2016	2016	NUM
aiti-808	173	23	.	.	PUNCT
aiti-808	174	1	[	[	X
aiti-808	174	2	6	6	NUM
aiti-808	174	3	]	]	PUNCT
aiti-808	174	4	h.	h.	PROPN
aiti-808	174	5	s.	s.	PROPN
aiti-808	174	6	yan	yan	PROPN
aiti-808	174	7	and	and	CCONJ
aiti-808	174	8	l.	l.	PROPN
aiti-808	174	9	c.	c.	PROPN
aiti-808	174	10	hsieh	hsieh	PROPN
aiti-808	174	11	,	,	PUNCT
aiti-808	174	12	“	"	PUNCT
aiti-808	174	13	conceptual	conceptual	ADJ
aiti-808	174	14	design	design	NOUN
aiti-808	174	15	of	of	ADP
aiti-808	174	16	gear	gear	NOUN
aiti-808	174	17	differentials	differential	NOUN
aiti-808	174	18	for	for	ADP
aiti-808	174	19	automotive	automotive	ADJ
aiti-808	174	20	vehicles	vehicle	NOUN
aiti-808	174	21	,	,	PUNCT
aiti-808	174	22	”	"	PUNCT
aiti-808	174	23	journal	journal	NOUN
aiti-808	174	24	of	of	ADP
aiti-808	174	25	mechanical	mechanical	ADJ
aiti-808	174	26	design	design	NOUN
aiti-808	174	27	,	,	PUNCT
aiti-808	174	28	vol	vol	NOUN
aiti-808	174	29	.	.	PROPN
aiti-808	174	30	116	116	NUM
aiti-808	174	31	,	,	PUNCT
aiti-808	174	32	no	no	INTJ
aiti-808	174	33	.	.	NOUN
aiti-808	174	34	2	2	NUM
aiti-808	174	35	,	,	PUNCT
aiti-808	174	36	pp	pp	ADJ
aiti-808	174	37	.	.	PUNCT
aiti-808	175	1	565	565	NUM
aiti-808	175	2	-	-	SYM
aiti-808	175	3	570	570	NUM
aiti-808	175	4	,	,	PUNCT
aiti-808	175	5	1994	1994	NUM
aiti-808	175	6	.	.	PUNCT
aiti-808	176	1	[	[	X
aiti-808	176	2	7	7	X
aiti-808	176	3	]	]	PUNCT
aiti-808	176	4	h.	h.	PROPN
aiti-808	176	5	s.	s.	PROPN
aiti-808	176	6	yan	yan	PROPN
aiti-808	176	7	,	,	PUNCT
aiti-808	176	8	“	"	PUNCT
aiti-808	176	9	creative	creative	ADJ
aiti-808	176	10	design	design	NOUN
aiti-808	176	11	of	of	ADP
aiti-808	176	12	mechanical	mechanical	ADJ
aiti-808	176	13	devices	device	NOUN
aiti-808	176	14	,	,	PUNCT
aiti-808	176	15	”	"	PUNCT
aiti-808	176	16	singapore	singapore	PROPN
aiti-808	176	17	;	;	PUNCT
aiti-808	176	18	new	new	PROPN
aiti-808	176	19	york	york	PROPN
aiti-808	176	20	:	:	PUNCT
aiti-808	176	21	springer	springer	NOUN
aiti-808	176	22	,	,	PUNCT
aiti-808	176	23	1998	1998	NUM
aiti-808	176	24	.	.	PUNCT
aiti-808	177	1	[	[	X
aiti-808	177	2	8	8	X
aiti-808	177	3	]	]	PUNCT
aiti-808	177	4	h.	h.	PROPN
aiti-808	177	5	s.	s.	PROPN
aiti-808	177	6	yan	yan	PROPN
aiti-808	177	7	,	,	PUNCT
aiti-808	177	8	“	"	PUNCT
aiti-808	177	9	a	a	DET
aiti-808	177	10	methodology	methodology	NOUN
aiti-808	177	11	for	for	ADP
aiti-808	177	12	creative	creative	ADJ
aiti-808	177	13	mechanism	mechanism	NOUN
aiti-808	177	14	design	design	NOUN
aiti-808	177	15	,	,	PUNCT
aiti-808	177	16	”	"	PUNCT
aiti-808	177	17	mechanism	mechanism	NOUN
aiti-808	177	18	and	and	CCONJ
aiti-808	177	19	machine	machine	NOUN
aiti-808	177	20	theory	theory	NOUN
aiti-808	177	21	,	,	PUNCT
aiti-808	177	22	vol	vol	NOUN
aiti-808	177	23	.	.	PROPN
aiti-808	177	24	27	27	NUM
aiti-808	177	25	,	,	PUNCT
aiti-808	177	26	no	no	INTJ
aiti-808	177	27	.	.	NOUN
aiti-808	177	28	3	3	NUM
aiti-808	177	29	,	,	PUNCT
aiti-808	177	30	pp	pp	ADJ
aiti-808	177	31	.	.	PUNCT
aiti-808	178	1	235242	235242	NUM
aiti-808	178	2	,	,	PUNCT
aiti-808	178	3	may	may	AUX
aiti-808	178	4	.	.	PUNCT
aiti-808	178	5	1992	1992	NUM
aiti-808	178	6	.	.	PUNCT
aiti-808	179	1	[	[	X
aiti-808	179	2	9	9	NUM
aiti-808	179	3	]	]	SYM
aiti-808	179	4	l.	l.	PROPN
aiti-808	179	5	c.	c.	PROPN
aiti-808	179	6	hsieh	hsieh	PROPN
aiti-808	179	7	and	and	CCONJ
aiti-808	179	8	t.	t.	PROPN
aiti-808	179	9	h.	h.	PROPN
aiti-808	179	10	chen	chen	PROPN
aiti-808	179	11	,	,	PUNCT
aiti-808	179	12	“	"	PUNCT
aiti-808	179	13	the	the	DET
aiti-808	179	14	systematic	systematic	ADJ
aiti-808	179	15	design	design	NOUN
aiti-808	179	16	of	of	ADP
aiti-808	179	17	link	link	NOUN
aiti-808	179	18	-	-	PUNCT
aiti-808	179	19	type	type	NOUN
aiti-808	179	20	optical	optical	ADJ
aiti-808	179	21	fiber	fiber	NOUN
aiti-808	179	22	polisher	polisher	NOUN
aiti-808	179	23	with	with	ADP
aiti-808	179	24	single	single	ADJ
aiti-808	179	25	flat	flat	ADJ
aiti-808	179	26	,	,	PUNCT
aiti-808	179	27	”	"	PUNCT
aiti-808	179	28	journal	journal	NOUN
aiti-808	179	29	of	of	ADP
aiti-808	179	30	advanced	advanced	ADJ
aiti-808	179	31	science	science	NOUN
aiti-808	179	32	letters	letter	NOUN
aiti-808	179	33	,	,	PUNCT
aiti-808	179	34	vol	vol	NOUN
aiti-808	179	35	.	.	PROPN
aiti-808	179	36	9	9	NUM
aiti-808	179	37	,	,	PUNCT
aiti-808	179	38	no	no	INTJ
aiti-808	179	39	.	.	NOUN
aiti-808	179	40	1	1	NUM
aiti-808	179	41	,	,	PUNCT
aiti-808	179	42	pp	pp	ADJ
aiti-808	179	43	.	.	PUNCT
aiti-808	179	44	318	318	NUM
aiti-808	179	45	-	-	SYM
aiti-808	179	46	324	324	NUM
aiti-808	179	47	,	,	PUNCT
aiti-808	179	48	april	april	PROPN
aiti-808	179	49	2012	2012	NUM
aiti-808	179	50	.	.	PUNCT
aiti-808	180	1	[	[	X
aiti-808	180	2	10	10	NUM
aiti-808	180	3	]	]	X
aiti-808	180	4	l.	l.	PROPN
aiti-808	180	5	c.	c.	PROPN
aiti-808	180	6	hsieh	hsieh	PROPN
aiti-808	180	7	,	,	PUNCT
aiti-808	180	8	t.	t.	PROPN
aiti-808	180	9	h.	h.	PROPN
aiti-808	180	10	chen	chen	PROPN
aiti-808	180	11	,	,	PUNCT
aiti-808	180	12	and	and	CCONJ
aiti-808	180	13	s.	s.	PROPN
aiti-808	180	14	j.	j.	PROPN
aiti-808	180	15	wei	wei	PROPN
aiti-808	180	16	,	,	PUNCT
aiti-808	180	17	“	"	PUNCT
aiti-808	180	18	the	the	DET
aiti-808	180	19	innovative	innovative	ADJ
aiti-808	180	20	design	design	NOUN
aiti-808	180	21	of	of	ADP
aiti-808	180	22	wheelchair	wheelchair	NOUN
aiti-808	180	23	with	with	ADP
aiti-808	180	24	lifting	lifting	NOUN
aiti-808	180	25	and	and	CCONJ
aiti-808	180	26	standing	standing	NOUN
aiti-808	180	27	functions	function	NOUN
aiti-808	180	28	,	,	PUNCT
aiti-808	180	29	”	"	PUNCT
aiti-808	180	30	proceeding	proceeding	NOUN
aiti-808	180	31	of	of	ADP
aiti-808	180	32	engineering	engineering	NOUN
aiti-808	180	33	and	and	CCONJ
aiti-808	180	34	technology	technology	NOUN
aiti-808	180	35	innovation	innovation	NOUN
aiti-808	180	36	,	,	PUNCT
aiti-808	180	37	vol	vol	NOUN
aiti-808	180	38	.	.	PROPN
aiti-808	180	39	4	4	NUM
aiti-808	180	40	,	,	PUNCT
aiti-808	180	41	pp	pp	ADJ
aiti-808	180	42	.	.	PUNCT
aiti-808	181	1	10	10	NUM
aiti-808	181	2	-	-	SYM
aiti-808	181	3	12	12	NUM
aiti-808	181	4	,	,	PUNCT
aiti-808	181	5	2016	2016	NUM
aiti-808	181	6	.	.	PUNCT
aiti-808	182	1	[	[	X
aiti-808	182	2	11	11	NUM
aiti-808	182	3	]	]	X
aiti-808	182	4	w.h	w.h	PROPN
aiti-808	182	5	.	.	PROPN
aiti-808	182	6	hsieh	hsieh	PROPN
aiti-808	182	7	and	and	CCONJ
aiti-808	182	8	s.j	s.j	PROPN
aiti-808	182	9	.	.	PROPN
aiti-808	182	10	chen	chen	PROPN
aiti-808	182	11	,	,	PUNCT
aiti-808	182	12	“	"	PUNCT
aiti-808	182	13	innovative	innovative	ADJ
aiti-808	182	14	design	design	NOUN
aiti-808	182	15	of	of	ADP
aiti-808	182	16	cam	cam	NOUN
aiti-808	182	17	-	-	PUNCT
aiti-808	182	18	controlled	control	VERB
aiti-808	182	19	planetary	planetary	ADJ
aiti-808	182	20	gear	gear	NOUN
aiti-808	182	21	trains	train	NOUN
aiti-808	182	22	,	,	PUNCT
aiti-808	182	23	”	"	PUNCT
aiti-808	182	24	international	international	ADJ
aiti-808	182	25	journal	journal	NOUN
aiti-808	182	26	of	of	ADP
aiti-808	182	27	engineering	engineering	NOUN
aiti-808	182	28	and	and	CCONJ
aiti-808	182	29	technology	technology	NOUN
aiti-808	182	30	innovation	innovation	NOUN
aiti-808	182	31	,	,	PUNCT
aiti-808	182	32	vol	vol	NOUN
aiti-808	182	33	.	.	PROPN
aiti-808	182	34	1	1	NUM
aiti-808	182	35	,	,	PUNCT
aiti-808	182	36	no	no	INTJ
aiti-808	182	37	.	.	NOUN
aiti-808	182	38	1	1	NUM
aiti-808	182	39	,	,	PUNCT
aiti-808	182	40	pp	pp	ADJ
aiti-808	182	41	.	.	PUNCT
aiti-808	182	42	01	01	NUM
aiti-808	182	43	-	-	SYM
aiti-808	182	44	11	11	NUM
aiti-808	182	45	,	,	PUNCT
aiti-808	182	46	2011	2011	NUM
aiti-808	182	47	.	.	PUNCT
aiti-808	183	1	copyright	copyright	NOUN
aiti-808	183	2	©	©	PROPN
aiti-808	183	3	by	by	ADP
aiti-808	183	4	the	the	DET
aiti-808	183	5	authors	author	NOUN
aiti-808	183	6	.	.	PUNCT
aiti-808	184	1	licensee	licensee	PROPN
aiti-808	184	2	taeti	taeti	PROPN
aiti-808	184	3	,	,	PUNCT
aiti-808	184	4	taiwan	taiwan	PROPN
aiti-808	184	5	.	.	PUNCT
aiti-808	185	1	this	this	DET
aiti-808	185	2	article	article	NOUN
aiti-808	185	3	is	be	AUX
aiti-808	185	4	an	an	DET
aiti-808	185	5	open	open	ADJ
aiti-808	185	6	access	access	NOUN
aiti-808	185	7	article	article	NOUN
aiti-808	185	8	distributed	distribute	VERB
aiti-808	185	9	under	under	ADP
aiti-808	185	10	the	the	DET
aiti-808	185	11	terms	term	NOUN
aiti-808	185	12	and	and	CCONJ
aiti-808	185	13	conditions	condition	NOUN
aiti-808	185	14	of	of	ADP
aiti-808	185	15	the	the	DET
aiti-808	185	16	creative	creative	ADJ
aiti-808	185	17	commons	common	NOUN
aiti-808	185	18	attribution	attribution	NOUN
aiti-808	185	19	(	(	PUNCT
aiti-808	185	20	cc	cc	NOUN
aiti-808	185	21	by	by	ADP
aiti-808	185	22	-	-	PUNCT
aiti-808	185	23	nc	nc	NOUN
aiti-808	185	24	)	)	PUNCT
aiti-808	185	25	license	license	NOUN
aiti-808	185	26	(	(	PUNCT
aiti-808	185	27	https://creativecommons.org/licenses/by-nc/4.0/	https://creativecommons.org/licenses/by-nc/4.0/	NOUN
aiti-808	185	28	)	)	PUNCT
aiti-808	185	29	.	.	PUNCT