id	sid	tid	token	lemma	pos
alkej-284	1	1	6172	6172	NUM
alkej-284	1	2	al	al	PROPN
alkej-284	1	3	-	-	PUNCT
alkej-284	1	4	khwarizmi	khwarizmi	PROPN
alkej-284	1	5	engineering	engineering	NOUN
alkej-284	1	6	journal	journal	NOUN
alkej-284	1	7	,	,	PUNCT
alkej-284	1	8	vol	vol	NOUN
alkej-284	1	9	.	.	NOUN
alkej-284	1	10	1	1	NUM
alkej-284	1	11	ant	ant	ADJ
alkej-284	1	12	colony	colony	NOUN
alkej-284	1	13	optimization	optimization	NOUN
alkej-284	1	14	based	base	VERB
alkej-284	1	15	force	force	NOUN
alkej-284	1	16	lower	low	ADJ
alkej-284	1	17	limb	limb	NOUN
alkej-284	1	18	mohammed	mohammed	PROPN
alkej-284	1	19	y.	y.	PROPN
alkej-284	1	20	hassan	hassan	PROPN
alkej-284	1	21	*	*	PUNCT
alkej-284	1	22	,	,	PUNCT
alkej-284	1	23	*	*	PUNCT
alkej-284	1	24	*	*	PROPN
alkej-284	1	25	department	department	PROPN
alkej-284	1	26	of	of	ADP
alkej-284	1	27	*	*	PROPN
alkej-284	1	28	email	email	NOUN
alkej-284	1	29	:	:	PUNCT
alkej-284	1	30	(	(	PUNCT
alkej-284	1	31	received	receive	VERB
alkej-284	1	32	abstract	abstract	ADV
alkej-284	1	33	the	the	DET
alkej-284	1	34	aim	aim	NOUN
alkej-284	1	35	of	of	ADP
alkej-284	1	36	human	human	ADJ
alkej-284	1	37	lower	low	ADJ
alkej-284	1	38	limb	limb	NOUN
alkej-284	1	39	rehabilitation	rehabilitation	NOUN
alkej-284	1	40	robot	robot	NOUN
alkej-284	1	41	is	be	AUX
alkej-284	1	42	to	to	ADP
alkej-284	1	43	muscles	muscle	NOUN
alkej-284	1	44	.	.	PUNCT
alkej-284	2	1	this	this	DET
alkej-284	2	2	paper	paper	NOUN
alkej-284	2	3	proposes	propose	VERB
alkej-284	2	4	the	the	DET
alkej-284	2	5	design	design	NOUN
alkej-284	2	6	wearable	wearable	ADJ
alkej-284	2	7	rehabilitation	rehabilitation	NOUN
alkej-284	2	8	robot	robot	NOUN
alkej-284	2	9	.	.	PUNCT
alkej-284	3	1	this	this	DET
alkej-284	3	2	robot	robot	NOUN
alkej-284	3	3	consists	consist	VERB
alkej-284	3	4	of	of	ADP
alkej-284	3	5	a	a	DET
alkej-284	3	6	hip	hip	NOUN
alkej-284	3	7	,	,	PUNCT
alkej-284	3	8	knee	knee	NOUN
alkej-284	3	9	and	and	CCONJ
alkej-284	3	10	ankle	ankle	NOUN
alkej-284	3	11	joints	joint	NOUN
alkej-284	3	12	to	to	PART
alkej-284	3	13	enable	enable	VERB
alkej-284	3	14	the	the	DET
alkej-284	3	15	patient	patient	NOUN
alkej-284	3	16	for	for	ADP
alkej-284	3	17	motion	motion	NOUN
alkej-284	3	18	and	and	CCONJ
alkej-284	3	19	turn	turn	VERB
alkej-284	3	20	in	in	ADP
alkej-284	3	21	both	both	DET
alkej-284	3	22	directions	direction	NOUN
alkej-284	3	23	.	.	PUNCT
alkej-284	4	1	the	the	DET
alkej-284	4	2	joints	joint	NOUN
alkej-284	4	3	are	be	AUX
alkej-284	4	4	actuated	actuate	VERB
alkej-284	4	5	by	by	ADP
alkej-284	4	6	pneumatic	pneumatic	ADJ
alkej-284	4	7	muscles	muscle	NOUN
alkej-284	4	8	actuators	actuator	NOUN
alkej-284	4	9	(	(	PUNCT
alkej-284	4	10	pmas	pmas	PROPN
alkej-284	4	11	)	)	PUNCT
alkej-284	4	12	.	.	PUNCT
alkej-284	5	1	the	the	DET
alkej-284	5	2	pmas	pma	NOUN
alkej-284	5	3	have	have	VERB
alkej-284	5	4	very	very	ADV
alkej-284	5	5	great	great	ADJ
alkej-284	5	6	potential	potential	NOUN
alkej-284	5	7	in	in	ADP
alkej-284	5	8	medical	medical	ADJ
alkej-284	5	9	applications	application	NOUN
alkej-284	5	10	because	because	SCONJ
alkej-284	5	11	the	the	DET
alkej-284	5	12	similarity	similarity	NOUN
alkej-284	5	13	to	to	ADP
alkej-284	5	14	biological	biological	ADJ
alkej-284	5	15	muscles	muscle	NOUN
alkej-284	5	16	.	.	PUNCT
alkej-284	6	1	takagi	takagi	NOUN
alkej-284	6	2	-	-	PUNCT
alkej-284	6	3	sugeno	sugeno	NOUN
alkej-284	6	4	-	-	PUNCT
alkej-284	6	5	kangthreeproportional	kangthreeproportional	ADJ
alkej-284	6	6	three	three	NUM
alkej-284	6	7	-	-	PUNCT
alkej-284	6	8	proportional	proportional	ADJ
alkej-284	6	9	(	(	PUNCT
alkej-284	6	10	3	3	NUM
alkej-284	6	11	-	-	SYM
alkej-284	6	12	p	p	NOUN
alkej-284	6	13	)	)	PUNCT
alkej-284	6	14	controllers	controller	NOUN
alkej-284	6	15	for	for	ADP
alkej-284	6	16	force	force	NOUN
alkej-284	6	17	control	control	NOUN
alkej-284	6	18	.	.	PUNCT
alkej-284	7	1	they	they	PRON
alkej-284	7	2	are	be	AUX
alkej-284	7	3	designed	design	VERB
alkej-284	7	4	and	and	CCONJ
alkej-284	7	5	simulated	simulate	VERB
alkej-284	7	6	to	to	PART
alkej-284	7	7	improve	improve	VERB
alkej-284	7	8	the	the	DET
alkej-284	7	9	desired	desire	VERB
alkej-284	7	10	joints	joint	NOUN
alkej-284	7	11	position	position	NOUN
alkej-284	7	12	specifications	specification	NOUN
alkej-284	7	13	such	such	ADJ
alkej-284	7	14	as	as	ADP
alkej-284	7	15	minimum	minimum	ADJ
alkej-284	7	16	overshoot	overshoot	NOUN
alkej-284	7	17	,	,	PUNCT
alkej-284	7	18	rejection	rejection	NOUN
alkej-284	7	19	during	during	ADP
alkej-284	7	20	tracking	track	VERB
alkej-284	7	21	the	the	DET
alkej-284	7	22	desired	desire	VERB
alkej-284	7	23	position	position	NOUN
alkej-284	7	24	medical	medical	ADJ
alkej-284	7	25	trajectory	trajectory	NOUN
alkej-284	7	26	.	.	PUNCT
alkej-284	8	1	gains	gain	NOUN
alkej-284	8	2	of	of	ADP
alkej-284	8	3	position	position	NOUN
alkej-284	8	4	and	and	CCONJ
alkej-284	8	5	force	force	NOUN
alkej-284	8	6	parts	part	NOUN
alkej-284	8	7	of	of	ADP
alkej-284	8	8	the	the	DET
alkej-284	8	9	force	force	NOUN
alkej-284	8	10	required	require	VERB
alkej-284	8	11	specification	specification	NOUN
alkej-284	8	12	.	.	PUNCT
alkej-284	9	1	a	a	DET
alkej-284	9	2	comparison	comparison	NOUN
alkej-284	9	3	between	between	ADP
alkej-284	9	4	the	the	DET
alkej-284	9	5	force	force	NOUN
alkej-284	9	6	an	an	DET
alkej-284	9	7	enhancement	enhancement	NOUN
alkej-284	9	8	in	in	ADP
alkej-284	9	9	the	the	DET
alkej-284	9	10	results	result	NOUN
alkej-284	9	11	of	of	ADP
alkej-284	9	12	the	the	DET
alkej-284	9	13	second	second	ADJ
alkej-284	9	14	type	type	NOUN
alkej-284	9	15	as	as	ADP
alkej-284	9	16	compared	compare	VERB
alkej-284	9	17	with	with	ADP
alkej-284	9	18	the	the	DET
alkej-284	9	19	first	first	ADJ
alkej-284	9	20	one	one	NUM
alkej-284	9	21	keywords	keyword	NOUN
alkej-284	9	22	:	:	PUNCT
alkej-284	9	23	rehabilitation	rehabilitation	NOUN
alkej-284	9	24	robot	robot	NOUN
alkej-284	9	25	,	,	PUNCT
alkej-284	9	26	force	force	NOUN
alkej-284	9	27	1	1	NUM
alkej-284	9	28	.	.	PUNCT
alkej-284	10	1	introduction	introduction	NOUN
alkej-284	10	2	damage	damage	NOUN
alkej-284	10	3	of	of	ADP
alkej-284	10	4	the	the	DET
alkej-284	10	5	central	central	ADJ
alkej-284	10	6	nervous	nervous	ADJ
alkej-284	10	7	system	system	NOUN
alkej-284	10	8	or	or	CCONJ
alkej-284	10	9	spinal	spinal	ADJ
alkej-284	10	10	cord	cord	NOUN
alkej-284	10	11	injuries	injury	NOUN
alkej-284	10	12	may	may	AUX
alkej-284	10	13	result	result	VERB
alkej-284	10	14	in	in	ADP
alkej-284	10	15	such	such	DET
alkej-284	10	16	a	a	DET
alkej-284	10	17	loss	loss	NOUN
alkej-284	10	18	of	of	ADP
alkej-284	10	19	lower	low	ADJ
alkej-284	10	20	limb	limb	NOUN
alkej-284	10	21	motor	motor	NOUN
alkej-284	10	22	functions	function	NOUN
alkej-284	10	23	.	.	PUNCT
alkej-284	11	1	the	the	DET
alkej-284	11	2	physical	physical	ADJ
alkej-284	11	3	therapy	therapy	NOUN
alkej-284	11	4	and	and	CCONJ
alkej-284	11	5	rehabilitation	rehabilitation	NOUN
alkej-284	11	6	programs	program	NOUN
alkej-284	11	7	are	be	AUX
alkej-284	11	8	applied	apply	VERB
alkej-284	11	9	to	to	ADP
alkej-284	11	10	people	people	NOUN
alkej-284	11	11	with	with	ADP
alkej-284	11	12	disability	disability	NOUN
alkej-284	11	13	to	to	PART
alkej-284	11	14	increase	increase	VERB
alkej-284	11	15	their	their	PRON
alkej-284	11	16	joint	joint	ADJ
alkej-284	11	17	range	range	NOUN
alkej-284	11	18	,	,	PUNCT
alkej-284	11	19	strength	strength	NOUN
alkej-284	11	20	,	,	PUNCT
alkej-284	11	21	power	power	NOUN
alkej-284	11	22	,	,	PUNCT
alkej-284	11	23	flexibility	flexibility	NOUN
alkej-284	11	24	,	,	PUNCT
alkej-284	11	25	and	and	CCONJ
alkej-284	11	26	coordination	coordination	NOUN
alkej-284	11	27	[	[	X
alkej-284	11	28	1	1	NUM
alkej-284	11	29	]	]	PUNCT
alkej-284	11	30	.	.	PUNCT
alkej-284	12	1	one	one	NUM
alkej-284	12	2	type	type	NOUN
alkej-284	12	3	of	of	ADP
alkej-284	12	4	rehabilitation	rehabilitation	NOUN
alkej-284	12	5	robots	robot	NOUN
alkej-284	12	6	is	be	AUX
alkej-284	12	7	exoskeleton	exoskeleton	ADJ
alkej-284	12	8	robot	robot	NOUN
alkej-284	12	9	:	:	PUNCT
alkej-284	12	10	“	"	PUNCT
alkej-284	12	11	exoskeletons	exoskeleton	NOUN
alkej-284	12	12	are	be	AUX
alkej-284	12	13	,	,	PUNCT
alkej-284	12	14	in	in	ADP
alkej-284	12	15	general	general	ADJ
alkej-284	12	16	,	,	PUNCT
alkej-284	12	17	structures	structure	NOUN
alkej-284	12	18	of	of	ADP
alkej-284	12	19	rigid	rigid	ADJ
alkej-284	12	20	links	link	NOUN
alkej-284	12	21	,	,	PUNCT
alkej-284	12	22	mounted	mount	VERB
alkej-284	12	23	on	on	ADP
alkej-284	12	24	the	the	DET
alkej-284	12	25	body	body	NOUN
alkej-284	12	26	of	of	ADP
alkej-284	12	27	some	some	DET
alkej-284	12	28	living	living	NOUN
alkej-284	12	29	vertebrae	vertebrae	NOUN
alkej-284	12	30	and	and	CCONJ
alkej-284	12	31	following	follow	VERB
alkej-284	12	32	the	the	DET
alkej-284	12	33	main	main	ADJ
alkej-284	12	34	directions	direction	NOUN
alkej-284	12	35	and	and	CCONJ
alkej-284	12	36	having	have	VERB
alkej-284	12	37	the	the	DET
alkej-284	12	38	main	main	ADJ
alkej-284	12	39	joints	joint	NOUN
alkej-284	12	40	of	of	ADP
alkej-284	12	41	the	the	DET
alkej-284	12	42	living	live	VERB
alkej-284	12	43	organism	organism	NOUN
alkej-284	12	44	’s	’s	PART
alkej-284	12	45	endoskeleton	endoskeleton	NOUN
alkej-284	12	46	”	"	PUNCT
alkej-284	12	47	[	[	X
alkej-284	12	48	2	2	NUM
alkej-284	12	49	]	]	PUNCT
alkej-284	12	50	.	.	PUNCT
alkej-284	13	1	in	in	ADP
alkej-284	13	2	recent	recent	ADJ
alkej-284	13	3	years	year	NOUN
alkej-284	13	4	,	,	PUNCT
alkej-284	13	5	researches	research	VERB
alkej-284	13	6	on	on	ADP
alkej-284	13	7	rehabilitation	rehabilitation	NOUN
alkej-284	13	8	robot	robot	NOUN
alkej-284	13	9	have	have	AUX
alkej-284	13	10	become	become	VERB
alkej-284	13	11	an	an	DET
alkej-284	13	12	important	important	ADJ
alkej-284	13	13	topic	topic	NOUN
alkej-284	13	14	.	.	PUNCT
alkej-284	14	1	there	there	PRON
alkej-284	14	2	are	be	VERB
alkej-284	14	3	several	several	ADJ
alkej-284	14	4	researches	research	NOUN
alkej-284	14	5	deal	deal	VERB
alkej-284	14	6	with	with	ADP
alkej-284	14	7	this	this	DET
alkej-284	14	8	field	field	NOUN
alkej-284	14	9	such	such	ADJ
alkej-284	14	10	as	as	ADP
alkej-284	14	11	ollinger	ollinger	NOUN
alkej-284	14	12	.	.	PUNCT
alkej-284	15	1	et	et	PROPN
alkej-284	15	2	al	al	PROPN
alkej-284	15	3	.	.	PUNCT
alkej-284	16	1	[	[	X
alkej-284	16	2	3	3	X
alkej-284	16	3	]	]	PUNCT
alkej-284	16	4	in	in	ADP
alkej-284	16	5	2007	2007	NUM
alkej-284	16	6	that	that	PRON
alkej-284	16	7	propose	propose	VERB
alkej-284	16	8	for	for	ADP
alkej-284	16	9	knee	knee	NOUN
alkej-284	16	10	joint	joint	NOUN
alkej-284	16	11	actuated	actuate	VERB
alkej-284	16	12	by	by	ADP
alkej-284	16	13	electric	electric	ADJ
alkej-284	16	14	motor	motor	NOUN
alkej-284	16	15	controlled	control	VERB
alkej-284	16	16	by	by	ADP
alkej-284	16	17	proportional	proportional	ADJ
alkej-284	16	18	-	-	PUNCT
alkej-284	16	19	integral	integral	ADJ
alkej-284	16	20	(	(	PUNCT
alkej-284	16	21	pid	pid	NOUN
alkej-284	16	22	)	)	PUNCT
alkej-284	16	23	controller	controller	NOUN
alkej-284	16	24	.	.	PUNCT
alkej-284	17	1	also	also	ADV
alkej-284	17	2	,	,	PUNCT
alkej-284	17	3	akdoğan	akdoğan	NOUN
alkej-284	17	4	and	and	CCONJ
alkej-284	17	5	khwarizmi	khwarizmi	PROPN
alkej-284	17	6	engineering	engineering	PROPN
alkej-284	17	7	journal	journal	PROPN
alkej-284	17	8	,	,	PUNCT
alkej-284	17	9	vol	vol	NOUN
alkej-284	17	10	.	.	PROPN
alkej-284	17	11	12	12	NUM
alkej-284	17	12	,	,	PUNCT
alkej-284	17	13	no	no	INTJ
alkej-284	17	14	.	.	NOUN
alkej-284	17	15	1	1	NUM
alkej-284	17	16	,	,	PUNCT
alkej-284	17	17	p.p	p.p	PROPN
alkej-284	17	18	.	.	NOUN
alkej-284	17	19	6172	6172	NUM
alkej-284	17	20	(	(	PUNCT
alkej-284	17	21	201	201	NUM
alkej-284	17	22	ant	ant	ADJ
alkej-284	17	23	colony	colony	NOUN
alkej-284	17	24	optimization	optimization	NOUN
alkej-284	17	25	based	base	VERB
alkej-284	17	26	force	force	NOUN
alkej-284	17	27	-	-	PUNCT
alkej-284	17	28	position	position	NOUN
alkej-284	17	29	control	control	NOUN
alkej-284	17	30	for	for	ADP
alkej-284	17	31	human	human	ADJ
alkej-284	17	32	lower	low	ADJ
alkej-284	17	33	limb	limb	NOUN
alkej-284	17	34	rehabilitation	rehabilitation	NOUN
alkej-284	17	35	robot	robot	NOUN
alkej-284	17	36	mohammed	mohammed	PROPN
alkej-284	17	37	y.	y.	PROPN
alkej-284	17	38	hassan	hassan	PROPN
alkej-284	17	39	*	*	PROPN
alkej-284	18	1	shahad	shahad	PROPN
alkej-284	18	2	s.	s.	PROPN
alkej-284	18	3	ghintab	ghintab	PROPN
alkej-284	18	4	of	of	ADP
alkej-284	18	5	control	control	NOUN
alkej-284	18	6	and	and	CCONJ
alkej-284	18	7	systems	system	NOUN
alkej-284	18	8	engineering/	engineering/	NUM
alkej-284	18	9	university	university	NOUN
alkej-284	18	10	of	of	ADP
alkej-284	18	11	technology	technology	NOUN
alkej-284	18	12	*	*	NOUN
alkej-284	18	13	email	email	NOUN
alkej-284	18	14	:	:	PUNCT
alkej-284	18	15	dr.m.hassan@uotechnology.edu.iq	dr.m.hassan@uotechnology.edu.iq	PROPN
alkej-284	18	16	*	*	PROPN
alkej-284	18	17	*	*	NOUN
alkej-284	18	18	email	email	NOUN
alkej-284	18	19	:	:	PUNCT
alkej-284	18	20	ssswnh5@yahoo.com	ssswnh5@yahoo.com	X
alkej-284	18	21	(	(	PUNCT
alkej-284	18	22	received	receive	VERB
alkej-284	18	23	6	6	NUM
alkej-284	18	24	april	april	PROPN
alkej-284	18	25	2015	2015	NUM
alkej-284	18	26	;	;	PUNCT
alkej-284	18	27	accepted	accept	VERB
alkej-284	18	28	12	12	NUM
alkej-284	18	29	september	september	PROPN
alkej-284	18	30	2015	2015	NUM
alkej-284	18	31	)	)	PUNCT
alkej-284	18	32	the	the	DET
alkej-284	18	33	aim	aim	NOUN
alkej-284	18	34	of	of	ADP
alkej-284	18	35	human	human	ADJ
alkej-284	18	36	lower	low	ADJ
alkej-284	18	37	limb	limb	NOUN
alkej-284	18	38	rehabilitation	rehabilitation	NOUN
alkej-284	18	39	robot	robot	NOUN
alkej-284	18	40	is	be	AUX
alkej-284	18	41	to	to	PART
alkej-284	18	42	regain	regain	VERB
alkej-284	18	43	the	the	DET
alkej-284	18	44	ability	ability	NOUN
alkej-284	18	45	of	of	ADP
alkej-284	18	46	motion	motion	NOUN
alkej-284	18	47	and	and	CCONJ
alkej-284	18	48	to	to	PART
alkej-284	18	49	strengthen	strengthen	VERB
alkej-284	18	50	the	the	DET
alkej-284	18	51	weak	weak	ADJ
alkej-284	18	52	this	this	DET
alkej-284	18	53	paper	paper	NOUN
alkej-284	18	54	proposes	propose	VERB
alkej-284	18	55	the	the	DET
alkej-284	18	56	design	design	NOUN
alkej-284	18	57	of	of	ADP
alkej-284	18	58	a	a	DET
alkej-284	18	59	force	force	NOUN
alkej-284	18	60	-	-	PUNCT
alkej-284	18	61	position	position	NOUN
alkej-284	18	62	control	control	NOUN
alkej-284	18	63	for	for	ADP
alkej-284	18	64	a	a	DET
alkej-284	18	65	four	four	NUM
alkej-284	18	66	degree	degree	NOUN
alkej-284	18	67	of	of	ADP
alkej-284	18	68	freedom	freedom	NOUN
alkej-284	18	69	(	(	PUNCT
alkej-284	18	70	4	4	NUM
alkej-284	18	71	wearable	wearable	ADJ
alkej-284	18	72	rehabilitation	rehabilitation	NOUN
alkej-284	18	73	robot	robot	NOUN
alkej-284	18	74	.	.	PUNCT
alkej-284	19	1	this	this	DET
alkej-284	19	2	robot	robot	NOUN
alkej-284	19	3	consists	consist	VERB
alkej-284	19	4	of	of	ADP
alkej-284	19	5	a	a	DET
alkej-284	19	6	hip	hip	NOUN
alkej-284	19	7	,	,	PUNCT
alkej-284	19	8	knee	knee	NOUN
alkej-284	19	9	and	and	CCONJ
alkej-284	19	10	ankle	ankle	NOUN
alkej-284	19	11	joints	joint	NOUN
alkej-284	19	12	to	to	PART
alkej-284	19	13	enable	enable	VERB
alkej-284	19	14	the	the	DET
alkej-284	19	15	patient	patient	NOUN
alkej-284	19	16	for	for	ADP
alkej-284	19	17	motion	motion	NOUN
alkej-284	19	18	and	and	CCONJ
alkej-284	19	19	joints	joint	NOUN
alkej-284	19	20	are	be	AUX
alkej-284	19	21	actuated	actuate	VERB
alkej-284	19	22	by	by	ADP
alkej-284	19	23	pneumatic	pneumatic	ADJ
alkej-284	19	24	muscles	muscle	NOUN
alkej-284	19	25	actuators	actuator	NOUN
alkej-284	19	26	(	(	PUNCT
alkej-284	19	27	pmas	pmas	PROPN
alkej-284	19	28	)	)	PUNCT
alkej-284	19	29	.	.	PUNCT
alkej-284	20	1	the	the	DET
alkej-284	20	2	pmas	pma	NOUN
alkej-284	20	3	have	have	VERB
alkej-284	20	4	very	very	ADV
alkej-284	20	5	great	great	ADJ
alkej-284	20	6	potential	potential	NOUN
alkej-284	20	7	in	in	ADP
alkej-284	20	8	medical	medical	ADJ
alkej-284	20	9	applications	application	NOUN
alkej-284	20	10	because	because	SCONJ
alkej-284	20	11	the	the	DET
alkej-284	20	12	similarity	similarity	NOUN
alkej-284	20	13	to	to	ADP
alkej-284	20	14	biological	biological	ADJ
alkej-284	20	15	muscles	muscle	NOUN
alkej-284	20	16	.	.	PUNCT
alkej-284	21	1	force	force	NOUN
alkej-284	21	2	-	-	PUNCT
alkej-284	21	3	position	position	NOUN
alkej-284	21	4	control	control	NOUN
alkej-284	21	5	incorporating	incorporate	VERB
alkej-284	21	6	a	a	DET
alkej-284	21	7	proportional	proportional	ADJ
alkej-284	21	8	-	-	PUNCT
alkej-284	21	9	derivative	derivative	ADJ
alkej-284	21	10	like	like	ADP
alkej-284	21	11	fuzzy	fuzzy	ADJ
alkej-284	21	12	logic	logic	NOUN
alkej-284	21	13	(	(	PUNCT
alkej-284	21	14	tsk-3	tsk-3	NOUN
alkej-284	21	15	-	-	PUNCT
alkej-284	21	16	pd	pd	NOUN
alkej-284	21	17	)	)	PUNCT
alkej-284	21	18	controllers	controller	NOUN
alkej-284	21	19	for	for	ADP
alkej-284	21	20	position	position	NOUN
alkej-284	21	21	control	control	NOUN
alkej-284	21	22	and	and	CCONJ
alkej-284	21	23	p	p	NOUN
alkej-284	21	24	)	)	PUNCT
alkej-284	21	25	controllers	controller	NOUN
alkej-284	21	26	for	for	ADP
alkej-284	21	27	force	force	NOUN
alkej-284	21	28	control	control	NOUN
alkej-284	21	29	.	.	PUNCT
alkej-284	22	1	they	they	PRON
alkej-284	22	2	are	be	AUX
alkej-284	22	3	designed	design	VERB
alkej-284	22	4	and	and	CCONJ
alkej-284	22	5	simulated	simulate	VERB
alkej-284	22	6	to	to	PART
alkej-284	22	7	improve	improve	VERB
alkej-284	22	8	the	the	DET
alkej-284	22	9	desired	desire	VERB
alkej-284	22	10	joints	joint	NOUN
alkej-284	22	11	as	as	ADP
alkej-284	22	12	minimum	minimum	ADJ
alkej-284	22	13	overshoot	overshoot	NOUN
alkej-284	22	14	,	,	PUNCT
alkej-284	22	15	minimum	minimum	ADJ
alkej-284	22	16	oscillation	oscillation	NOUN
alkej-284	22	17	,	,	PUNCT
alkej-284	22	18	minimum	minimum	ADJ
alkej-284	22	19	steady	steady	ADJ
alkej-284	22	20	state	state	NOUN
alkej-284	22	21	error	error	NOUN
alkej-284	22	22	ed	ed	NOUN
alkej-284	22	23	position	position	NOUN
alkej-284	22	24	medical	medical	ADJ
alkej-284	22	25	trajectory	trajectory	NOUN
alkej-284	22	26	.	.	PUNCT
alkej-284	23	1	ant	ant	ADJ
alkej-284	23	2	colony	colony	NOUN
alkej-284	23	3	optimization	optimization	NOUN
alkej-284	23	4	(	(	PUNCT
alkej-284	23	5	aco	aco	PROPN
alkej-284	23	6	)	)	PUNCT
alkej-284	23	7	is	be	AUX
alkej-284	23	8	used	use	VERB
alkej-284	23	9	to	to	PART
alkej-284	23	10	tune	tune	VERB
alkej-284	23	11	the	the	DET
alkej-284	23	12	gains	gain	NOUN
alkej-284	23	13	of	of	ADP
alkej-284	23	14	position	position	NOUN
alkej-284	23	15	and	and	CCONJ
alkej-284	23	16	force	force	NOUN
alkej-284	23	17	parts	part	NOUN
alkej-284	23	18	of	of	ADP
alkej-284	23	19	the	the	DET
alkej-284	23	20	force	force	NOUN
alkej-284	23	21	-	-	PUNCT
alkej-284	23	22	position	position	NOUN
alkej-284	23	23	controllers	controller	NOUN
alkej-284	23	24	to	to	PART
alkej-284	23	25	get	get	VERB
alkej-284	23	26	the	the	DET
alkej-284	23	27	desired	desire	VERB
alkej-284	23	28	position	position	NOUN
alkej-284	23	29	tr	tr	VERB
alkej-284	23	30	a	a	DET
alkej-284	23	31	comparison	comparison	NOUN
alkej-284	23	32	between	between	ADP
alkej-284	23	33	the	the	DET
alkej-284	23	34	force	force	NOUN
alkej-284	23	35	-	-	PUNCT
alkej-284	23	36	position	position	NOUN
alkej-284	23	37	controllers	controller	NOUN
alkej-284	23	38	tuned	tune	VERB
alkej-284	23	39	manually	manually	ADV
alkej-284	23	40	and	and	CCONJ
alkej-284	23	41	tuned	tune	VERB
alkej-284	23	42	by	by	ADP
alkej-284	23	43	f	f	PROPN
alkej-284	23	44	the	the	DET
alkej-284	23	45	second	second	ADJ
alkej-284	23	46	type	type	NOUN
alkej-284	23	47	as	as	SCONJ
alkej-284	23	48	compared	compare	VERB
alkej-284	23	49	with	with	ADP
alkej-284	23	50	the	the	DET
alkej-284	23	51	first	first	ADJ
alkej-284	23	52	one	one	NUM
alkej-284	23	53	with	with	ADP
alkej-284	23	54	an	an	DET
alkej-284	23	55	average	average	NOUN
alkej-284	23	56	of	of	ADP
alkej-284	23	57	39	39	NUM
alkej-284	23	58	%	%	NOUN
alkej-284	23	59	.	.	PUNCT
alkej-284	24	1	-position	-position	PROPN
alkej-284	24	2	control	control	NOUN
alkej-284	24	3	,	,	PUNCT
alkej-284	24	4	lower	low	ADJ
alkej-284	24	5	limb	limb	NOUN
alkej-284	24	6	,	,	PUNCT
alkej-284	24	7	ant	ant	ADJ
alkej-284	24	8	colony	colony	NOUN
alkej-284	24	9	optimization	optimization	NOUN
alkej-284	24	10	.	.	PUNCT
alkej-284	25	1	the	the	DET
alkej-284	25	2	central	central	ADJ
alkej-284	25	3	nervous	nervous	ADJ
alkej-284	25	4	system	system	NOUN
alkej-284	25	5	or	or	CCONJ
alkej-284	25	6	spinal	spinal	ADJ
alkej-284	25	7	cord	cord	NOUN
alkej-284	25	8	injuries	injury	NOUN
alkej-284	25	9	may	may	AUX
alkej-284	25	10	result	result	VERB
alkej-284	25	11	in	in	ADP
alkej-284	25	12	such	such	DET
alkej-284	25	13	a	a	DET
alkej-284	25	14	loss	loss	NOUN
alkej-284	25	15	of	of	ADP
alkej-284	25	16	lower	low	ADJ
alkej-284	25	17	limb	limb	NOUN
alkej-284	25	18	motor	motor	NOUN
alkej-284	25	19	functions	function	NOUN
alkej-284	25	20	.	.	PUNCT
alkej-284	26	1	the	the	DET
alkej-284	26	2	physical	physical	ADJ
alkej-284	26	3	therapy	therapy	NOUN
alkej-284	26	4	and	and	CCONJ
alkej-284	26	5	rehabilitation	rehabilitation	NOUN
alkej-284	26	6	programs	program	NOUN
alkej-284	26	7	are	be	AUX
alkej-284	26	8	applied	apply	VERB
alkej-284	26	9	to	to	ADP
alkej-284	26	10	people	people	NOUN
alkej-284	26	11	with	with	ADP
alkej-284	26	12	disability	disability	NOUN
alkej-284	26	13	to	to	PART
alkej-284	26	14	increase	increase	VERB
alkej-284	26	15	their	their	PRON
alkej-284	26	16	joint	joint	ADJ
alkej-284	26	17	range	range	NOUN
alkej-284	26	18	,	,	PUNCT
alkej-284	26	19	strength	strength	NOUN
alkej-284	26	20	,	,	PUNCT
alkej-284	26	21	power	power	NOUN
alkej-284	26	22	,	,	PUNCT
alkej-284	26	23	flexibility	flexibility	NOUN
alkej-284	26	24	,	,	PUNCT
alkej-284	26	25	and	and	CCONJ
alkej-284	26	26	coordination	coordination	NOUN
alkej-284	26	27	[	[	X
alkej-284	26	28	1	1	NUM
alkej-284	26	29	]	]	PUNCT
alkej-284	26	30	.	.	PUNCT
alkej-284	27	1	one	one	NUM
alkej-284	27	2	type	type	NOUN
alkej-284	27	3	of	of	ADP
alkej-284	27	4	rehabilitation	rehabilitation	NOUN
alkej-284	27	5	robots	robot	NOUN
alkej-284	27	6	is	be	AUX
alkej-284	27	7	exoskeleton	exoskeleton	ADJ
alkej-284	27	8	xoskeletons	xoskeleton	NOUN
alkej-284	27	9	are	be	AUX
alkej-284	27	10	,	,	PUNCT
alkej-284	27	11	in	in	ADP
alkej-284	27	12	general	general	ADJ
alkej-284	27	13	,	,	PUNCT
alkej-284	27	14	structures	structure	NOUN
alkej-284	27	15	of	of	ADP
alkej-284	27	16	rigid	rigid	ADJ
alkej-284	27	17	links	link	NOUN
alkej-284	27	18	,	,	PUNCT
alkej-284	27	19	mounted	mount	VERB
alkej-284	27	20	on	on	ADP
alkej-284	27	21	the	the	DET
alkej-284	27	22	body	body	NOUN
alkej-284	27	23	of	of	ADP
alkej-284	27	24	some	some	DET
alkej-284	27	25	living	living	NOUN
alkej-284	27	26	vertebrae	vertebrae	NOUN
alkej-284	27	27	and	and	CCONJ
alkej-284	27	28	following	follow	VERB
alkej-284	27	29	the	the	DET
alkej-284	27	30	main	main	ADJ
alkej-284	27	31	directions	direction	NOUN
alkej-284	27	32	and	and	CCONJ
alkej-284	27	33	having	have	VERB
alkej-284	27	34	the	the	DET
alkej-284	27	35	main	main	ADJ
alkej-284	27	36	joints	joint	NOUN
alkej-284	27	37	of	of	ADP
alkej-284	27	38	the	the	DET
alkej-284	27	39	living	live	VERB
alkej-284	27	40	organism	organism	NOUN
alkej-284	27	41	’s	’	VERB
alkej-284	27	42	in	in	ADP
alkej-284	27	43	recent	recent	ADJ
alkej-284	27	44	years	year	NOUN
alkej-284	27	45	,	,	PUNCT
alkej-284	27	46	researches	research	VERB
alkej-284	27	47	on	on	ADP
alkej-284	27	48	rehabilitation	rehabilitation	NOUN
alkej-284	27	49	ortant	ortant	ADJ
alkej-284	27	50	topic	topic	NOUN
alkej-284	27	51	.	.	PUNCT
alkej-284	28	1	there	there	PRON
alkej-284	28	2	are	be	VERB
alkej-284	28	3	researches	research	NOUN
alkej-284	28	4	deal	deal	NOUN
alkej-284	28	5	with	with	ADP
alkej-284	28	6	this	this	DET
alkej-284	28	7	field	field	NOUN
alkej-284	28	8	such	such	ADJ
alkej-284	28	9	as	as	ADP
alkej-284	28	10	ollinger	ollinger	NOUN
alkej-284	28	11	.	.	PUNCT
alkej-284	29	1	et	et	PROPN
alkej-284	29	2	al	al	PROPN
alkej-284	29	3	.	.	PUNCT
alkej-284	30	1	[	[	X
alkej-284	30	2	3	3	X
alkej-284	30	3	]	]	PUNCT
alkej-284	30	4	in	in	ADP
alkej-284	30	5	2007	2007	NUM
alkej-284	30	6	that	that	PRON
alkej-284	30	7	proposed	propose	VERB
alkej-284	30	8	1	1	NUM
alkej-284	30	9	-	-	PUNCT
alkej-284	30	10	dof	dof	NOUN
alkej-284	30	11	for	for	ADP
alkej-284	30	12	knee	knee	NOUN
alkej-284	30	13	joint	joint	NOUN
alkej-284	30	14	actuated	actuate	VERB
alkej-284	30	15	by	by	ADP
alkej-284	30	16	electric	electric	ADJ
alkej-284	30	17	motor	motor	NOUN
alkej-284	30	18	integral	integral	ADJ
alkej-284	30	19	-	-	PUNCT
alkej-284	30	20	derivative	derivative	NOUN
alkej-284	30	21	an	an	PRON
alkej-284	30	22	and	and	CCONJ
alkej-284	30	23	şişman	şişman	NOUN
alkej-284	30	24	[	[	X
alkej-284	30	25	4	4	X
alkej-284	30	26	]	]	PUNCT
alkej-284	30	27	in	in	ADP
alkej-284	30	28	2011	2011	NUM
alkej-284	30	29	presented	present	VERB
alkej-284	30	30	a	a	DET
alkej-284	30	31	robot	robot	NOUN
alkej-284	30	32	mechanism	mechanism	NOUN
alkej-284	30	33	with	with	ADP
alkej-284	30	34	3	3	NUM
alkej-284	30	35	dof	dof	NOUN
alkej-284	30	36	,	,	PUNCT
alkej-284	30	37	flexion	flexion	NOUN
alkej-284	30	38	-	-	PUNCT
alkej-284	30	39	extension	extension	NOUN
alkej-284	30	40	movement	movement	NOUN
alkej-284	30	41	for	for	ADP
alkej-284	30	42	the	the	DET
alkej-284	30	43	knee	knee	NOUN
alkej-284	30	44	and	and	CCONJ
alkej-284	30	45	hip	hip	NOUN
alkej-284	30	46	joints	joint	NOUN
alkej-284	30	47	,	,	PUNCT
alkej-284	30	48	and	and	CCONJ
alkej-284	30	49	the	the	DET
alkej-284	30	50	abduction	abduction	NOUN
alkej-284	30	51	movement	movement	NOUN
alkej-284	30	52	for	for	ADP
alkej-284	30	53	the	the	DET
alkej-284	30	54	hip	hip	NOUN
alkej-284	30	55	joint	joint	NOUN
alkej-284	30	56	,	,	PUNCT
alkej-284	30	57	for	for	ADP
alkej-284	30	58	the	the	DET
alkej-284	30	59	rehabilitation	rehabilitation	NOUN
alkej-284	30	60	of	of	ADP
alkej-284	30	61	lower	low	ADJ
alkej-284	30	62	limbs	limb	NOUN
alkej-284	30	63	.	.	PUNCT
alkej-284	31	1	the	the	DET
alkej-284	31	2	system	system	NOUN
alkej-284	31	3	was	be	AUX
alkej-284	31	4	designed	design	VERB
alkej-284	31	5	to	to	PART
alkej-284	31	6	imply	imply	VERB
alkej-284	31	7	the	the	DET
alkej-284	31	8	patient	patient	NOUN
alkej-284	31	9	’s	’s	PART
alkej-284	31	10	muscle	muscle	NOUN
alkej-284	31	11	signals	signal	NOUN
alkej-284	31	12	using	use	VERB
alkej-284	31	13	force	force	NOUN
alkej-284	31	14	feedback	feedback	NOUN
alkej-284	31	15	control	control	NOUN
alkej-284	31	16	method	method	NOUN
alkej-284	31	17	.	.	PUNCT
alkej-284	32	1	impedance	impedance	NOUN
alkej-284	32	2	control	control	NOUN
alkej-284	32	3	method	method	NOUN
alkej-284	32	4	was	be	AUX
alkej-284	32	5	used	use	VERB
alkej-284	32	6	for	for	ADP
alkej-284	32	7	force	force	NOUN
alkej-284	32	8	control	control	NOUN
alkej-284	32	9	,	,	PUNCT
alkej-284	32	10	whereas	whereas	SCONJ
alkej-284	32	11	pid	pid	NOUN
alkej-284	32	12	position	position	NOUN
alkej-284	32	13	control	control	NOUN
alkej-284	32	14	method	method	NOUN
alkej-284	32	15	was	be	AUX
alkej-284	32	16	used	use	VERB
alkej-284	32	17	for	for	ADP
alkej-284	32	18	position	position	NOUN
alkej-284	32	19	control	control	NOUN
alkej-284	32	20	.	.	PUNCT
alkej-284	33	1	furthermore	furthermore	ADV
alkej-284	33	2	,	,	PUNCT
alkej-284	33	3	tu	tu	PROPN
alkej-284	33	4	diep	diep	PROPN
alkej-284	33	5	and	and	CCONJ
alkej-284	33	6	tran	tran	PROPN
alkej-284	33	7	2008	2008	NUM
alkej-284	33	8	introduced	introduce	VERB
alkej-284	33	9	a	a	DET
alkej-284	33	10	1	1	NUM
alkej-284	33	11	-	-	PUNCT
alkej-284	33	12	dof	dof	NOUN
alkej-284	33	13	by	by	ADP
alkej-284	33	14	pma	pma	PROPN
alkej-284	33	15	controlled	control	VERB
alkej-284	33	16	by	by	ADP
alkej-284	33	17	pid	pid	NOUN
alkej-284	33	18	with	with	ADP
alkej-284	33	19	neural	neural	ADJ
alkej-284	33	20	network	network	NOUN
alkej-284	33	21	.	.	PUNCT
alkej-284	34	1	akdo˘gan	akdo˘gan	PROPN
alkej-284	34	2	.	.	PUNCT
alkej-284	35	1	et	et	PROPN
alkej-284	35	2	al	al	PROPN
alkej-284	35	3	.	.	PUNCT
alkej-284	36	1	[	[	X
alkej-284	36	2	6	6	NUM
alkej-284	36	3	]	]	PUNCT
alkej-284	36	4	in	in	ADP
alkej-284	36	5	2009	2009	NUM
alkej-284	36	6	suggested	suggest	VERB
alkej-284	36	7	an	an	DET
alkej-284	36	8	intelligent	intelligent	ADJ
alkej-284	36	9	controller	controller	NOUN
alkej-284	36	10	structure	structure	NOUN
alkej-284	36	11	for	for	ADP
alkej-284	36	12	a	a	DET
alkej-284	36	13	knee	knee	NOUN
alkej-284	36	14	rehabilitation	rehabilitation	NOUN
alkej-284	36	15	robot	robot	NOUN
alkej-284	36	16	manipulator	manipulator	NOUN
alkej-284	36	17	with	with	ADP
alkej-284	36	18	1	1	NUM
alkej-284	36	19	controller	controller	NOUN
alkej-284	36	20	of	of	ADP
alkej-284	36	21	the	the	DET
alkej-284	36	22	robot	robot	NOUN
alkej-284	36	23	manipulator	manipulator	NOUN
alkej-284	36	24	works	work	VERB
alkej-284	36	25	based	base	VERB
alkej-284	36	26	on	on	ADP
alkej-284	36	27	impedance	impedance	NOUN
alkej-284	36	28	control	control	NOUN
alkej-284	36	29	.	.	PUNCT
alkej-284	37	1	also	also	ADV
alkej-284	37	2	,	,	PUNCT
alkej-284	37	3	aminiazar	aminiazar	NOUN
alkej-284	37	4	.	.	PUNCT
alkej-284	38	1	et	et	PROPN
alkej-284	38	2	al	al	PROPN
alkej-284	38	3	.	.	PUNCT
alkej-284	39	1	[	[	X
alkej-284	39	2	7	7	X
alkej-284	39	3	]	]	PUNCT
alkej-284	39	4	in	in	ADP
alkej-284	39	5	2013	2013	NUM
alkej-284	39	6	proposed	propose	VERB
alkej-284	39	7	a	a	DET
alkej-284	39	8	2	2	NUM
alkej-284	39	9	-	-	PUNCT
alkej-284	39	10	dof	dof	NOUN
alkej-284	39	11	for	for	ADP
alkej-284	39	12	knee	knee	NOUN
alkej-284	39	13	and	and	CCONJ
alkej-284	39	14	ankle	ankle	NOUN
alkej-284	39	15	joints	joint	NOUN
alkej-284	39	16	controlled	control	VERB
alkej-284	39	17	by	by	ADP
alkej-284	39	18	pd	pd	PROPN
alkej-284	39	19	controller	controller	NOUN
alkej-284	39	20	.	.	PUNCT
alkej-284	40	1	it	it	PRON
alkej-284	40	2	can	can	AUX
alkej-284	40	3	be	be	AUX
alkej-284	40	4	noticed	notice	VERB
alkej-284	40	5	from	from	ADP
alkej-284	40	6	previous	previous	ADJ
alkej-284	40	7	works	work	NOUN
alkej-284	40	8	that	that	PRON
alkej-284	40	9	they	they	PRON
alkej-284	40	10	deal	deal	VERB
alkej-284	40	11	with	with	ADP
alkej-284	40	12	one	one	NUM
alkej-284	40	13	or	or	CCONJ
alkej-284	40	14	two	two	NUM
alkej-284	40	15	joints	joint	NOUN
alkej-284	40	16	of	of	ADP
alkej-284	40	17	human	human	ADJ
alkej-284	40	18	lower	low	ADJ
alkej-284	40	19	limb	limb	NOUN
alkej-284	40	20	al	al	PROPN
alkej-284	40	21	-	-	PUNCT
alkej-284	40	22	khwarizmi	khwarizmi	PROPN
alkej-284	40	23	engineering	engineering	NOUN
alkej-284	40	24	journal	journal	PROPN
alkej-284	40	25	(	(	PUNCT
alkej-284	40	26	2016	2016	NUM
alkej-284	40	27	)	)	PUNCT
alkej-284	40	28	position	position	NOUN
alkej-284	40	29	control	control	NOUN
alkej-284	40	30	for	for	ADP
alkej-284	40	31	human	human	ADJ
alkej-284	40	32	shahad	shahad	PROPN
alkej-284	40	33	s.	s.	PROPN
alkej-284	40	34	ghintab	ghintab	PROPN
alkej-284	40	35	*	*	PROPN
alkej-284	40	36	*	*	PUNCT
alkej-284	40	37	/	/	SYM
alkej-284	40	38	university	university	NOUN
alkej-284	40	39	of	of	ADP
alkej-284	40	40	technology	technology	NOUN
alkej-284	40	41	regain	regain	VERB
alkej-284	40	42	the	the	DET
alkej-284	40	43	ability	ability	NOUN
alkej-284	40	44	of	of	ADP
alkej-284	40	45	motion	motion	NOUN
alkej-284	40	46	and	and	CCONJ
alkej-284	40	47	to	to	PART
alkej-284	40	48	strengthen	strengthen	VERB
alkej-284	40	49	the	the	DET
alkej-284	40	50	weak	weak	ADJ
alkej-284	40	51	position	position	NOUN
alkej-284	40	52	control	control	NOUN
alkej-284	40	53	for	for	ADP
alkej-284	40	54	a	a	DET
alkej-284	40	55	four	four	NUM
alkej-284	40	56	degree	degree	NOUN
alkej-284	40	57	of	of	ADP
alkej-284	40	58	freedom	freedom	NOUN
alkej-284	40	59	(	(	PUNCT
alkej-284	40	60	4	4	NUM
alkej-284	40	61	-	-	PUNCT
alkej-284	40	62	dof	dof	NOUN
alkej-284	40	63	)	)	PUNCT
alkej-284	40	64	lower	low	ADJ
alkej-284	40	65	limb	limb	NOUN
alkej-284	40	66	wearable	wearable	ADJ
alkej-284	40	67	rehabilitation	rehabilitation	NOUN
alkej-284	40	68	robot	robot	NOUN
alkej-284	40	69	.	.	PUNCT
alkej-284	41	1	this	this	DET
alkej-284	41	2	robot	robot	NOUN
alkej-284	41	3	consists	consist	VERB
alkej-284	41	4	of	of	ADP
alkej-284	41	5	a	a	DET
alkej-284	41	6	hip	hip	NOUN
alkej-284	41	7	,	,	PUNCT
alkej-284	41	8	knee	knee	NOUN
alkej-284	41	9	and	and	CCONJ
alkej-284	41	10	ankle	ankle	NOUN
alkej-284	41	11	joints	joint	NOUN
alkej-284	41	12	to	to	PART
alkej-284	41	13	enable	enable	VERB
alkej-284	41	14	the	the	DET
alkej-284	41	15	patient	patient	NOUN
alkej-284	41	16	for	for	ADP
alkej-284	41	17	motion	motion	NOUN
alkej-284	41	18	and	and	CCONJ
alkej-284	41	19	joints	joint	NOUN
alkej-284	41	20	are	be	AUX
alkej-284	41	21	actuated	actuate	VERB
alkej-284	41	22	by	by	ADP
alkej-284	41	23	pneumatic	pneumatic	ADJ
alkej-284	41	24	muscles	muscle	NOUN
alkej-284	41	25	actuators	actuator	NOUN
alkej-284	41	26	(	(	PUNCT
alkej-284	41	27	pmas	pmas	PROPN
alkej-284	41	28	)	)	PUNCT
alkej-284	41	29	.	.	PUNCT
alkej-284	42	1	the	the	DET
alkej-284	42	2	pmas	pma	NOUN
alkej-284	42	3	have	have	VERB
alkej-284	42	4	very	very	ADV
alkej-284	42	5	great	great	ADJ
alkej-284	42	6	position	position	NOUN
alkej-284	42	7	control	control	NOUN
alkej-284	42	8	incorporating	incorporate	VERB
alkej-284	42	9	a	a	DET
alkej-284	42	10	pd	pd	NOUN
alkej-284	42	11	)	)	PUNCT
alkej-284	42	12	controllers	controller	NOUN
alkej-284	42	13	for	for	ADP
alkej-284	42	14	position	position	NOUN
alkej-284	42	15	control	control	NOUN
alkej-284	42	16	and	and	CCONJ
alkej-284	42	17	p	p	NOUN
alkej-284	42	18	)	)	PUNCT
alkej-284	42	19	controllers	controller	NOUN
alkej-284	42	20	for	for	ADP
alkej-284	42	21	force	force	NOUN
alkej-284	42	22	control	control	NOUN
alkej-284	42	23	.	.	PUNCT
alkej-284	43	1	they	they	PRON
alkej-284	43	2	are	be	AUX
alkej-284	43	3	designed	design	VERB
alkej-284	43	4	and	and	CCONJ
alkej-284	43	5	simulated	simulate	VERB
alkej-284	43	6	to	to	PART
alkej-284	43	7	improve	improve	VERB
alkej-284	43	8	the	the	DET
alkej-284	43	9	desired	desire	VERB
alkej-284	43	10	joints	joint	NOUN
alkej-284	43	11	imum	imum	VERB
alkej-284	43	12	steady	steady	ADJ
alkej-284	43	13	state	state	NOUN
alkej-284	43	14	error	error	NOUN
alkej-284	43	15	,	,	PUNCT
alkej-284	43	16	and	and	CCONJ
alkej-284	43	17	disturbance	disturbance	NOUN
alkej-284	43	18	ant	ant	ADJ
alkej-284	43	19	colony	colony	NOUN
alkej-284	43	20	optimization	optimization	NOUN
alkej-284	43	21	(	(	PUNCT
alkej-284	43	22	aco	aco	PROPN
alkej-284	43	23	)	)	PUNCT
alkej-284	43	24	is	be	AUX
alkej-284	43	25	used	use	VERB
alkej-284	43	26	to	to	PART
alkej-284	43	27	tune	tune	VERB
alkej-284	43	28	the	the	DET
alkej-284	43	29	position	position	NOUN
alkej-284	43	30	controllers	controller	NOUN
alkej-284	43	31	to	to	PART
alkej-284	43	32	get	get	VERB
alkej-284	43	33	the	the	DET
alkej-284	43	34	desired	desire	VERB
alkej-284	43	35	position	position	NOUN
alkej-284	43	36	trajectory	trajectory	NOUN
alkej-284	43	37	according	accord	VERB
alkej-284	43	38	to	to	ADP
alkej-284	43	39	the	the	DET
alkej-284	43	40	position	position	NOUN
alkej-284	43	41	controllers	controller	NOUN
alkej-284	43	42	tuned	tune	VERB
alkej-284	43	43	manually	manually	ADV
alkej-284	43	44	and	and	CCONJ
alkej-284	43	45	tuned	tune	VERB
alkej-284	43	46	by	by	ADP
alkej-284	43	47	aco	aco	PROPN
alkej-284	43	48	shows	show	VERB
alkej-284	43	49	with	with	ADP
alkej-284	43	50	an	an	DET
alkej-284	43	51	average	average	NOUN
alkej-284	43	52	of	of	ADP
alkej-284	43	53	39	39	NUM
alkej-284	43	54	%	%	NOUN
alkej-284	43	55	.	.	PUNCT
alkej-284	44	1	position	position	NOUN
alkej-284	44	2	control	control	NOUN
alkej-284	44	3	,	,	PUNCT
alkej-284	44	4	lower	low	ADJ
alkej-284	44	5	limb	limb	NOUN
alkej-284	44	6	,	,	PUNCT
alkej-284	44	7	ant	ant	ADJ
alkej-284	44	8	colony	colony	NOUN
alkej-284	44	9	optimization	optimization	NOUN
alkej-284	44	10	.	.	PUNCT
alkej-284	45	1	in	in	ADP
alkej-284	45	2	2011	2011	NUM
alkej-284	45	3	presented	present	VERB
alkej-284	45	4	a	a	DET
alkej-284	45	5	robot	robot	NOUN
alkej-284	45	6	mechanism	mechanism	NOUN
alkej-284	45	7	with	with	ADP
alkej-284	45	8	3extension	3extension	NUM
alkej-284	45	9	movement	movement	NOUN
alkej-284	45	10	for	for	ADP
alkej-284	45	11	the	the	DET
alkej-284	45	12	knee	knee	NOUN
alkej-284	45	13	s	s	NOUN
alkej-284	45	14	,	,	PUNCT
alkej-284	45	15	and	and	CCONJ
alkej-284	45	16	the	the	DET
alkej-284	45	17	abduction	abduction	NOUN
alkej-284	45	18	-	-	PUNCT
alkej-284	45	19	adduction	adduction	NOUN
alkej-284	45	20	movement	movement	NOUN
alkej-284	45	21	for	for	ADP
alkej-284	45	22	the	the	DET
alkej-284	45	23	hip	hip	NOUN
alkej-284	45	24	joint	joint	NOUN
alkej-284	45	25	,	,	PUNCT
alkej-284	45	26	for	for	ADP
alkej-284	45	27	the	the	DET
alkej-284	45	28	rehabilitation	rehabilitation	NOUN
alkej-284	45	29	of	of	ADP
alkej-284	45	30	lower	low	ADJ
alkej-284	45	31	limbs	limb	NOUN
alkej-284	45	32	.	.	PUNCT
alkej-284	46	1	the	the	DET
alkej-284	46	2	system	system	NOUN
alkej-284	46	3	was	be	AUX
alkej-284	46	4	designed	design	VERB
alkej-284	46	5	to	to	PART
alkej-284	46	6	imply	imply	VERB
alkej-284	46	7	the	the	DET
alkej-284	46	8	patient	patient	NOUN
alkej-284	46	9	’s	’s	PART
alkej-284	46	10	muscle	muscle	NOUN
alkej-284	46	11	signals	signal	NOUN
alkej-284	46	12	using	use	VERB
alkej-284	46	13	force	force	NOUN
alkej-284	46	14	-	-	PUNCT
alkej-284	46	15	position	position	NOUN
alkej-284	46	16	feedback	feedback	NOUN
alkej-284	46	17	control	control	NOUN
alkej-284	46	18	method	method	NOUN
alkej-284	46	19	.	.	PUNCT
alkej-284	47	1	impedance	impedance	NOUN
alkej-284	47	2	control	control	NOUN
alkej-284	47	3	method	method	NOUN
alkej-284	47	4	was	be	AUX
alkej-284	47	5	used	use	VERB
alkej-284	47	6	for	for	ADP
alkej-284	47	7	force	force	NOUN
alkej-284	47	8	control	control	NOUN
alkej-284	47	9	,	,	PUNCT
alkej-284	47	10	whereas	whereas	SCONJ
alkej-284	47	11	pid	pid	NOUN
alkej-284	47	12	position	position	NOUN
alkej-284	47	13	control	control	NOUN
alkej-284	47	14	method	method	NOUN
alkej-284	47	15	was	be	AUX
alkej-284	47	16	used	use	VERB
alkej-284	47	17	for	for	ADP
alkej-284	47	18	position	position	NOUN
alkej-284	47	19	rthermore	rthermore	NOUN
alkej-284	47	20	,	,	PUNCT
alkej-284	47	21	tu	tu	PROPN
alkej-284	47	22	diep	diep	PROPN
alkej-284	47	23	and	and	CCONJ
alkej-284	47	24	tran	tran	PROPN
alkej-284	48	1	[	[	X
alkej-284	48	2	5	5	NUM
alkej-284	48	3	]	]	PUNCT
alkej-284	48	4	in	in	ADP
alkej-284	48	5	dof	dof	NOUN
alkej-284	48	6	for	for	ADP
alkej-284	48	7	knee	knee	NOUN
alkej-284	48	8	joint	joint	NOUN
alkej-284	48	9	actuated	actuate	VERB
alkej-284	48	10	by	by	ADP
alkej-284	48	11	pma	pma	PROPN
alkej-284	48	12	controlled	control	VERB
alkej-284	48	13	by	by	ADP
alkej-284	48	14	pid	pid	NOUN
alkej-284	48	15	with	with	ADP
alkej-284	48	16	neural	neural	ADJ
alkej-284	48	17	network	network	NOUN
alkej-284	48	18	.	.	PUNCT
alkej-284	49	1	akdo˘gan	akdo˘gan	PROPN
alkej-284	49	2	.	.	PUNCT
alkej-284	50	1	et	et	PROPN
alkej-284	50	2	al	al	PROPN
alkej-284	50	3	.	.	PUNCT
alkej-284	51	1	[	[	X
alkej-284	51	2	6	6	NUM
alkej-284	51	3	]	]	PUNCT
alkej-284	51	4	in	in	ADP
alkej-284	51	5	2009	2009	NUM
alkej-284	51	6	suggested	suggest	VERB
alkej-284	51	7	an	an	DET
alkej-284	51	8	intelligent	intelligent	ADJ
alkej-284	51	9	controller	controller	NOUN
alkej-284	51	10	structure	structure	NOUN
alkej-284	51	11	for	for	ADP
alkej-284	51	12	a	a	DET
alkej-284	51	13	knee	knee	NOUN
alkej-284	51	14	rehabilitation	rehabilitation	NOUN
alkej-284	51	15	robot	robot	NOUN
alkej-284	51	16	manipulator	manipulator	NOUN
alkej-284	51	17	with	with	ADP
alkej-284	51	18	1	1	NUM
alkej-284	51	19	-	-	PUNCT
alkej-284	51	20	dof	dof	NOUN
alkej-284	51	21	.	.	PUNCT
alkej-284	52	1	the	the	DET
alkej-284	52	2	controller	controller	NOUN
alkej-284	52	3	of	of	ADP
alkej-284	52	4	the	the	DET
alkej-284	52	5	robot	robot	NOUN
alkej-284	52	6	manipulator	manipulator	NOUN
alkej-284	52	7	works	work	VERB
alkej-284	52	8	based	base	VERB
alkej-284	52	9	also	also	ADV
alkej-284	52	10	,	,	PUNCT
alkej-284	52	11	aminiazar	aminiazar	NOUN
alkej-284	52	12	.	.	PUNCT
alkej-284	53	1	et	et	PROPN
alkej-284	53	2	al	al	PROPN
alkej-284	53	3	.	.	PUNCT
alkej-284	54	1	[	[	X
alkej-284	54	2	7	7	NUM
alkej-284	54	3	]	]	X
alkej-284	54	4	dof	dof	NOUN
alkej-284	54	5	for	for	ADP
alkej-284	54	6	knee	knee	NOUN
alkej-284	54	7	and	and	CCONJ
alkej-284	54	8	ankle	ankle	NOUN
alkej-284	54	9	joints	joint	NOUN
alkej-284	54	10	controlled	control	VERB
alkej-284	54	11	by	by	ADP
alkej-284	54	12	pd	pd	PROPN
alkej-284	54	13	controller	controller	NOUN
alkej-284	54	14	.	.	PUNCT
alkej-284	55	1	it	it	PRON
alkej-284	55	2	can	can	AUX
alkej-284	55	3	be	be	AUX
alkej-284	55	4	noticed	notice	VERB
alkej-284	55	5	from	from	ADP
alkej-284	55	6	previous	previous	ADJ
alkej-284	55	7	works	work	NOUN
alkej-284	55	8	that	that	PRON
alkej-284	55	9	they	they	PRON
alkej-284	55	10	deal	deal	VERB
alkej-284	55	11	with	with	ADP
alkej-284	55	12	one	one	NUM
alkej-284	55	13	or	or	CCONJ
alkej-284	55	14	two	two	NUM
alkej-284	55	15	joints	joint	NOUN
alkej-284	55	16	of	of	ADP
alkej-284	55	17	human	human	ADJ
alkej-284	55	18	lower	low	ADJ
alkej-284	55	19	limb	limb	NOUN
alkej-284	55	20	mohammed	mohammed	PROPN
alkej-284	55	21	y.	y.	PROPN
alkej-284	55	22	hassan	hassan	PROPN
alkej-284	55	23	al	al	PROPN
alkej-284	55	24	-	-	PUNCT
alkej-284	55	25	khwarizmi	khwarizmi	PROPN
alkej-284	55	26	engineering	engineering	NOUN
alkej-284	55	27	journal	journal	PROPN
alkej-284	55	28	,	,	PUNCT
alkej-284	55	29	vol	vol	NOUN
alkej-284	55	30	.	.	PROPN
alkej-284	55	31	12	12	NUM
alkej-284	55	32	,	,	PUNCT
alkej-284	55	33	no	no	INTJ
alkej-284	55	34	.	.	NOUN
alkej-284	55	35	1	1	NUM
alkej-284	55	36	,	,	PUNCT
alkej-284	55	37	p.p	p.p	PROPN
alkej-284	55	38	.	.	NOUN
alkej-284	55	39	6172	6172	NUM
alkej-284	55	40	(	(	PUNCT
alkej-284	55	41	2016	2016	NUM
alkej-284	55	42	)	)	PUNCT
alkej-284	55	43	62	62	NUM
alkej-284	55	44	through	through	ADP
alkej-284	55	45	the	the	DET
alkej-284	55	46	design	design	NOUN
alkej-284	55	47	.	.	PUNCT
alkej-284	56	1	this	this	PRON
alkej-284	56	2	causes	cause	VERB
alkej-284	56	3	retraction	retraction	NOUN
alkej-284	56	4	in	in	ADP
alkej-284	56	5	workspace	workspace	NOUN
alkej-284	56	6	and	and	CCONJ
alkej-284	56	7	reduces	reduce	VERB
alkej-284	56	8	the	the	DET
alkej-284	56	9	flexibility	flexibility	NOUN
alkej-284	56	10	when	when	SCONJ
alkej-284	56	11	interact	interact	VERB
alkej-284	56	12	with	with	ADP
alkej-284	56	13	human	human	ADJ
alkej-284	56	14	motion	motion	NOUN
alkej-284	56	15	.	.	PUNCT
alkej-284	57	1	furthermore	furthermore	ADV
alkej-284	57	2	,	,	PUNCT
alkej-284	57	3	the	the	DET
alkej-284	57	4	robots	robot	NOUN
alkej-284	57	5	were	be	AUX
alkej-284	57	6	actuated	actuate	VERB
alkej-284	57	7	by	by	ADP
alkej-284	57	8	electric	electric	ADJ
alkej-284	57	9	motors	motor	NOUN
alkej-284	57	10	due	due	ADP
alkej-284	57	11	to	to	ADP
alkej-284	57	12	their	their	PRON
alkej-284	57	13	simplicity	simplicity	NOUN
alkej-284	57	14	of	of	ADP
alkej-284	57	15	modeling	model	VERB
alkej-284	57	16	control	control	NOUN
alkej-284	57	17	.	.	PUNCT
alkej-284	58	1	the	the	DET
alkej-284	58	2	drawback	drawback	NOUN
alkej-284	58	3	of	of	ADP
alkej-284	58	4	electric	electric	ADJ
alkej-284	58	5	actuators	actuator	NOUN
alkej-284	58	6	that	that	PRON
alkej-284	58	7	they	they	PRON
alkej-284	58	8	often	often	ADV
alkej-284	58	9	are	be	AUX
alkej-284	58	10	expensive	expensive	ADJ
alkej-284	58	11	and	and	CCONJ
alkej-284	58	12	heavy	heavy	ADJ
alkej-284	58	13	for	for	ADP
alkej-284	58	14	high	high	ADJ
alkej-284	58	15	power	power	NOUN
alkej-284	58	16	applications	application	NOUN
alkej-284	58	17	[	[	X
alkej-284	58	18	8	8	NUM
alkej-284	58	19	]	]	PUNCT
alkej-284	58	20	.	.	PUNCT
alkej-284	59	1	eelectric	eelectric	ADJ
alkej-284	59	2	motor	motor	NOUN
alkej-284	59	3	actuation	actuation	NOUN
alkej-284	59	4	significantly	significantly	ADV
alkej-284	59	5	decreases	decrease	VERB
alkej-284	59	6	power	power	NOUN
alkej-284	59	7	consumption	consumption	NOUN
alkej-284	59	8	during	during	ADP
alkej-284	59	9	walking	walk	VERB
alkej-284	59	10	in	in	ADP
alkej-284	59	11	comparison	comparison	NOUN
alkej-284	59	12	to	to	ADP
alkej-284	59	13	pneumatic	pneumatic	ADJ
alkej-284	59	14	actuation	actuation	NOUN
alkej-284	59	15	.	.	PUNCT
alkej-284	60	1	friction	friction	NOUN
alkej-284	60	2	in	in	ADP
alkej-284	60	3	the	the	DET
alkej-284	60	4	robot	robot	NOUN
alkej-284	60	5	joint	joint	NOUN
alkej-284	60	6	,	,	PUNCT
alkej-284	60	7	either	either	CCONJ
alkej-284	60	8	in	in	ADP
alkej-284	60	9	the	the	DET
alkej-284	60	10	actuators	actuator	NOUN
alkej-284	60	11	or	or	CCONJ
alkej-284	60	12	in	in	ADP
alkej-284	60	13	the	the	DET
alkej-284	60	14	joints	joint	NOUN
alkej-284	60	15	mechanism	mechanism	NOUN
alkej-284	60	16	and	and	CCONJ
alkej-284	60	17	the	the	DET
alkej-284	60	18	effect	effect	NOUN
alkej-284	60	19	of	of	ADP
alkej-284	60	20	disturbances	disturbance	NOUN
alkej-284	60	21	was	be	AUX
alkej-284	60	22	not	not	PART
alkej-284	60	23	taken	take	VERB
alkej-284	60	24	into	into	ADP
alkej-284	60	25	consideration	consideration	NOUN
alkej-284	60	26	in	in	ADP
alkej-284	60	27	most	most	ADJ
alkej-284	60	28	of	of	ADP
alkej-284	60	29	the	the	DET
alkej-284	60	30	previous	previous	ADJ
alkej-284	60	31	works	work	NOUN
alkej-284	60	32	.	.	PUNCT
alkej-284	61	1	in	in	ADP
alkej-284	61	2	this	this	DET
alkej-284	61	3	work	work	NOUN
alkej-284	61	4	,	,	PUNCT
alkej-284	61	5	force	force	NOUN
alkej-284	61	6	-	-	PUNCT
alkej-284	61	7	position	position	NOUN
alkej-284	61	8	controllers	controller	NOUN
alkej-284	61	9	are	be	AUX
alkej-284	61	10	designed	design	VERB
alkej-284	61	11	to	to	PART
alkej-284	61	12	overcome	overcome	VERB
alkej-284	61	13	the	the	DET
alkej-284	61	14	nonlinearity	nonlinearity	NOUN
alkej-284	61	15	inherent	inherent	ADJ
alkej-284	61	16	in	in	ADP
alkej-284	61	17	4	4	NUM
alkej-284	61	18	-	-	PUNCT
alkej-284	61	19	dof	dof	NOUN
alkej-284	61	20	lower	low	ADJ
alkej-284	61	21	limb	limb	NOUN
alkej-284	61	22	wearable	wearable	ADJ
alkej-284	61	23	rehabilitation	rehabilitation	NOUN
alkej-284	61	24	robot	robot	NOUN
alkej-284	61	25	[	[	X
alkej-284	61	26	9	9	NUM
alkej-284	61	27	]	]	PUNCT
alkej-284	61	28	.	.	PUNCT
alkej-284	62	1	the	the	DET
alkej-284	62	2	detailed	detailed	ADJ
alkej-284	62	3	design	design	NOUN
alkej-284	62	4	and	and	CCONJ
alkej-284	62	5	modelling	modelling	NOUN
alkej-284	62	6	of	of	ADP
alkej-284	62	7	the	the	DET
alkej-284	62	8	4dof	4dof	PROPN
alkej-284	62	9	lower	low	ADJ
alkej-284	62	10	limb	limb	NOUN
alkej-284	62	11	wearable	wearable	ADJ
alkej-284	62	12	rehabilitation	rehabilitation	NOUN
alkej-284	62	13	robot	robot	NOUN
alkej-284	62	14	actuated	actuate	VERB
alkej-284	62	15	by	by	ADP
alkej-284	62	16	pneumatic	pneumatic	ADJ
alkej-284	62	17	muscles	muscle	NOUN
alkej-284	62	18	actuators	actuator	NOUN
alkej-284	62	19	(	(	PUNCT
alkej-284	62	20	pmas	pmas	PROPN
alkej-284	62	21	)	)	PUNCT
alkej-284	62	22	has	have	AUX
alkej-284	62	23	been	be	AUX
alkej-284	62	24	explained	explain	VERB
alkej-284	62	25	in	in	ADP
alkej-284	62	26	details	detail	NOUN
alkej-284	62	27	in	in	ADP
alkej-284	62	28	reference	reference	NOUN
alkej-284	62	29	[	[	X
alkej-284	62	30	9	9	NUM
alkej-284	62	31	]	]	PUNCT
alkej-284	62	32	.	.	PUNCT
alkej-284	63	1	the	the	DET
alkej-284	63	2	design	design	NOUN
alkej-284	63	3	of	of	ADP
alkej-284	63	4	the	the	DET
alkej-284	63	5	force	force	NOUN
alkej-284	63	6	-	-	PUNCT
alkej-284	63	7	position	position	NOUN
alkej-284	63	8	controllers	controller	NOUN
alkej-284	63	9	for	for	ADP
alkej-284	63	10	the	the	DET
alkej-284	63	11	joints	joint	NOUN
alkej-284	63	12	of	of	ADP
alkej-284	63	13	the	the	DET
alkej-284	63	14	robot	robot	NOUN
alkej-284	63	15	incorporates	incorporate	VERB
alkej-284	63	16	threeproportional	threeproportional	ADJ
alkej-284	63	17	-	-	PUNCT
alkej-284	63	18	derivative	derivative	NOUN
alkej-284	63	19	(	(	PUNCT
alkej-284	63	20	tsk-3	tsk-3	NOUN
alkej-284	63	21	-	-	PUNCT
alkej-284	63	22	pd	pd	NOUN
alkej-284	63	23	)	)	PUNCT
alkej-284	63	24	like	like	ADP
alkej-284	63	25	flc	flc	PROPN
alkej-284	63	26	for	for	ADP
alkej-284	63	27	position	position	NOUN
alkej-284	63	28	control	control	NOUN
alkej-284	63	29	and	and	CCONJ
alkej-284	63	30	three	three	NUM
alkej-284	63	31	-	-	PUNCT
alkej-284	63	32	proportional	proportional	ADJ
alkej-284	63	33	(	(	PUNCT
alkej-284	63	34	3	3	NUM
alkej-284	63	35	-	-	SYM
alkej-284	63	36	p	p	NOUN
alkej-284	63	37	)	)	PUNCT
alkej-284	63	38	controllers	controller	NOUN
alkej-284	63	39	for	for	ADP
alkej-284	63	40	force	force	NOUN
alkej-284	63	41	control	control	NOUN
alkej-284	63	42	.	.	PUNCT
alkej-284	64	1	these	these	DET
alkej-284	64	2	types	type	NOUN
alkej-284	64	3	of	of	ADP
alkej-284	64	4	controllers	controller	NOUN
alkej-284	64	5	are	be	AUX
alkej-284	64	6	used	use	VERB
alkej-284	64	7	to	to	PART
alkej-284	64	8	deal	deal	VERB
alkej-284	64	9	with	with	ADP
alkej-284	64	10	the	the	DET
alkej-284	64	11	forces	force	NOUN
alkej-284	64	12	that	that	PRON
alkej-284	64	13	have	have	VERB
alkej-284	64	14	an	an	DET
alkej-284	64	15	effect	effect	NOUN
alkej-284	64	16	on	on	ADP
alkej-284	64	17	the	the	DET
alkej-284	64	18	robot	robot	NOUN
alkej-284	64	19	links	link	NOUN
alkej-284	64	20	by	by	ADP
alkej-284	64	21	the	the	DET
alkej-284	64	22	patient	patient	ADJ
alkej-284	64	23	limb	limb	NOUN
alkej-284	64	24	.	.	PUNCT
alkej-284	65	1	force	force	NOUN
alkej-284	65	2	-	-	PUNCT
alkej-284	65	3	position	position	NOUN
alkej-284	65	4	controllers	controller	NOUN
alkej-284	65	5	are	be	AUX
alkej-284	65	6	designed	design	VERB
alkej-284	65	7	to	to	PART
alkej-284	65	8	improve	improve	VERB
alkej-284	65	9	the	the	DET
alkej-284	65	10	desired	desire	VERB
alkej-284	65	11	position	position	NOUN
alkej-284	65	12	specification	specification	NOUN
alkej-284	65	13	such	such	ADJ
alkej-284	65	14	as	as	ADP
alkej-284	65	15	minimum	minimum	ADJ
alkej-284	65	16	overshoot	overshoot	NOUN
alkej-284	65	17	,	,	PUNCT
alkej-284	65	18	minimization	minimization	NOUN
alkej-284	65	19	of	of	ADP
alkej-284	65	20	oscillation	oscillation	NOUN
alkej-284	65	21	,	,	PUNCT
alkej-284	65	22	minimum	minimum	ADJ
alkej-284	65	23	steady	steady	ADJ
alkej-284	65	24	state	state	NOUN
alkej-284	65	25	error	error	NOUN
alkej-284	65	26	,	,	PUNCT
alkej-284	65	27	and	and	CCONJ
alkej-284	65	28	disturbance	disturbance	NOUN
alkej-284	65	29	rejection	rejection	NOUN
alkej-284	65	30	during	during	ADP
alkej-284	65	31	tracking	track	VERB
alkej-284	65	32	the	the	DET
alkej-284	65	33	desired	desire	VERB
alkej-284	65	34	position	position	NOUN
alkej-284	65	35	medical	medical	ADJ
alkej-284	65	36	trajectory	trajectory	NOUN
alkej-284	65	37	.	.	PUNCT
alkej-284	66	1	ant	ant	ADJ
alkej-284	66	2	colony	colony	NOUN
alkej-284	66	3	optimization	optimization	NOUN
alkej-284	66	4	(	(	PUNCT
alkej-284	66	5	aco	aco	PROPN
alkej-284	66	6	)	)	PUNCT
alkej-284	66	7	is	be	AUX
alkej-284	66	8	used	use	VERB
alkej-284	66	9	to	to	PART
alkej-284	66	10	tune	tune	VERB
alkej-284	66	11	the	the	DET
alkej-284	66	12	gains	gain	NOUN
alkej-284	66	13	of	of	ADP
alkej-284	66	14	position	position	NOUN
alkej-284	66	15	and	and	CCONJ
alkej-284	66	16	force	force	NOUN
alkej-284	66	17	parts	part	NOUN
alkej-284	66	18	of	of	ADP
alkej-284	66	19	the	the	DET
alkej-284	66	20	force	force	NOUN
alkej-284	66	21	-	-	PUNCT
alkej-284	66	22	position	position	NOUN
alkej-284	66	23	controllers	controller	NOUN
alkej-284	66	24	to	to	PART
alkej-284	66	25	get	get	VERB
alkej-284	66	26	the	the	DET
alkej-284	66	27	desired	desire	VERB
alkej-284	66	28	position	position	NOUN
alkej-284	66	29	trajectory	trajectory	NOUN
alkej-284	66	30	according	accord	VERB
alkej-284	66	31	to	to	ADP
alkej-284	66	32	the	the	DET
alkej-284	66	33	required	require	VERB
alkej-284	66	34	specification	specification	NOUN
alkej-284	66	35	.	.	PUNCT
alkej-284	67	1	2	2	X
alkej-284	67	2	.	.	X
alkej-284	67	3	force	force	NOUN
alkej-284	67	4	-	-	PUNCT
alkej-284	67	5	position	position	NOUN
alkej-284	67	6	controllers	controller	NOUN
alkej-284	67	7	the	the	DET
alkej-284	67	8	force	force	NOUN
alkej-284	67	9	-	-	PUNCT
alkej-284	67	10	position	position	NOUN
alkej-284	67	11	control	control	NOUN
alkej-284	67	12	is	be	AUX
alkej-284	67	13	the	the	DET
alkej-284	67	14	successful	successful	ADJ
alkej-284	67	15	execution	execution	NOUN
alkej-284	67	16	of	of	ADP
alkej-284	67	17	an	an	DET
alkej-284	67	18	interaction	interaction	NOUN
alkej-284	67	19	task	task	NOUN
alkej-284	67	20	without	without	ADP
alkej-284	67	21	jeopardizing	jeopardize	VERB
alkej-284	67	22	itself	itself	PRON
alkej-284	67	23	or	or	CCONJ
alkej-284	67	24	the	the	DET
alkej-284	67	25	environment	environment	NOUN
alkej-284	67	26	.	.	PUNCT
alkej-284	68	1	such	such	DET
alkej-284	68	2	an	an	DET
alkej-284	68	3	interaction	interaction	NOUN
alkej-284	68	4	requires	require	VERB
alkej-284	68	5	the	the	DET
alkej-284	68	6	control	control	NOUN
alkej-284	68	7	of	of	ADP
alkej-284	68	8	both	both	PRON
alkej-284	68	9	,	,	PUNCT
alkej-284	68	10	motion	motion	NOUN
alkej-284	68	11	and	and	CCONJ
alkej-284	68	12	interaction	interaction	NOUN
alkej-284	68	13	forces	force	NOUN
alkej-284	68	14	.	.	PUNCT
alkej-284	69	1	as	as	SCONJ
alkej-284	69	2	presented	present	VERB
alkej-284	69	3	by	by	ADP
alkej-284	69	4	karam	karam	PROPN
alkej-284	70	1	[	[	X
alkej-284	70	2	10	10	NUM
alkej-284	70	3	]	]	PUNCT
alkej-284	70	4	,	,	PUNCT
alkej-284	70	5	the	the	DET
alkej-284	70	6	objective	objective	NOUN
alkej-284	70	7	of	of	ADP
alkej-284	70	8	the	the	DET
alkej-284	70	9	force	force	NOUN
alkej-284	70	10	-	-	PUNCT
alkej-284	70	11	position	position	NOUN
alkej-284	70	12	control	control	NOUN
alkej-284	70	13	is	be	AUX
alkej-284	70	14	that	that	SCONJ
alkej-284	70	15	the	the	DET
alkej-284	70	16	robot	robot	NOUN
alkej-284	70	17	’s	’s	PART
alkej-284	70	18	end	end	NOUN
alkej-284	70	19	-	-	PUNCT
alkej-284	70	20	effector	effector	NOUN
alkej-284	70	21	responds	respond	NOUN
alkej-284	70	22	to	to	ADP
alkej-284	70	23	forces	force	NOUN
alkej-284	70	24	applied	apply	VERB
alkej-284	70	25	externally	externally	ADV
alkej-284	70	26	,	,	PUNCT
alkej-284	70	27	according	accord	VERB
alkej-284	70	28	to	to	ADP
alkej-284	70	29	some	some	DET
alkej-284	70	30	welldefined	welldefine	VERB
alkej-284	70	31	dynamics	dynamic	NOUN
alkej-284	70	32	.	.	PUNCT
alkej-284	71	1	more	more	ADV
alkej-284	71	2	specifically	specifically	ADV
alkej-284	71	3	,	,	PUNCT
alkej-284	71	4	the	the	DET
alkej-284	71	5	desired	desire	VERB
alkej-284	71	6	dynamic	dynamic	ADJ
alkej-284	71	7	relationship	relationship	NOUN
alkej-284	71	8	between	between	ADP
alkej-284	71	9	the	the	DET
alkej-284	71	10	end	end	NOUN
alkej-284	71	11	effector	effector	NOUN
alkej-284	71	12	position	position	NOUN
alkej-284	71	13	�	�	PROPN
alkej-284	71	14	∈	∈	PROPN
alkej-284	71	15	�	�	PROPN
alkej-284	71	16	�	�	PROPN
alkej-284	71	17	and	and	CCONJ
alkej-284	71	18	the	the	DET
alkej-284	71	19	vector	vector	NOUN
alkej-284	71	20	of	of	ADP
alkej-284	71	21	contact	contact	NOUN
alkej-284	71	22	forces	force	NOUN
alkej-284	71	23	�	�	PROPN
alkej-284	71	24	∈	∈	PROPN
alkej-284	71	25	�	�	PROPN
alkej-284	71	26	�	�	PROPN
alkej-284	71	27	are	be	AUX
alkej-284	71	28	specified	specify	VERB
alkej-284	71	29	as	as	SCONJ
alkej-284	71	30	follows	follow	VERB
alkej-284	71	31	[	[	X
alkej-284	71	32	10	10	NUM
alkej-284	71	33	]	]	X
alkej-284	71	34	:	:	PUNCT
alkej-284	71	35	f	f	X
alkej-284	71	36	�	�	PROPN
alkej-284	72	1	−	−	PROPN
alkej-284	72	2	f	f	PROPN
alkej-284	72	3	=	=	SYM
alkej-284	72	4	k	k	X
alkej-284	72	5	�	�	PROPN
alkej-284	72	6	�	�	PROPN
alkej-284	72	7	x	x	SYM
alkej-284	72	8	�	�	PROPN
alkej-284	72	9	−	−	NUM
alkej-284	72	10	x	x	SYM
alkej-284	72	11	�	�	PROPN
alkej-284	72	12	+	+	CCONJ
alkej-284	72	13	b	b	PROPN
alkej-284	72	14	�	�	PROPN
alkej-284	72	15	�	�	PROPN
alkej-284	72	16	x	x	SYM
alkej-284	72	17	�	�	PROPN
alkej-284	72	18	�	�	PROPN
alkej-284	72	19	−	−	NUM
alkej-284	72	20	x	x	SYM
alkej-284	72	21	�	�	PROPN
alkej-284	72	22	�	�	PROPN
alkej-284	72	23	+	+	CCONJ
alkej-284	72	24	m	m	PROPN
alkej-284	72	25	�	�	PROPN
alkej-284	72	26	�	�	PROPN
alkej-284	72	27	x	x	SYM
alkej-284	72	28	�	�	PROPN
alkej-284	72	29	�	�	PROPN
alkej-284	72	30	−	−	NUM
alkej-284	72	31	x	x	SYM
alkej-284	72	32	�	�	PROPN
alkej-284	72	33	�	�	PROPN
alkej-284	72	34	…	…	PUNCT
alkej-284	72	35	(	(	PUNCT
alkej-284	72	36	1	1	X
alkej-284	72	37	)	)	PUNCT
alkej-284	72	38	where	where	SCONJ
alkej-284	72	39	the	the	DET
alkej-284	72	40	parameter	parameter	PROPN
alkej-284	72	41	�	�	PROPN
alkej-284	72	42	�	�	PROPN
alkej-284	72	43	∈	∈	PROPN
alkej-284	72	44	�	�	PROPN
alkej-284	72	45	�	�	PROPN
alkej-284	72	46	×	×	NOUN
alkej-284	72	47	�	�	PROPN
alkej-284	72	48	is	be	AUX
alkej-284	72	49	the	the	DET
alkej-284	72	50	stiffness	stiffness	ADJ
alkej-284	72	51	diagonal	diagonal	ADJ
alkej-284	72	52	matrix	matrix	NOUN
alkej-284	72	53	,	,	PUNCT
alkej-284	72	54	�	�	PROPN
alkej-284	72	55	�	�	PROPN
alkej-284	72	56	∈	∈	PROPN
alkej-284	72	57	�	�	PROPN
alkej-284	72	58	�	�	PROPN
alkej-284	72	59	×	×	NOUN
alkej-284	72	60	�	�	PROPN
alkej-284	72	61	is	be	AUX
alkej-284	72	62	the	the	DET
alkej-284	72	63	damping	damp	VERB
alkej-284	72	64	diagonal	diagonal	ADJ
alkej-284	72	65	matrix	matrix	NOUN
alkej-284	72	66	and	and	CCONJ
alkej-284	72	67	�	�	PROPN
alkej-284	72	68	�	�	PROPN
alkej-284	72	69	∈	∈	PROPN
alkej-284	72	70	�	�	PROPN
alkej-284	72	71	�	�	PROPN
alkej-284	72	72	×	×	NOUN
alkej-284	72	73	�	�	PROPN
alkej-284	72	74	is	be	AUX
alkej-284	72	75	the	the	DET
alkej-284	72	76	inertia	inertia	NOUN
alkej-284	72	77	diagonal	diagonal	ADJ
alkej-284	72	78	matrix	matrix	NOUN
alkej-284	72	79	.	.	PUNCT
alkej-284	73	1	�	�	PROPN
alkej-284	73	2	�	�	PROPN
alkej-284	73	3	are	be	AUX
alkej-284	73	4	the	the	DET
alkej-284	73	5	desired	desire	VERB
alkej-284	73	6	joint	joint	ADJ
alkej-284	73	7	forces	force	NOUN
alkej-284	73	8	applying	apply	VERB
alkej-284	73	9	to	to	ADP
alkej-284	73	10	the	the	DET
alkej-284	73	11	robot	robot	NOUN
alkej-284	73	12	joints	joint	NOUN
alkej-284	73	13	in	in	ADP
alkej-284	73	14	(	(	PUNCT
alkej-284	73	15	n	n	CCONJ
alkej-284	73	16	)	)	PUNCT
alkej-284	73	17	.	.	PUNCT
alkej-284	74	1	�	�	PROPN
alkej-284	74	2	,	,	PUNCT
alkej-284	74	3	�	�	PROPN
alkej-284	74	4	�	�	PROPN
alkej-284	74	5	,	,	PUNCT
alkej-284	74	6	�	�	PROPN
alkej-284	74	7	�	�	PROPN
alkej-284	74	8	are	be	AUX
alkej-284	74	9	the	the	DET
alkej-284	74	10	position	position	NOUN
alkej-284	74	11	,	,	PUNCT
alkej-284	74	12	velocity	velocity	NOUN
alkej-284	74	13	and	and	CCONJ
alkej-284	74	14	acceleration	acceleration	NOUN
alkej-284	74	15	of	of	ADP
alkej-284	74	16	the	the	DET
alkej-284	74	17	robot	robot	NOUN
alkej-284	74	18	system	system	NOUN
alkej-284	74	19	in	in	ADP
alkej-284	74	20	the	the	DET
alkej-284	74	21	cartesian	cartesian	ADJ
alkej-284	74	22	space	space	NOUN
alkej-284	74	23	respectively	respectively	ADV
alkej-284	74	24	.	.	PUNCT
alkej-284	75	1	the	the	DET
alkej-284	75	2	control	control	NOUN
alkej-284	75	3	law	law	NOUN
alkej-284	75	4	of	of	ADP
alkej-284	75	5	the	the	DET
alkej-284	75	6	force	force	NOUN
alkej-284	75	7	that	that	PRON
alkej-284	75	8	is	be	AUX
alkej-284	75	9	applied	apply	VERB
alkej-284	75	10	to	to	ADP
alkej-284	75	11	the	the	DET
alkej-284	75	12	dynamic	dynamic	ADJ
alkej-284	75	13	model	model	NOUN
alkej-284	75	14	of	of	ADP
alkej-284	75	15	robot	robot	NOUN
alkej-284	75	16	is	be	AUX
alkej-284	75	17	[	[	X
alkej-284	75	18	10	10	NUM
alkej-284	75	19	]	]	SYM
alkej-284	75	20	:	:	PUNCT
alkej-284	75	21	�	�	PROPN
alkej-284	75	22	=	=	SYM
alkej-284	75	23	�	�	PROPN
alkej-284	75	24	�	�	PROPN
alkej-284	75	25	�	�	PROPN
alkej-284	75	26	�	�	PROPN
alkej-284	75	27	�	�	PROPN
alkej-284	75	28	�	�	PROPN
alkej-284	75	29	!	!	PUNCT
alkej-284	75	30	�	�	PROPN
alkej-284	75	31	"	"	PUNCT
alkej-284	75	32	�	�	PROPN
alkej-284	75	33	−	−	PROPN
alkej-284	75	34	"	"	PUNCT
alkej-284	75	35	�	�	PROPN
alkej-284	75	36	+	+	CCONJ
alkej-284	75	37	�	�	PROPN
alkej-284	75	38	#	#	SYM
alkej-284	75	39	�	�	PROPN
alkej-284	75	40	"	"	PUNCT
alkej-284	75	41	�	�	PROPN
alkej-284	75	42	�	�	PROPN
alkej-284	75	43	−	−	ADP
alkej-284	75	44	"	"	PUNCT
alkej-284	75	45	�	�	PROPN
alkej-284	75	46	�	�	PROPN
alkej-284	75	47	+	+	CCONJ
alkej-284	75	48	�	�	PROPN
alkej-284	75	49	�	�	PROPN
alkej-284	75	50	�	�	PROPN
alkej-284	75	51	�	�	NOUN
alkej-284	75	52	$	$	SYM
alkej-284	75	53	+	+	NUM
alkej-284	75	54	%	%	ADJ
alkej-284	75	55	�	�	PROPN
alkej-284	75	56	−	−	PROPN
alkej-284	75	57	�	�	PROPN
alkej-284	75	58	$	$	SYM
alkej-284	75	59	�	�	PROPN
alkej-284	75	60	&	&	CCONJ
alkej-284	75	61	+	+	NOUN
alkej-284	75	62	'	'	PUNCT
alkej-284	75	63	…	…	PUNCT
alkej-284	75	64	(	(	PUNCT
alkej-284	75	65	2	2	X
alkej-284	75	66	)	)	PUNCT
alkej-284	75	67	where	where	SCONJ
alkej-284	75	68	�	�	PROPN
alkej-284	75	69	∈	∈	PROPN
alkej-284	75	70	�	�	PROPN
alkej-284	75	71	(	(	PUNCT
alkej-284	75	72	is	be	AUX
alkej-284	75	73	the	the	DET
alkej-284	75	74	control	control	NOUN
alkej-284	75	75	law	law	NOUN
alkej-284	75	76	applied	apply	VERB
alkej-284	75	77	to	to	ADP
alkej-284	75	78	robot	robot	NOUN
alkej-284	75	79	model	model	NOUN
alkej-284	75	80	,	,	PUNCT
alkej-284	75	81	�	�	PROPN
alkej-284	75	82	�	�	PROPN
alkej-284	75	83	�	�	PROPN
alkej-284	75	84	�	�	PROPN
alkej-284	75	85	∈	∈	PROPN
alkej-284	75	86	�	�	PROPN
alkej-284	75	87	�	�	NOUN
alkej-284	75	88	×	×	NOUN
alkej-284	75	89	(	(	PUNCT
alkej-284	75	90	is	be	AUX
alkej-284	75	91	the	the	DET
alkej-284	75	92	jacobean	jacobean	ADJ
alkej-284	75	93	matrix	matrix	NOUN
alkej-284	75	94	and	and	CCONJ
alkej-284	75	95	,	,	PUNCT
alkej-284	75	96	�	�	PROPN
alkej-284	75	97	!	!	PROPN
alkej-284	75	98	,	,	PUNCT
alkej-284	75	99	�	�	NOUN
alkej-284	75	100	#	#	NOUN
alkej-284	75	101	)	)	PUNCT
alkej-284	75	102	*	*	PUNCT
alkej-284	76	1	+	+	NUM
alkej-284	76	2	�	�	SYM
alkej-284	76	3	$	$	SYM
alkej-284	76	4	∈	∈	PROPN
alkej-284	76	5	�	�	PROPN
alkej-284	76	6	�	�	PROPN
alkej-284	76	7	×	×	NOUN
alkej-284	76	8	�	�	PROPN
alkej-284	76	9	are	be	AUX
alkej-284	76	10	the	the	DET
alkej-284	76	11	position	position	NOUN
alkej-284	76	12	,	,	PUNCT
alkej-284	76	13	velocity	velocity	NOUN
alkej-284	76	14	and	and	CCONJ
alkej-284	76	15	force	force	NOUN
alkej-284	76	16	gain	gain	VERB
alkej-284	76	17	matrices	matrix	NOUN
alkej-284	76	18	respectively	respectively	ADV
alkej-284	76	19	.	.	PUNCT
alkej-284	77	1	"	"	PUNCT
alkej-284	77	2	�	�	X
alkej-284	77	3	=	=	PUNCT
alkej-284	78	1	[	[	X
alkej-284	78	2	-+	-+	PROPN
alkej-284	78	3	.	.	PUNCT
alkej-284	79	1	-+/	-+/	PROPN
alkej-284	79	2	-+0	-+0	NOUN
alkej-284	80	1	]	]	X
alkej-284	80	2	�	�	PROPN
alkej-284	80	3	are	be	AUX
alkej-284	80	4	the	the	DET
alkej-284	80	5	desired	desire	VERB
alkej-284	80	6	trajectory	trajectory	NOUN
alkej-284	80	7	position	position	NOUN
alkej-284	80	8	(	(	PUNCT
alkej-284	80	9	in	in	ADP
alkej-284	80	10	m	m	PROPN
alkej-284	80	11	)	)	PUNCT
alkej-284	80	12	,	,	PUNCT
alkej-284	80	13	�	�	PROPN
alkej-284	80	14	�	�	PROPN
alkej-284	80	15	=	=	PUNCT
alkej-284	81	1	[	[	X
alkej-284	81	2	�	�	PROPN
alkej-284	81	3	+	+	NOUN
alkej-284	81	4	.	.	PUNCT
alkej-284	81	5	�	�	PROPN
alkej-284	81	6	+	+	PROPN
alkej-284	81	7	/	/	SYM
alkej-284	81	8	�	�	ADJ
alkej-284	81	9	+0	+0	VERB
alkej-284	81	10	]	]	PROPN
alkej-284	81	11	�	�	X
alkej-284	81	12	are	be	AUX
alkej-284	81	13	the	the	DET
alkej-284	81	14	joint	joint	ADJ
alkej-284	81	15	forces	force	NOUN
alkej-284	81	16	applied	apply	VERB
alkej-284	81	17	to	to	ADP
alkej-284	81	18	the	the	DET
alkej-284	81	19	robot	robot	NOUN
alkej-284	81	20	joints	joint	NOUN
alkej-284	81	21	(	(	PUNCT
alkej-284	81	22	in	in	ADP
alkej-284	81	23	n	n	CCONJ
alkej-284	81	24	)	)	PUNCT
alkej-284	81	25	,	,	PUNCT
alkej-284	81	26	23	23	NUM
alkej-284	81	27	=	=	PUNCT
alkej-284	82	1	[	[	X
alkej-284	82	2	24	24	NUM
alkej-284	82	3	25	25	NUM
alkej-284	82	4	26	26	NUM
alkej-284	82	5	27]	27]	NUM
alkej-284	82	6	�	�	NOUN
alkej-284	82	7	are	be	AUX
alkej-284	82	8	the	the	DET
alkej-284	82	9	measured	measured	ADJ
alkej-284	82	10	angle	angle	NOUN
alkej-284	82	11	from	from	ADP
alkej-284	82	12	each	each	DET
alkej-284	82	13	joint	joint	NOUN
alkej-284	82	14	(	(	PUNCT
alkej-284	82	15	in	in	ADP
alkej-284	82	16	degree	degree	NOUN
alkej-284	82	17	)	)	PUNCT
alkej-284	82	18	,	,	PUNCT
alkej-284	82	19	�	�	PROPN
alkej-284	82	20	=	=	PUNCT
alkej-284	83	1	[	[	X
alkej-284	83	2	�	�	PROPN
alkej-284	83	3	.	.	PROPN
alkej-284	83	4	�	�	PROPN
alkej-284	83	5	/	/	SYM
alkej-284	83	6	�	�	PROPN
alkej-284	83	7	0	0	NUM
alkej-284	83	8	]	]	NOUN
alkej-284	83	9	�	�	PROPN
alkej-284	83	10	are	be	AUX
alkej-284	83	11	the	the	DET
alkej-284	83	12	generated	generate	VERB
alkej-284	83	13	force	force	NOUN
alkej-284	83	14	vector	vector	NOUN
alkej-284	83	15	(	(	PUNCT
alkej-284	83	16	in	in	ADP
alkej-284	83	17	n	n	CCONJ
alkej-284	83	18	)	)	PUNCT
alkej-284	83	19	,	,	PUNCT
alkej-284	83	20	�	�	X
alkej-284	83	21	$	$	SYM
alkej-284	83	22	=	=	NOUN
alkej-284	83	23	[	[	X
alkej-284	83	24	�	�	NOUN
alkej-284	83	25	$	$	SYM
alkej-284	83	26	.	.	PUNCT
alkej-284	83	27	�	�	PROPN
alkej-284	83	28	$	$	SYM
alkej-284	83	29	/	/	SYM
alkej-284	83	30	�	�	PROPN
alkej-284	83	31	$	$	SYM
alkej-284	83	32	0	0	NUM
alkej-284	83	33	]	]	X
alkej-284	83	34	�	�	PROPN
alkej-284	83	35	are	be	AUX
alkej-284	83	36	the	the	DET
alkej-284	83	37	joint	joint	ADJ
alkej-284	83	38	gains	gain	NOUN
alkej-284	83	39	and	and	CCONJ
alkej-284	83	40	8	8	NUM
alkej-284	83	41	=	=	SYM
alkej-284	83	42	[	[	X
alkej-284	83	43	8	8	NUM
alkej-284	83	44	.	.	PUNCT
alkej-284	83	45	8/	8/	NUM
alkej-284	83	46	80]	80]	NUM
alkej-284	83	47	�	�	NOUN
alkej-284	83	48	are	be	AUX
alkej-284	83	49	the	the	DET
alkej-284	83	50	outputs	output	NOUN
alkej-284	83	51	of	of	ADP
alkej-284	83	52	fuzzy	fuzzy	ADJ
alkej-284	83	53	controller	controller	NOUN
alkej-284	83	54	.	.	PUNCT
alkej-284	84	1	in	in	ADP
alkej-284	84	2	this	this	DET
alkej-284	84	3	work	work	NOUN
alkej-284	84	4	,	,	PUNCT
alkej-284	84	5	tuned	tune	VERB
alkej-284	84	6	the	the	DET
alkej-284	84	7	gains	gain	NOUN
alkej-284	84	8	of	of	ADP
alkej-284	84	9	forceposition	forceposition	NOUN
alkej-284	84	10	controllers	controller	NOUN
alkej-284	84	11	depend	depend	VERB
alkej-284	84	12	on	on	ADP
alkej-284	84	13	the	the	DET
alkej-284	84	14	ant	ant	ADJ
alkej-284	84	15	colony	colony	NOUN
alkej-284	84	16	optimization	optimization	NOUN
alkej-284	84	17	(	(	PUNCT
alkej-284	84	18	aco	aco	PROPN
alkej-284	84	19	)	)	PUNCT
alkej-284	84	20	algorithm	algorithm	NOUN
alkej-284	85	1	[	[	X
alkej-284	85	2	11	11	NUM
alkej-284	85	3	]	]	PUNCT
alkej-284	85	4	.	.	PUNCT
alkej-284	86	1	however	however	ADV
alkej-284	86	2	,	,	PUNCT
alkej-284	86	3	fig	fig	NOUN
alkej-284	86	4	.	.	PUNCT
alkej-284	86	5	1	1	NUM
alkej-284	86	6	shows	show	VERB
alkej-284	86	7	the	the	DET
alkej-284	86	8	block	block	NOUN
alkej-284	86	9	diagram	diagram	NOUN
alkej-284	86	10	for	for	ADP
alkej-284	86	11	the	the	DET
alkej-284	86	12	closed	closed	ADJ
alkej-284	86	13	loop	loop	NOUN
alkej-284	86	14	dynamic	dynamic	ADJ
alkej-284	86	15	model	model	NOUN
alkej-284	86	16	controlled	control	VERB
alkej-284	86	17	by	by	ADP
alkej-284	86	18	force	force	NOUN
alkej-284	86	19	-	-	PUNCT
alkej-284	86	20	position	position	NOUN
alkej-284	86	21	controllers	controller	NOUN
alkej-284	86	22	.	.	PUNCT
alkej-284	87	1	the	the	DET
alkej-284	87	2	parameters	parameter	NOUN
alkej-284	87	3	of	of	ADP
alkej-284	87	4	force	force	NOUN
alkej-284	87	5	part	part	NOUN
alkej-284	87	6	and	and	CCONJ
alkej-284	87	7	position	position	VERB
alkej-284	87	8	part	part	NOUN
alkej-284	87	9	of	of	ADP
alkej-284	87	10	the	the	DET
alkej-284	87	11	controllers	controller	NOUN
alkej-284	87	12	are	be	AUX
alkej-284	87	13	tuned	tune	VERB
alkej-284	87	14	by	by	ADP
alkej-284	87	15	aco	aco	PROPN
alkej-284	87	16	.	.	PUNCT
alkej-284	88	1	mohammed	mohammed	PROPN
alkej-284	88	2	y.	y.	PROPN
alkej-284	88	3	hassan	hassan	PROPN
alkej-284	88	4	al	al	PROPN
alkej-284	88	5	-	-	PUNCT
alkej-284	88	6	khwarizmi	khwarizmi	PROPN
alkej-284	88	7	engineering	engineering	NOUN
alkej-284	88	8	journal	journal	PROPN
alkej-284	88	9	,	,	PUNCT
alkej-284	88	10	vol	vol	NOUN
alkej-284	88	11	.	.	PROPN
alkej-284	88	12	12	12	NUM
alkej-284	88	13	,	,	PUNCT
alkej-284	88	14	no	no	INTJ
alkej-284	88	15	.	.	NOUN
alkej-284	88	16	1	1	NUM
alkej-284	88	17	,	,	PUNCT
alkej-284	88	18	p.p	p.p	PROPN
alkej-284	88	19	.	.	NOUN
alkej-284	88	20	6172	6172	NUM
alkej-284	88	21	(	(	PUNCT
alkej-284	88	22	2016	2016	NUM
alkej-284	88	23	)	)	PUNCT
alkej-284	88	24	63	63	NUM
alkej-284	88	25	fig	fig	NOUN
alkej-284	88	26	.	.	PUNCT
alkej-284	89	1	1	1	NUM
alkej-284	89	2	.	.	NUM
alkej-284	89	3	closed	closed	ADJ
alkej-284	89	4	loop	loop	NOUN
alkej-284	89	5	force	force	NOUN
alkej-284	89	6	-	-	PUNCT
alkej-284	89	7	position	position	NOUN
alkej-284	89	8	controlled	control	VERB
alkej-284	89	9	system	system	NOUN
alkej-284	89	10	tuned	tune	VERB
alkej-284	89	11	by	by	ADP
alkej-284	89	12	aco	aco	PROPN
alkej-284	89	13	.	.	PUNCT
alkej-284	90	1	3	3	X
alkej-284	90	2	.	.	X
alkej-284	90	3	design	design	NOUN
alkej-284	90	4	of	of	ADP
alkej-284	90	5	force	force	NOUN
alkej-284	90	6	-	-	PUNCT
alkej-284	90	7	position	position	NOUN
alkej-284	90	8	rehabilitation	rehabilitation	NOUN
alkej-284	90	9	robot	robot	NOUN
alkej-284	90	10	since	since	SCONJ
alkej-284	90	11	the	the	DET
alkej-284	90	12	4	4	NUM
alkej-284	90	13	-	-	PUNCT
alkej-284	90	14	dof	dof	NOUN
alkej-284	90	15	rehabilitation	rehabilitation	NOUN
alkej-284	90	16	robot	robot	NOUN
alkej-284	90	17	and	and	CCONJ
alkej-284	90	18	pma	pma	NOUN
alkej-284	90	19	have	have	VERB
alkej-284	90	20	high	high	ADJ
alkej-284	90	21	nonlinearity	nonlinearity	NOUN
alkej-284	90	22	,	,	PUNCT
alkej-284	90	23	a	a	DET
alkej-284	90	24	force	force	NOUN
alkej-284	90	25	-	-	PUNCT
alkej-284	90	26	position	position	NOUN
alkej-284	90	27	controller	controller	NOUN
alkej-284	90	28	has	have	VERB
alkej-284	90	29	the	the	DET
alkej-284	90	30	ability	ability	NOUN
alkej-284	90	31	to	to	PART
alkej-284	90	32	deal	deal	VERB
alkej-284	90	33	with	with	ADP
alkej-284	90	34	this	this	DET
alkej-284	90	35	nonlinearity	nonlinearity	NOUN
alkej-284	90	36	to	to	PART
alkej-284	90	37	achieve	achieve	VERB
alkej-284	90	38	good	good	ADJ
alkej-284	90	39	tracking	tracking	NOUN
alkej-284	90	40	response	response	NOUN
alkej-284	90	41	.	.	PUNCT
alkej-284	91	1	the	the	DET
alkej-284	91	2	front	front	ADJ
alkej-284	91	3	view	view	NOUN
alkej-284	91	4	and	and	CCONJ
alkej-284	91	5	side	side	NOUN
alkej-284	91	6	view	view	NOUN
alkej-284	91	7	of	of	ADP
alkej-284	91	8	proposed	propose	VERB
alkej-284	91	9	structure	structure	NOUN
alkej-284	91	10	(	(	PUNCT
alkej-284	91	11	the	the	DET
alkej-284	91	12	schematic	schematic	ADJ
alkej-284	91	13	diagram	diagram	NOUN
alkej-284	91	14	of	of	ADP
alkej-284	91	15	the	the	DET
alkej-284	91	16	robot	robot	NOUN
alkej-284	91	17	mechanism	mechanism	NOUN
alkej-284	91	18	)	)	PUNCT
alkej-284	91	19	are	be	AUX
alkej-284	91	20	shown	show	VERB
alkej-284	91	21	in	in	ADP
alkej-284	91	22	fig	fig	NOUN
alkej-284	91	23	.	.	PUNCT
alkej-284	92	1	2	2	X
alkej-284	92	2	.	.	X
alkej-284	92	3	a	a	DET
alkej-284	92	4	tsk	tsk	PROPN
alkej-284	92	5	pd	pd	ADJ
alkej-284	92	6	-	-	PUNCT
alkej-284	92	7	like	like	ADJ
alkej-284	92	8	fuzzy	fuzzy	ADJ
alkej-284	92	9	type	type	NOUN
alkej-284	92	10	is	be	AUX
alkej-284	92	11	designed	design	VERB
alkej-284	92	12	as	as	ADP
alkej-284	92	13	a	a	DET
alkej-284	92	14	position	position	NOUN
alkej-284	92	15	controller	controller	NOUN
alkej-284	92	16	.	.	PUNCT
alkej-284	93	1	the	the	DET
alkej-284	93	2	inputs	input	NOUN
alkej-284	93	3	of	of	ADP
alkej-284	93	4	the	the	DET
alkej-284	93	5	controller	controller	NOUN
alkej-284	93	6	are	be	AUX
alkej-284	93	7	the	the	DET
alkej-284	93	8	(	(	PUNCT
alkej-284	93	9	error	error	NOUN
alkej-284	93	10	(	(	PUNCT
alkej-284	93	11	e	e	NOUN
alkej-284	93	12	)	)	PUNCT
alkej-284	93	13	and	and	CCONJ
alkej-284	93	14	rate	rate	NOUN
alkej-284	93	15	of	of	ADP
alkej-284	93	16	error	error	NOUN
alkej-284	93	17	(	(	PUNCT
alkej-284	93	18	9	9	NUM
alkej-284	93	19	�	�	PROPN
alkej-284	93	20	�	�	PROPN
alkej-284	93	21	)	)	PUNCT
alkej-284	93	22	,	,	PUNCT
alkej-284	93	23	where	where	SCONJ
alkej-284	93	24	the	the	DET
alkej-284	93	25	control	control	NOUN
alkej-284	93	26	signal	signal	NOUN
alkej-284	93	27	is	be	AUX
alkej-284	93	28	:	:	PUNCT
alkej-284	93	29	8	8	NUM
alkej-284	93	30	�	�	NUM
alkej-284	93	31	:	:	PUNCT
alkej-284	93	32	�	�	PROPN
alkej-284	93	33	=	=	SYM
alkej-284	93	34	;	;	PUNCT
alkej-284	93	35	<	<	X
alkej-284	93	36	39	39	NUM
alkej-284	93	37	�	�	PROPN
alkej-284	93	38	:	:	PUNCT
alkej-284	93	39	�	�	PROPN
alkej-284	93	40	+	+	CCONJ
alkej-284	93	41	;	;	PUNCT
alkej-284	93	42	=	=	SYM
alkej-284	93	43	39	39	NUM
alkej-284	93	44	�	�	PROPN
alkej-284	93	45	�	�	PROPN
alkej-284	93	46	:	:	PUNCT
alkej-284	93	47	�	�	PROPN
alkej-284	93	48	…	…	PUNCT
alkej-284	93	49	(	(	PUNCT
alkej-284	93	50	3	3	X
alkej-284	93	51	)	)	PUNCT
alkej-284	93	52	the	the	DET
alkej-284	93	53	input	input	NOUN
alkej-284	93	54	and	and	CCONJ
alkej-284	93	55	output	output	NOUN
alkej-284	93	56	scaling	scale	VERB
alkej-284	93	57	factors	factor	NOUN
alkej-284	93	58	are	be	AUX
alkej-284	93	59	defined	define	VERB
alkej-284	93	60	as	as	ADP
alkej-284	93	61	:	:	PUNCT
alkej-284	93	62	proportional	proportional	ADJ
alkej-284	93	63	gain	gain	NOUN
alkej-284	93	64	,	,	PUNCT
alkej-284	93	65	�	�	PROPN
alkej-284	93	66	kp	kp	PROPN
alkej-284	93	67	�	�	PROPN
alkej-284	93	68	,	,	PUNCT
alkej-284	93	69	derivative	derivative	ADJ
alkej-284	93	70	gain	gain	NOUN
alkej-284	93	71	�	�	PROPN
alkej-284	93	72	kv	kv	PROPN
alkej-284	93	73	�	�	PROPN
alkej-284	93	74	,	,	PUNCT
alkej-284	93	75	and	and	CCONJ
alkej-284	93	76	output	output	NOUN
alkej-284	93	77	gain	gain	NOUN
alkej-284	93	78	�	�	PROPN
alkej-284	93	79	ko	ko	PROPN
alkej-284	93	80	�	�	PROPN
alkej-284	93	81	.	.	PUNCT
alkej-284	94	1	seven	seven	NUM
alkej-284	94	2	triangular	triangular	NOUN
alkej-284	94	3	shaped	shape	VERB
alkej-284	94	4	membership	membership	NOUN
alkej-284	94	5	functions	function	NOUN
alkej-284	94	6	are	be	AUX
alkej-284	94	7	selected	select	VERB
alkej-284	94	8	for	for	ADP
alkej-284	94	9	each	each	DET
alkej-284	94	10	input	input	NOUN
alkej-284	94	11	,	,	PUNCT
alkej-284	94	12	fig	fig	NOUN
alkej-284	94	13	.	.	PUNCT
alkej-284	95	1	3	3	X
alkej-284	95	2	.	.	X
alkej-284	96	1	the	the	DET
alkej-284	96	2	linguistic	linguistic	ADJ
alkej-284	96	3	variables	variable	NOUN
alkej-284	96	4	of	of	ADP
alkej-284	96	5	the	the	DET
alkej-284	96	6	membership	membership	NOUN
alkej-284	96	7	functions	function	NOUN
alkej-284	96	8	of	of	ADP
alkej-284	96	9	the	the	DET
alkej-284	96	10	flc	flc	PROPN
alkej-284	96	11	are	be	AUX
alkej-284	96	12	;	;	PUNCT
alkej-284	96	13	nb	nb	INTJ
alkej-284	96	14	(	(	PUNCT
alkej-284	96	15	negative	negative	ADJ
alkej-284	96	16	big	big	ADJ
alkej-284	96	17	)	)	PUNCT
alkej-284	96	18	,	,	PUNCT
alkej-284	96	19	nm	nm	INTJ
alkej-284	96	20	(	(	PUNCT
alkej-284	96	21	negative	negative	ADJ
alkej-284	96	22	medium	medium	NOUN
alkej-284	96	23	)	)	PUNCT
alkej-284	96	24	,	,	PUNCT
alkej-284	96	25	ns	ns	NUM
alkej-284	96	26	(	(	PUNCT
alkej-284	96	27	negative	negative	ADJ
alkej-284	96	28	small	small	ADJ
alkej-284	96	29	)	)	PUNCT
alkej-284	96	30	,	,	PUNCT
alkej-284	96	31	z	z	PROPN
alkej-284	96	32	(	(	PUNCT
alkej-284	96	33	zero	zero	NUM
alkej-284	96	34	)	)	PUNCT
alkej-284	96	35	,	,	PUNCT
alkej-284	96	36	ps	ps	INTJ
alkej-284	96	37	(	(	PUNCT
alkej-284	96	38	positive	positive	ADJ
alkej-284	96	39	small	small	NOUN
alkej-284	96	40	)	)	PUNCT
alkej-284	96	41	,	,	PUNCT
alkej-284	96	42	pm	pm	NOUN
alkej-284	96	43	(	(	PUNCT
alkej-284	96	44	positive	positive	ADJ
alkej-284	96	45	medium	medium	NOUN
alkej-284	96	46	)	)	PUNCT
alkej-284	96	47	,	,	PUNCT
alkej-284	96	48	and	and	CCONJ
alkej-284	96	49	pb	pb	X
alkej-284	96	50	(	(	PUNCT
alkej-284	96	51	positive	positive	ADJ
alkej-284	96	52	big	big	NOUN
alkej-284	96	53	)	)	PUNCT
alkej-284	96	54	.	.	PUNCT
alkej-284	97	1	the	the	DET
alkej-284	97	2	universe	universe	NOUN
alkej-284	97	3	of	of	ADP
alkej-284	97	4	discourse	discourse	NOUN
alkej-284	97	5	for	for	ADP
alkej-284	97	6	(	(	PUNCT
alkej-284	97	7	e	e	NOUN
alkej-284	97	8	,	,	PUNCT
alkej-284	97	9	9	9	NUM
alkej-284	97	10	�	�	NOUN
alkej-284	97	11	)	)	PUNCT
alkej-284	97	12	is	be	AUX
alkej-284	97	13	taken	take	VERB
alkej-284	97	14	within	within	ADP
alkej-284	97	15	(	(	PUNCT
alkej-284	97	16	-1	-1	ADJ
alkej-284	97	17	,	,	PUNCT
alkej-284	97	18	1	1	NUM
alkej-284	97	19	)	)	PUNCT
alkej-284	97	20	since	since	SCONJ
alkej-284	97	21	the	the	DET
alkej-284	97	22	error	error	NOUN
alkej-284	97	23	has	have	VERB
alkej-284	97	24	positive	positive	ADJ
alkej-284	97	25	and	and	CCONJ
alkej-284	97	26	negative	negative	ADJ
alkej-284	97	27	values	value	NOUN
alkej-284	97	28	while	while	SCONJ
alkej-284	97	29	the	the	DET
alkej-284	97	30	output	output	NOUN
alkej-284	97	31	universe	universe	NOUN
alkej-284	97	32	of	of	ADP
alkej-284	97	33	discourse	discourse	NOUN
alkej-284	97	34	is	be	AUX
alkej-284	97	35	within	within	ADP
alkej-284	97	36	the	the	DET
alkej-284	97	37	range	range	NOUN
alkej-284	97	38	(	(	PUNCT
alkej-284	97	39	0	0	NUM
alkej-284	97	40	,	,	PUNCT
alkej-284	97	41	1	1	NUM
alkej-284	97	42	)	)	PUNCT
alkej-284	97	43	since	since	SCONJ
alkej-284	97	44	the	the	DET
alkej-284	97	45	valve	valve	NOUN
alkej-284	97	46	takes	take	VERB
alkej-284	97	47	positive	positive	ADJ
alkej-284	97	48	values	value	NOUN
alkej-284	97	49	of	of	ADP
alkej-284	97	50	voltage	voltage	NOUN
alkej-284	97	51	as	as	ADP
alkej-284	97	52	input	input	NOUN
alkej-284	97	53	.	.	PUNCT
alkej-284	98	1	the	the	DET
alkej-284	98	2	values	value	NOUN
alkej-284	98	3	of	of	ADP
alkej-284	98	4	output	output	NOUN
alkej-284	98	5	membership	membership	NOUN
alkej-284	98	6	functions	function	NOUN
alkej-284	98	7	(	(	PUNCT
alkej-284	98	8	constant	constant	ADJ
alkej-284	98	9	type	type	NOUN
alkej-284	98	10	)	)	PUNCT
alkej-284	98	11	,	,	PUNCT
alkej-284	98	12	of	of	ADP
alkej-284	98	13	tsk	tsk	PROPN
alkej-284	98	14	are	be	AUX
alkej-284	98	15	listed	list	VERB
alkej-284	98	16	in	in	ADP
alkej-284	98	17	table	table	NOUN
alkej-284	98	18	1	1	NUM
alkej-284	98	19	.	.	PUNCT
alkej-284	99	1	a	a	DET
alkej-284	99	2	typical	typical	ADJ
alkej-284	99	3	rule	rule	NOUN
alkej-284	99	4	in	in	ADP
alkej-284	99	5	a	a	DET
alkej-284	99	6	sugeno	sugeno	ADJ
alkej-284	99	7	fuzzy	fuzzy	ADJ
alkej-284	99	8	model	model	NOUN
alkej-284	99	9	has	have	VERB
alkej-284	99	10	the	the	DET
alkej-284	99	11	form	form	NOUN
alkej-284	99	12	:	:	PUNCT
alkej-284	99	13	if	if	SCONJ
alkej-284	99	14	input	input	NOUN
alkej-284	99	15	1	1	NUM
alkej-284	99	16	=	=	SYM
alkej-284	99	17	x	x	NOUN
alkej-284	99	18	and	and	CCONJ
alkej-284	99	19	input	input	NOUN
alkej-284	99	20	2	2	NUM
alkej-284	99	21	=	=	SYM
alkej-284	99	22	y	y	NOUN
alkej-284	99	23	,	,	PUNCT
alkej-284	99	24	then	then	ADV
alkej-284	99	25	output	output	NOUN
alkej-284	99	26	is	be	AUX
alkej-284	99	27	z	z	NOUN
alkej-284	99	28	=	=	SYM
alkej-284	99	29	a.x	a.x	PROPN
alkej-284	99	30	+	+	CCONJ
alkej-284	99	31	b.y	b.y	PROPN
alkej-284	99	32	+	+	PROPN
alkej-284	99	33	c.	c.	NOUN
alkej-284	99	34	…	…	PUNCT
alkej-284	99	35	(	(	PUNCT
alkej-284	99	36	4	4	X
alkej-284	99	37	)	)	PUNCT
alkej-284	99	38	for	for	ADP
alkej-284	99	39	a	a	DET
alkej-284	99	40	zero	zero	NUM
alkej-284	99	41	-	-	PUNCT
alkej-284	99	42	order	order	NOUN
alkej-284	99	43	sugeno	sugeno	NOUN
alkej-284	99	44	model	model	NOUN
alkej-284	99	45	,	,	PUNCT
alkej-284	99	46	the	the	DET
alkej-284	99	47	output	output	NOUN
alkej-284	99	48	level	level	NOUN
alkej-284	99	49	z	z	NOUN
alkej-284	99	50	is	be	AUX
alkej-284	99	51	a	a	DET
alkej-284	99	52	constant	constant	ADJ
alkej-284	99	53	(	(	PUNCT
alkej-284	99	54	a	a	DET
alkej-284	99	55	=	=	NOUN
alkej-284	99	56	b	b	NOUN
alkej-284	99	57	=	=	NOUN
alkej-284	99	58	0	0	NUM
alkej-284	99	59	)	)	PUNCT
alkej-284	99	60	.	.	PUNCT
alkej-284	100	1	however	however	ADV
alkej-284	100	2	,	,	PUNCT
alkej-284	100	3	the	the	DET
alkej-284	100	4	rules	rule	NOUN
alkej-284	100	5	of	of	ADP
alkej-284	100	6	the	the	DET
alkej-284	100	7	flc	flc	PROPN
alkej-284	100	8	are	be	AUX
alkej-284	100	9	listed	list	VERB
alkej-284	100	10	in	in	ADP
alkej-284	100	11	table	table	NOUN
alkej-284	100	12	2	2	NUM
alkej-284	100	13	and	and	CCONJ
alkej-284	100	14	selected	select	VERB
alkej-284	100	15	by	by	ADP
alkej-284	100	16	several	several	ADJ
alkej-284	100	17	trials	trial	NOUN
alkej-284	100	18	to	to	PART
alkej-284	100	19	reach	reach	VERB
alkej-284	100	20	the	the	DET
alkej-284	100	21	best	good	ADJ
alkej-284	100	22	position	position	NOUN
alkej-284	100	23	response	response	NOUN
alkej-284	100	24	.	.	PUNCT
alkej-284	101	1	the	the	DET
alkej-284	101	2	parameters	parameter	NOUN
alkej-284	101	3	of	of	ADP
alkej-284	101	4	the	the	DET
alkej-284	101	5	force	force	NOUN
alkej-284	101	6	controller	controller	NOUN
alkej-284	101	7	incorporating	incorporate	VERB
alkej-284	101	8	in	in	ADP
alkej-284	101	9	the	the	DET
alkej-284	101	10	forceposition	forceposition	NOUN
alkej-284	101	11	control	control	NOUN
alkej-284	101	12	,	,	PUNCT
alkej-284	101	13	equation	equation	NOUN
alkej-284	101	14	(	(	PUNCT
alkej-284	101	15	1	1	NUM
alkej-284	101	16	)	)	PUNCT
alkej-284	101	17	,	,	PUNCT
alkej-284	101	18	are	be	AUX
alkej-284	101	19	selected	select	VERB
alkej-284	101	20	as	as	ADP
alkej-284	101	21	;	;	PUNCT
alkej-284	101	22	�	�	PROPN
alkej-284	101	23	�	�	NOUN
alkej-284	101	24	=	=	NOUN
alkej-284	101	25	3000	3000	NUM
alkej-284	101	26	(	(	PUNCT
alkej-284	101	27	n	n	CCONJ
alkej-284	101	28	/	/	SYM
alkej-284	101	29	m	m	NOUN
alkej-284	101	30	)	)	PUNCT
alkej-284	101	31	,	,	PUNCT
alkej-284	101	32	�	�	PROPN
alkej-284	101	33	�	�	PROPN
alkej-284	101	34	=	=	PRON
alkej-284	101	35	200	200	NUM
alkej-284	101	36	(	(	PUNCT
alkej-284	101	37	n·s	n·s	PROPN
alkej-284	101	38	/	/	SYM
alkej-284	101	39	m	m	NOUN
alkej-284	101	40	)	)	PUNCT
alkej-284	101	41	and	and	CCONJ
alkej-284	101	42	�	�	PROPN
alkej-284	101	43	�	�	NOUN
alkej-284	101	44	=	=	SYM
alkej-284	101	45	5	5	NUM
alkej-284	101	46	(	(	PUNCT
alkej-284	101	47	kg	kg	NOUN
alkej-284	101	48	)	)	PUNCT
alkej-284	101	49	.	.	PUNCT
alkej-284	102	1	these	these	DET
alkej-284	102	2	values	value	NOUN
alkej-284	102	3	are	be	AUX
alkej-284	102	4	representing	represent	VERB
alkej-284	102	5	a	a	DET
alkej-284	102	6	second	second	ADJ
alkej-284	102	7	order	order	NOUN
alkej-284	102	8	reference	reference	NOUN
alkej-284	102	9	model	model	NOUN
alkej-284	102	10	with	with	ADP
alkej-284	102	11	damping	damp	VERB
alkej-284	102	12	ratio	ratio	NOUN
alkej-284	102	13	and	and	CCONJ
alkej-284	102	14	un	un	ADJ
alkej-284	102	15	-	-	ADJ
alkej-284	102	16	damped	damped	ADJ
alkej-284	102	17	natural	natural	ADJ
alkej-284	102	18	frequency	frequency	NOUN
alkej-284	102	19	of	of	ADP
alkej-284	102	20	ζ=0.8164	ζ=0.8164	NOUN
alkej-284	102	21	and	and	CCONJ
alkej-284	102	22	wn=24.49	wn=24.49	NOUN
alkej-284	102	23	(	(	PUNCT
alkej-284	102	24	rad	rad	PROPN
alkej-284	102	25	/	/	SYM
alkej-284	102	26	sec	sec	PROPN
alkej-284	102	27	)	)	PUNCT
alkej-284	102	28	respectively	respectively	ADV
alkej-284	102	29	[	[	X
alkej-284	102	30	12	12	NUM
alkej-284	102	31	]	]	PUNCT
alkej-284	102	32	.	.	PUNCT
alkej-284	103	1	the	the	DET
alkej-284	103	2	simulink	simulink	NOUN
alkej-284	103	3	of	of	ADP
alkej-284	103	4	the	the	DET
alkej-284	103	5	force	force	NOUN
alkej-284	103	6	and	and	CCONJ
alkej-284	103	7	position	position	NOUN
alkej-284	103	8	controllers	controller	NOUN
alkej-284	103	9	is	be	AUX
alkej-284	103	10	shown	show	VERB
alkej-284	103	11	in	in	ADP
alkej-284	103	12	fig	fig	NOUN
alkej-284	103	13	.	.	PUNCT
alkej-284	104	1	4	4	NUM
alkej-284	104	2	and	and	CCONJ
alkej-284	105	1	the	the	DET
alkej-284	105	2	simulink	simulink	NOUN
alkej-284	105	3	of	of	ADP
alkej-284	105	4	the	the	DET
alkej-284	105	5	complete	complete	ADJ
alkej-284	105	6	force	force	NOUN
alkej-284	105	7	-	-	PUNCT
alkej-284	105	8	position	position	NOUN
alkej-284	105	9	controlled	control	VERB
alkej-284	105	10	system	system	NOUN
alkej-284	105	11	for	for	ADP
alkej-284	105	12	lower	low	ADJ
alkej-284	105	13	limb	limb	NOUN
alkej-284	105	14	rehabilitation	rehabilitation	NOUN
alkej-284	105	15	robot	robot	NOUN
alkej-284	105	16	is	be	AUX
alkej-284	105	17	shown	show	VERB
alkej-284	105	18	in	in	ADP
alkej-284	105	19	fig	fig	NOUN
alkej-284	105	20	.	.	PUNCT
alkej-284	106	1	5	5	X
alkej-284	106	2	.	.	X
alkej-284	106	3	it	it	PRON
alkej-284	106	4	consists	consist	VERB
alkej-284	106	5	of	of	ADP
alkej-284	106	6	sub	sub	NOUN
alkej-284	106	7	blocks	block	NOUN
alkej-284	106	8	of	of	ADP
alkej-284	106	9	the	the	DET
alkej-284	106	10	dynamic	dynamic	ADJ
alkej-284	106	11	model	model	NOUN
alkej-284	106	12	,	,	PUNCT
alkej-284	106	13	pma	pma	PROPN
alkej-284	106	14	,	,	PUNCT
alkej-284	106	15	the	the	DET
alkej-284	106	16	position	position	NOUN
alkej-284	106	17	controller	controller	NOUN
alkej-284	106	18	,	,	PUNCT
alkej-284	106	19	the	the	DET
alkej-284	106	20	force	force	NOUN
alkej-284	106	21	controller	controller	NOUN
alkej-284	106	22	and	and	CCONJ
alkej-284	106	23	the	the	DET
alkej-284	106	24	reference	reference	NOUN
alkej-284	106	25	trajectory	trajectory	NOUN
alkej-284	106	26	.	.	PUNCT
alkej-284	107	1	table	table	NOUN
alkej-284	107	2	1	1	NUM
alkej-284	107	3	,	,	PUNCT
alkej-284	107	4	constant	constant	ADJ
alkej-284	107	5	membership	membership	NOUN
alkej-284	107	6	functions	function	NOUN
alkej-284	107	7	for	for	ADP
alkej-284	107	8	the	the	DET
alkej-284	107	9	output	output	NOUN
alkej-284	107	10	.	.	PUNCT
alkej-284	108	1	nb=0.3	nb=0.3	PROPN
alkej-284	108	2	nm=0.4	nm=0.4	PROPN
alkej-284	108	3	ns=0.527	ns=0.527	PROPN
alkej-284	108	4	z=0.647	z=0.647	PUNCT
alkej-284	108	5	ps=0.7	ps=0.7	NOUN
alkej-284	108	6	pm=0.83	pm=0.83	PROPN
alkej-284	108	7	pb=0.99	pb=0.99	PROPN
alkej-284	108	8	mohammed	mohammed	PROPN
alkej-284	108	9	y.	y.	PROPN
alkej-284	108	10	hassan	hassan	PROPN
alkej-284	108	11	al	al	PROPN
alkej-284	108	12	-	-	PUNCT
alkej-284	108	13	khwarizmi	khwarizmi	PROPN
alkej-284	108	14	engineering	engineering	NOUN
alkej-284	108	15	journal	journal	PROPN
alkej-284	108	16	,	,	PUNCT
alkej-284	108	17	vol	vol	NOUN
alkej-284	108	18	.	.	PROPN
alkej-284	108	19	12	12	NUM
alkej-284	108	20	,	,	PUNCT
alkej-284	108	21	no	no	INTJ
alkej-284	108	22	.	.	NOUN
alkej-284	108	23	1	1	NUM
alkej-284	108	24	,	,	PUNCT
alkej-284	108	25	p.p	p.p	PROPN
alkej-284	108	26	.	.	NOUN
alkej-284	108	27	6172	6172	NUM
alkej-284	108	28	(	(	PUNCT
alkej-284	108	29	2016	2016	NUM
alkej-284	108	30	)	)	PUNCT
alkej-284	108	31	64	64	NUM
alkej-284	108	32	(	(	PUNCT
alkej-284	108	33	a	a	NOUN
alkej-284	108	34	)	)	PUNCT
alkej-284	108	35	front	front	ADJ
alkej-284	108	36	view	view	NOUN
alkej-284	108	37	(	(	PUNCT
alkej-284	108	38	b	b	NOUN
alkej-284	108	39	)	)	PUNCT
alkej-284	108	40	side	side	ADJ
alkej-284	108	41	view	view	NOUN
alkej-284	108	42	fig	fig	NOUN
alkej-284	108	43	.	.	PUNCT
alkej-284	109	1	2	2	X
alkej-284	109	2	.	.	X
alkej-284	109	3	the	the	DET
alkej-284	109	4	proposed	propose	VERB
alkej-284	109	5	structure	structure	NOUN
alkej-284	109	6	of	of	ADP
alkej-284	109	7	the	the	DET
alkej-284	109	8	lower	low	ADJ
alkej-284	109	9	limb	limb	NOUN
alkej-284	109	10	wearable	wearable	ADJ
alkej-284	109	11	rehabilitation	rehabilitation	NOUN
alkej-284	109	12	robot	robot	NOUN
alkej-284	109	13	.	.	PUNCT
alkej-284	110	1	table	table	NOUN
alkej-284	110	2	2	2	NUM
alkej-284	110	3	,	,	PUNCT
alkej-284	110	4	rules	rule	NOUN
alkej-284	110	5	of	of	ADP
alkej-284	110	6	pd	pd	ADJ
alkej-284	110	7	-	-	PUNCT
alkej-284	110	8	like	like	ADJ
alkej-284	110	9	position	position	NOUN
alkej-284	110	10	flc	flc	PROPN
alkej-284	110	11	.	.	PROPN
alkej-284	110	12	fig	fig	PROPN
alkej-284	110	13	.	.	PUNCT
alkej-284	111	1	3	3	X
alkej-284	111	2	.	.	NOUN
alkej-284	111	3	inputs	input	NOUN
alkej-284	111	4	membership	membership	NOUN
alkej-284	111	5	functions	function	NOUN
alkej-284	111	6	.	.	PUNCT
alkej-284	112	1	b	b	X
alkej-284	112	2	/	/	SYM
alkej-284	112	3	b∙	b∙	PROPN
alkej-284	112	4	nb	nb	PROPN
alkej-284	112	5	nm	nm	PROPN
alkej-284	112	6	ns	ns	PROPN
alkej-284	112	7	z	z	NOUN
alkej-284	112	8	ps	ps	NOUN
alkej-284	112	9	pm	pm	NOUN
alkej-284	112	10	pb	pb	ADP
alkej-284	112	11	nb	nb	INTJ
alkej-284	112	12	nb	nb	PROPN
alkej-284	113	1	nb	nb	PROPN
alkej-284	114	1	nb	nb	PROPN
alkej-284	115	1	nb	nb	INTJ
alkej-284	116	1	nm	nm	INTJ
alkej-284	117	1	ns	ns	PROPN
alkej-284	117	2	z	z	NOUN
alkej-284	117	3	nm	nm	NOUN
alkej-284	117	4	nb	nb	INTJ
alkej-284	117	5	nb	nb	INTJ
alkej-284	117	6	nb	nb	INTJ
alkej-284	117	7	nm	nm	INTJ
alkej-284	118	1	ns	ns	PROPN
alkej-284	118	2	z	z	NOUN
alkej-284	118	3	ps	ps	NOUN
alkej-284	118	4	ns	ns	NUM
alkej-284	118	5	nb	nb	PROPN
alkej-284	118	6	nb	nb	INTJ
alkej-284	118	7	nm	nm	INTJ
alkej-284	118	8	ns	ns	PROPN
alkej-284	118	9	z	z	NOUN
alkej-284	118	10	ps	ps	NOUN
alkej-284	118	11	pm	pm	NOUN
alkej-284	118	12	z	z	PROPN
alkej-284	118	13	nb	nb	INTJ
alkej-284	118	14	nm	nm	INTJ
alkej-284	118	15	ns	ns	PROPN
alkej-284	118	16	z	z	NOUN
alkej-284	118	17	ps	ps	NOUN
alkej-284	118	18	pm	pm	NOUN
alkej-284	118	19	pb	pb	ADP
alkej-284	118	20	ps	ps	PROPN
alkej-284	118	21	nm	nm	INTJ
alkej-284	118	22	ns	ns	PROPN
alkej-284	118	23	z	z	NOUN
alkej-284	118	24	ps	ps	NOUN
alkej-284	118	25	pm	pm	NOUN
alkej-284	118	26	pb	pb	INTJ
alkej-284	118	27	pb	pb	ADP
alkej-284	118	28	pm	pm	VERB
alkej-284	118	29	ns	ns	PROPN
alkej-284	118	30	z	z	NOUN
alkej-284	118	31	ps	ps	NOUN
alkej-284	118	32	pm	pm	NOUN
alkej-284	118	33	pb	pb	ADP
alkej-284	118	34	pb	pb	X
alkej-284	118	35	pb	pb	ADP
alkej-284	118	36	pb	pb	ADP
alkej-284	118	37	z	z	PROPN
alkej-284	118	38	ps	ps	PROPN
alkej-284	118	39	pm	pm	NOUN
alkej-284	118	40	pb	pb	ADP
alkej-284	118	41	pb	pb	X
alkej-284	118	42	pb	pb	X
alkej-284	118	43	pb	pb	ADP
alkej-284	118	44	mohammed	mohammed	PROPN
alkej-284	118	45	y.	y.	PROPN
alkej-284	118	46	hassan	hassan	PROPN
alkej-284	118	47	al	al	PROPN
alkej-284	118	48	-	-	PUNCT
alkej-284	118	49	khwarizmi	khwarizmi	PROPN
alkej-284	118	50	engineering	engineering	NOUN
alkej-284	118	51	journal	journal	PROPN
alkej-284	118	52	,	,	PUNCT
alkej-284	118	53	vol	vol	NOUN
alkej-284	118	54	.	.	PROPN
alkej-284	119	1	12	12	NUM
alkej-284	119	2	,	,	PUNCT
alkej-284	119	3	no	no	INTJ
alkej-284	119	4	.	.	NOUN
alkej-284	119	5	1	1	NUM
alkej-284	119	6	,	,	PUNCT
alkej-284	119	7	p.p	p.p	PROPN
alkej-284	119	8	.	.	NOUN
alkej-284	119	9	6172	6172	NUM
alkej-284	119	10	(	(	PUNCT
alkej-284	119	11	2016	2016	NUM
alkej-284	119	12	)	)	PUNCT
alkej-284	119	13	65	65	NUM
alkej-284	119	14	fig	fig	NOUN
alkej-284	119	15	.	.	PUNCT
alkej-284	120	1	4	4	X
alkej-284	120	2	.	.	X
alkej-284	120	3	the	the	DET
alkej-284	120	4	force	force	NOUN
alkej-284	120	5	and	and	CCONJ
alkej-284	120	6	position	position	NOUN
alkej-284	120	7	controllers	controller	NOUN
alkej-284	120	8	.	.	PUNCT
alkej-284	121	1	mohammed	mohammed	PROPN
alkej-284	121	2	y.	y.	PROPN
alkej-284	121	3	hassan	hassan	PROPN
alkej-284	121	4	al	al	PROPN
alkej-284	121	5	-	-	PUNCT
alkej-284	121	6	khwarizmi	khwarizmi	PROPN
alkej-284	121	7	engineering	engineering	NOUN
alkej-284	121	8	journal	journal	PROPN
alkej-284	121	9	,	,	PUNCT
alkej-284	121	10	vol	vol	NOUN
alkej-284	121	11	.	.	PROPN
alkej-284	121	12	12	12	NUM
alkej-284	121	13	,	,	PUNCT
alkej-284	121	14	no	no	INTJ
alkej-284	121	15	.	.	NOUN
alkej-284	121	16	1	1	NUM
alkej-284	121	17	,	,	PUNCT
alkej-284	121	18	p.p	p.p	PROPN
alkej-284	121	19	.	.	NOUN
alkej-284	121	20	6172	6172	NUM
alkej-284	121	21	(	(	PUNCT
alkej-284	121	22	2016	2016	NUM
alkej-284	121	23	)	)	PUNCT
alkej-284	121	24	66	66	NUM
alkej-284	121	25	fig	fig	NOUN
alkej-284	121	26	.	.	PUNCT
alkej-284	122	1	5	5	NUM
alkej-284	122	2	.	.	X
alkej-284	122	3	the	the	DET
alkej-284	122	4	simulink	simulink	NOUN
alkej-284	122	5	of	of	ADP
alkej-284	122	6	force	force	NOUN
alkej-284	122	7	-	-	PUNCT
alkej-284	122	8	position	position	NOUN
alkej-284	122	9	controlled	control	VERB
alkej-284	122	10	system	system	NOUN
alkej-284	122	11	for	for	ADP
alkej-284	122	12	the	the	DET
alkej-284	122	13	lower	low	ADJ
alkej-284	122	14	limb	limb	NOUN
alkej-284	122	15	rehabilitation	rehabilitation	NOUN
alkej-284	122	16	.	.	PUNCT
alkej-284	123	1	4	4	X
alkej-284	123	2	.	.	X
alkej-284	123	3	simulation	simulation	NOUN
alkej-284	123	4	results	result	VERB
alkej-284	123	5	in	in	ADP
alkej-284	123	6	this	this	DET
alkej-284	123	7	work	work	NOUN
alkej-284	123	8	,	,	PUNCT
alkej-284	123	9	the	the	DET
alkej-284	123	10	elliptic	elliptic	ADJ
alkej-284	123	11	trajectory	trajectory	NOUN
alkej-284	123	12	which	which	PRON
alkej-284	123	13	enable	enable	VERB
alkej-284	123	14	the	the	DET
alkej-284	123	15	patient	patient	NOUN
alkej-284	123	16	to	to	PART
alkej-284	123	17	move	move	VERB
alkej-284	123	18	in	in	ADP
alkej-284	123	19	x	x	PUNCT
alkej-284	123	20	and	and	CCONJ
alkej-284	123	21	y	y	PROPN
alkej-284	123	22	axes	axis	NOUN
alkej-284	123	23	is	be	AUX
alkej-284	123	24	applied	apply	VERB
alkej-284	123	25	.	.	PUNCT
alkej-284	124	1	the	the	DET
alkej-284	124	2	desired	desire	VERB
alkej-284	124	3	trajectory	trajectory	NOUN
alkej-284	124	4	is	be	AUX
alkej-284	124	5	given	give	VERB
alkej-284	124	6	by	by	ADP
alkej-284	124	7	[	[	PUNCT
alkej-284	124	8	13	13	NUM
alkej-284	124	9	]	]	SYM
alkej-284	124	10	:	:	PUNCT
alkej-284	124	11	�	�	PROPN
alkej-284	124	12	�	�	PROPN
alkej-284	124	13	�	�	PROPN
alkej-284	124	14	:	:	PUNCT
alkej-284	124	15	�	�	PROPN
alkej-284	124	16	=	=	PROPN
alkej-284	124	17	0.614	0.614	NUM
alkej-284	124	18	−	−	NUM
alkej-284	124	19	0.015	0.015	NUM
alkej-284	124	20	.	.	PUNCT
alkej-284	125	1	cos	cos	PROPN
alkej-284	125	2	�	�	PROPN
alkej-284	125	3	0.2n	0.2n	PROPN
alkej-284	125	4	.	.	PUNCT
alkej-284	126	1	:	:	PUNCT
alkej-284	126	2	−	−	PROPN
alkej-284	126	3	n	n	CCONJ
alkej-284	126	4	�	�	PROPN
alkej-284	126	5	…	…	PUNCT
alkej-284	126	6	(	(	PUNCT
alkej-284	126	7	5	5	X
alkej-284	126	8	)	)	PUNCT
alkej-284	126	9	o	o	NOUN
alkej-284	126	10	�	�	PROPN
alkej-284	126	11	�	�	PROPN
alkej-284	126	12	:	:	PUNCT
alkej-284	126	13	�	�	PROPN
alkej-284	126	14	=	=	PUNCT
alkej-284	126	15	−0.1	−0.1	PROPN
alkej-284	126	16	.	.	PUNCT
alkej-284	127	1	sin	sin	PROPN
alkej-284	127	2	�	�	PROPN
alkej-284	127	3	0.2n	0.2n	PROPN
alkej-284	127	4	.	.	PUNCT
alkej-284	128	1	:	:	PUNCT
alkej-284	128	2	−	−	PROPN
alkej-284	128	3	2n	2n	NUM
alkej-284	128	4	�	�	PROPN
alkej-284	128	5	…	…	PUNCT
alkej-284	128	6	(	(	PUNCT
alkej-284	128	7	6	6	NUM
alkej-284	128	8	)	)	PUNCT
alkej-284	128	9	where	where	SCONJ
alkej-284	128	10	0	0	NUM
alkej-284	128	11	≤	≤	NUM
alkej-284	128	12	:	:	PUNCT
alkej-284	128	13	≤	≤	NUM
alkej-284	128	14	20	20	NUM
alkej-284	128	15	seconds	second	NOUN
alkej-284	128	16	.	.	PUNCT
alkej-284	129	1	by	by	ADP
alkej-284	129	2	applying	apply	VERB
alkej-284	129	3	the	the	DET
alkej-284	129	4	reference	reference	NOUN
alkej-284	129	5	position	position	NOUN
alkej-284	129	6	trajectory	trajectory	NOUN
alkej-284	129	7	,	,	PUNCT
alkej-284	129	8	the	the	DET
alkej-284	129	9	gains	gain	NOUN
alkej-284	129	10	of	of	ADP
alkej-284	129	11	the	the	DET
alkej-284	129	12	pdflc	pdflc	PROPN
alkej-284	129	13	and	and	CCONJ
alkej-284	129	14	the	the	DET
alkej-284	129	15	proportional	proportional	ADJ
alkej-284	129	16	gain	gain	NOUN
alkej-284	129	17	�	�	PROPN
alkej-284	129	18	�	�	PROPN
alkej-284	129	19	$	$	SYM
alkej-284	129	20	�	�	PROPN
alkej-284	129	21	of	of	ADP
alkej-284	129	22	the	the	DET
alkej-284	129	23	force	force	NOUN
alkej-284	129	24	controller	controller	NOUN
alkej-284	129	25	for	for	ADP
alkej-284	129	26	each	each	DET
alkej-284	129	27	joint	joint	NOUN
alkej-284	129	28	are	be	AUX
alkej-284	129	29	manually	manually	ADV
alkej-284	129	30	tuned	tune	VERB
alkej-284	129	31	using	use	VERB
alkej-284	129	32	several	several	ADJ
alkej-284	129	33	trials	trial	NOUN
alkej-284	129	34	and	and	CCONJ
alkej-284	129	35	error	error	NOUN
alkej-284	129	36	and	and	CCONJ
alkej-284	129	37	the	the	DET
alkej-284	129	38	best	good	ADJ
alkej-284	129	39	values	value	NOUN
alkej-284	129	40	are	be	AUX
alkej-284	129	41	illustrated	illustrate	VERB
alkej-284	129	42	in	in	ADP
alkej-284	129	43	table	table	NOUN
alkej-284	129	44	3	3	NUM
alkej-284	129	45	.	.	PUNCT
alkej-284	130	1	the	the	DET
alkej-284	130	2	response	response	NOUN
alkej-284	130	3	for	for	ADP
alkej-284	130	4	each	each	DET
alkej-284	130	5	axis	axis	NOUN
alkej-284	130	6	and	and	CCONJ
alkej-284	130	7	the	the	DET
alkej-284	130	8	position	position	NOUN
alkej-284	130	9	trajectory	trajectory	NOUN
alkej-284	130	10	are	be	AUX
alkej-284	130	11	shown	show	VERB
alkej-284	130	12	in	in	ADP
alkej-284	130	13	fig	fig	NOUN
alkej-284	130	14	.	.	PUNCT
alkej-284	131	1	6	6	NUM
alkej-284	131	2	and	and	CCONJ
alkej-284	131	3	fig	fig	NOUN
alkej-284	131	4	.	.	PUNCT
alkej-284	131	5	7	7	NUM
alkej-284	131	6	respectively	respectively	ADV
alkej-284	131	7	.	.	PUNCT
alkej-284	132	1	in	in	ADP
alkej-284	132	2	this	this	DET
alkej-284	132	3	work	work	NOUN
alkej-284	132	4	,	,	PUNCT
alkej-284	132	5	the	the	DET
alkej-284	132	6	criterion	criterion	NOUN
alkej-284	132	7	selected	select	VERB
alkej-284	132	8	to	to	PART
alkej-284	132	9	measure	measure	VERB
alkej-284	132	10	the	the	DET
alkej-284	132	11	goodness	goodness	NOUN
alkej-284	132	12	of	of	ADP
alkej-284	132	13	results	result	NOUN
alkej-284	132	14	as	as	SCONJ
alkej-284	132	15	a	a	DET
alkej-284	132	16	performance	performance	NOUN
alkej-284	132	17	index	index	NOUN
alkej-284	132	18	is	be	AUX
alkej-284	132	19	root	root	NOUN
alkej-284	132	20	mean	mean	ADJ
alkej-284	132	21	square	square	ADJ
alkej-284	132	22	error	error	NOUN
alkej-284	132	23	(	(	PUNCT
alkej-284	132	24	rmse	rmse	NOUN
alkej-284	132	25	)	)	PUNCT
alkej-284	133	1	[	[	X
alkej-284	133	2	14	14	NUM
alkej-284	133	3	]	]	X
alkej-284	133	4	:	:	PUNCT
alkej-284	133	5	�	�	PROPN
alkej-284	133	6	�	�	PROPN
alkej-284	133	7	st	st	PROPN
alkej-284	133	8	=	=	SYM
alkej-284	133	9	4	4	NUM
alkej-284	133	10	u	u	NOUN
alkej-284	133	11	∑	∑	PUNCT
alkej-284	133	12	w9.5	w9.5	PROPN
alkej-284	133	13	�	�	NOUN
alkej-284	133	14	x	x	SYM
alkej-284	133	15	�	�	PROPN
alkej-284	133	16	+	+	CCONJ
alkej-284	133	17	9/5	9/5	NUM
alkej-284	133	18	�	�	NOUN
alkej-284	133	19	x	x	SYM
alkej-284	133	20	�	�	PROPN
alkej-284	133	21	+	+	NUM
alkej-284	133	22	905	905	NUM
alkej-284	133	23	�	�	PROPN
alkej-284	133	24	x	x	SYM
alkej-284	133	25	�	�	PROPN
alkej-284	133	26	u4	u4	PROPN
alkej-284	133	27	…	…	SYM
alkej-284	133	28	�	�	PROPN
alkej-284	133	29	7	7	NUM
alkej-284	133	30	�	�	NOUN
alkej-284	133	31	where	where	SCONJ
alkej-284	133	32	9.5	9.5	NUM
alkej-284	133	33	�	�	SYM
alkej-284	133	34	x	x	SYM
alkej-284	133	35	�	�	PROPN
alkej-284	133	36	is	be	AUX
alkej-284	133	37	the	the	DET
alkej-284	133	38	trajectory	trajectory	NOUN
alkej-284	133	39	error	error	NOUN
alkej-284	133	40	in	in	ADP
alkej-284	133	41	x	x	NOUN
alkej-284	133	42	-	-	ADJ
alkej-284	133	43	axis	axis	ADJ
alkej-284	133	44	,	,	PUNCT
alkej-284	133	45	9/5	9/5	NUM
alkej-284	133	46	�	�	NOUN
alkej-284	133	47	x	x	SYM
alkej-284	133	48	�	�	PROPN
alkej-284	133	49	is	be	AUX
alkej-284	133	50	the	the	DET
alkej-284	133	51	trajectory	trajectory	NOUN
alkej-284	133	52	error	error	NOUN
alkej-284	133	53	in	in	ADP
alkej-284	133	54	y	y	NOUN
alkej-284	133	55	-	-	PUNCT
alkej-284	133	56	axis	axis	NOUN
alkej-284	133	57	and	and	CCONJ
alkej-284	133	58	905	905	NUM
alkej-284	133	59	�	�	PROPN
alkej-284	133	60	x	x	SYM
alkej-284	133	61	�	�	PROPN
alkej-284	133	62	is	be	AUX
alkej-284	133	63	the	the	DET
alkej-284	133	64	trajectory	trajectory	NOUN
alkej-284	133	65	error	error	NOUN
alkej-284	133	66	in	in	ADP
alkej-284	133	67	z	z	NOUN
alkej-284	133	68	-	-	PUNCT
alkej-284	133	69	axis	axis	NOUN
alkej-284	133	70	.	.	PUNCT
alkej-284	134	1	n	n	PRON
alkej-284	134	2	is	be	AUX
alkej-284	134	3	the	the	DET
alkej-284	134	4	number	number	NOUN
alkej-284	134	5	of	of	ADP
alkej-284	134	6	samples	sample	NOUN
alkej-284	134	7	.	.	PUNCT
alkej-284	135	1	the	the	DET
alkej-284	135	2	performance	performance	NOUN
alkej-284	135	3	index	index	NOUN
alkej-284	135	4	for	for	ADP
alkej-284	135	5	first	first	ADJ
alkej-284	135	6	position	position	NOUN
alkej-284	135	7	trajectory	trajectory	NOUN
alkej-284	135	8	without	without	ADP
alkej-284	135	9	disturbance	disturbance	NOUN
alkej-284	135	10	is	be	AUX
alkej-284	135	11	calculated	calculate	VERB
alkej-284	135	12	and	and	CCONJ
alkej-284	135	13	equals	equal	VERB
alkej-284	135	14	to	to	ADP
alkej-284	135	15	0.0547	0.0547	NUM
alkej-284	135	16	.	.	PUNCT
alkej-284	136	1	during	during	ADP
alkej-284	136	2	rehabilitation	rehabilitation	NOUN
alkej-284	136	3	exercises	exercise	NOUN
alkej-284	136	4	,	,	PUNCT
alkej-284	136	5	many	many	ADJ
alkej-284	136	6	interior	interior	ADJ
alkej-284	136	7	factors	factor	NOUN
alkej-284	136	8	,	,	PUNCT
alkej-284	136	9	such	such	ADJ
alkej-284	136	10	as	as	ADP
alkej-284	136	11	position	position	NOUN
alkej-284	136	12	changes	change	NOUN
alkej-284	136	13	and	and	CCONJ
alkej-284	136	14	even	even	ADV
alkej-284	136	15	coughing	cough	VERB
alkej-284	136	16	,	,	PUNCT
alkej-284	136	17	usually	usually	ADV
alkej-284	136	18	cause	cause	VERB
alkej-284	136	19	some	some	DET
alkej-284	136	20	disturbance	disturbance	NOUN
alkej-284	136	21	to	to	ADP
alkej-284	136	22	the	the	DET
alkej-284	136	23	rehabilitation	rehabilitation	NOUN
alkej-284	136	24	system	system	NOUN
alkej-284	136	25	.	.	PUNCT
alkej-284	137	1	a	a	DET
alkej-284	137	2	disturbance	disturbance	NOUN
alkej-284	137	3	of	of	ADP
alkej-284	137	4	4*sin	4*sin	NOUN
alkej-284	137	5	(	(	PUNCT
alkej-284	137	6	10.π.t	10.π.t	NUM
alkej-284	137	7	)	)	PUNCT
alkej-284	137	8	n.m	n.m	NOUN
alkej-284	137	9	is	be	AUX
alkej-284	137	10	applied	apply	VERB
alkej-284	137	11	[	[	PUNCT
alkej-284	137	12	15	15	NUM
alkej-284	137	13	]	]	PUNCT
alkej-284	137	14	.	.	PUNCT
alkej-284	138	1	based	base	VERB
alkej-284	138	2	on	on	ADP
alkej-284	138	3	the	the	DET
alkej-284	138	4	characteristics	characteristic	NOUN
alkej-284	138	5	of	of	ADP
alkej-284	138	6	a	a	DET
alkej-284	138	7	tremor	tremor	NOUN
alkej-284	138	8	the	the	DET
alkej-284	138	9	value	value	NOUN
alkej-284	138	10	of	of	ADP
alkej-284	138	11	above	above	ADJ
alkej-284	138	12	disturbance	disturbance	NOUN
alkej-284	138	13	is	be	AUX
alkej-284	138	14	sufficient	sufficient	ADJ
alkej-284	138	15	to	to	PART
alkej-284	138	16	describe	describe	VERB
alkej-284	138	17	the	the	DET
alkej-284	138	18	convulsions	convulsion	NOUN
alkej-284	138	19	for	for	ADP
alkej-284	138	20	human	human	ADJ
alkej-284	138	21	lower	low	ADJ
alkej-284	138	22	leg	leg	NOUN
alkej-284	138	23	.	.	PUNCT
alkej-284	139	1	the	the	DET
alkej-284	139	2	gains	gain	NOUN
alkej-284	139	3	of	of	ADP
alkej-284	139	4	the	the	DET
alkej-284	139	5	controller	controller	NOUN
alkej-284	139	6	listed	list	VERB
alkej-284	139	7	in	in	ADP
alkej-284	139	8	table	table	NOUN
alkej-284	139	9	3	3	NUM
alkej-284	139	10	are	be	AUX
alkej-284	139	11	used	use	VERB
alkej-284	139	12	for	for	ADP
alkej-284	139	13	the	the	DET
alkej-284	139	14	elliptic	elliptic	ADJ
alkej-284	139	15	trajectory	trajectory	NOUN
alkej-284	139	16	with	with	ADP
alkej-284	139	17	disturbance	disturbance	NOUN
alkej-284	139	18	.	.	PUNCT
alkej-284	140	1	the	the	DET
alkej-284	140	2	response	response	NOUN
alkej-284	140	3	for	for	ADP
alkej-284	140	4	each	each	DET
alkej-284	140	5	axis	axis	NOUN
alkej-284	140	6	and	and	CCONJ
alkej-284	140	7	the	the	DET
alkej-284	140	8	position	position	NOUN
alkej-284	140	9	trajectory	trajectory	NOUN
alkej-284	140	10	are	be	AUX
alkej-284	140	11	shown	show	VERB
alkej-284	140	12	in	in	ADP
alkej-284	140	13	fig	fig	NOUN
alkej-284	140	14	.	.	PUNCT
alkej-284	141	1	8	8	NUM
alkej-284	141	2	and	and	CCONJ
alkej-284	141	3	fig	fig	NOUN
alkej-284	141	4	.	.	PUNCT
alkej-284	141	5	9	9	NUM
alkej-284	141	6	respectively	respectively	ADV
alkej-284	141	7	.	.	PUNCT
alkej-284	142	1	the	the	DET
alkej-284	142	2	performance	performance	NOUN
alkej-284	142	3	index	index	NOUN
alkej-284	142	4	for	for	ADP
alkej-284	142	5	position	position	NOUN
alkej-284	142	6	reference	reference	NOUN
alkej-284	142	7	trajectory	trajectory	NOUN
alkej-284	142	8	with	with	ADP
alkej-284	142	9	disturbance	disturbance	NOUN
alkej-284	142	10	is	be	AUX
alkej-284	142	11	calculated	calculate	VERB
alkej-284	142	12	and	and	CCONJ
alkej-284	142	13	equals	equal	VERB
alkej-284	142	14	to	to	ADP
alkej-284	142	15	0.0652	0.0652	NUM
alkej-284	142	16	.	.	PUNCT
alkej-284	143	1	table	table	NOUN
alkej-284	143	2	3	3	NUM
alkej-284	143	3	,	,	PUNCT
alkej-284	143	4	pd	pd	ADJ
alkej-284	143	5	-	-	PUNCT
alkej-284	143	6	like	like	ADJ
alkej-284	143	7	force	force	NOUN
alkej-284	143	8	-	-	PUNCT
alkej-284	143	9	position	position	NOUN
alkej-284	143	10	flc	flc	PROPN
alkej-284	143	11	gains	gain	NOUN
alkej-284	143	12	for	for	ADP
alkej-284	143	13	the	the	DET
alkej-284	143	14	first	first	ADJ
alkej-284	143	15	(	(	PUNCT
alkej-284	143	16	elliptic	elliptic	ADJ
alkej-284	143	17	)	)	PUNCT
alkej-284	143	18	trajectory	trajectory	NOUN
alkej-284	143	19	.	.	PUNCT
alkej-284	144	1	gain	gain	NOUN
alkej-284	144	2	kp1	kp1	PROPN
alkej-284	144	3	kd1	kd1	PROPN
alkej-284	145	1	ko1	ko1	PROPN
alkej-284	145	2	kp2	kp2	PROPN
alkej-284	145	3	kd2	kd2	PROPN
alkej-284	145	4	ko2	ko2	PROPN
alkej-284	145	5	kp3	kp3	PROPN
alkej-284	145	6	kd3	kd3	PROPN
alkej-284	145	7	ko3	ko3	PROPN
alkej-284	145	8	value	value	NOUN
alkej-284	145	9	0.23	0.23	NUM
alkej-284	145	10	0.54	0.54	NUM
alkej-284	145	11	3.6	3.6	NUM
alkej-284	145	12	1.5	1.5	NUM
alkej-284	145	13	0.7	0.7	NUM
alkej-284	145	14	6.8	6.8	NUM
alkej-284	145	15	0.04	0.04	NUM
alkej-284	145	16	0.008	0.008	NUM
alkej-284	145	17	0.4	0.4	NUM
alkej-284	145	18	kf1	kf1	NOUN
alkej-284	145	19	kf2	kf2	PROPN
alkej-284	145	20	kf3	kf3	PROPN
alkej-284	145	21	6.4	6.4	NUM
alkej-284	145	22	7.85	7.85	NUM
alkej-284	145	23	5.27	5.27	NUM
alkej-284	145	24	mohammed	mohammed	PROPN
alkej-284	145	25	y.	y.	PROPN
alkej-284	145	26	hassan	hassan	PROPN
alkej-284	145	27	al	al	PROPN
alkej-284	145	28	-	-	PUNCT
alkej-284	145	29	khwarizmi	khwarizmi	PROPN
alkej-284	145	30	engineering	engineering	NOUN
alkej-284	145	31	journal	journal	PROPN
alkej-284	145	32	,	,	PUNCT
alkej-284	145	33	vol	vol	NOUN
alkej-284	145	34	.	.	PROPN
alkej-284	145	35	12	12	NUM
alkej-284	145	36	,	,	PUNCT
alkej-284	145	37	no	no	INTJ
alkej-284	145	38	.	.	NOUN
alkej-284	145	39	1	1	NUM
alkej-284	145	40	,	,	PUNCT
alkej-284	145	41	p.p	p.p	PROPN
alkej-284	145	42	.	.	NOUN
alkej-284	145	43	6172	6172	NUM
alkej-284	145	44	(	(	PUNCT
alkej-284	145	45	2016	2016	NUM
alkej-284	145	46	)	)	PUNCT
alkej-284	145	47	67	67	NUM
alkej-284	145	48	fig	fig	NOUN
alkej-284	145	49	.	.	PUNCT
alkej-284	146	1	6	6	NUM
alkej-284	146	2	.	.	X
alkej-284	146	3	position	position	NOUN
alkej-284	146	4	response	response	NOUN
alkej-284	146	5	for	for	ADP
alkej-284	146	6	the	the	DET
alkej-284	146	7	x	x	X
alkej-284	146	8	and	and	CCONJ
alkej-284	146	9	y	y	PROPN
alkej-284	146	10	axes	axis	NOUN
alkej-284	146	11	of	of	ADP
alkej-284	146	12	the	the	DET
alkej-284	146	13	elliptic	elliptic	ADJ
alkej-284	146	14	reference	reference	NOUN
alkej-284	146	15	position	position	NOUN
alkej-284	146	16	trajectory	trajectory	NOUN
alkej-284	146	17	without	without	ADP
alkej-284	146	18	disturbance	disturbance	NOUN
alkej-284	146	19	.	.	PUNCT
alkej-284	147	1	fig	fig	NOUN
alkej-284	147	2	.	.	PUNCT
alkej-284	148	1	7	7	X
alkej-284	148	2	.	.	X
alkej-284	148	3	position	position	NOUN
alkej-284	148	4	trajectory	trajectory	NOUN
alkej-284	148	5	response	response	NOUN
alkej-284	148	6	without	without	ADP
alkej-284	148	7	disturbance	disturbance	NOUN
alkej-284	148	8	in	in	ADP
alkej-284	148	9	the	the	DET
alkej-284	148	10	(	(	PUNCT
alkej-284	148	11	x	x	NOUN
alkej-284	148	12	-	-	ADJ
alkej-284	148	13	y	y	ADJ
alkej-284	148	14	)	)	PUNCT
alkej-284	148	15	axes	axis	NOUN
alkej-284	148	16	.	.	PUNCT
alkej-284	149	1	fig	fig	NOUN
alkej-284	149	2	.	.	PUNCT
alkej-284	150	1	8	8	X
alkej-284	150	2	.	.	PUNCT
alkej-284	151	1	position	position	NOUN
alkej-284	151	2	response	response	NOUN
alkej-284	151	3	for	for	ADP
alkej-284	151	4	the	the	DET
alkej-284	151	5	x	x	X
alkej-284	151	6	and	and	CCONJ
alkej-284	151	7	y	y	PROPN
alkej-284	151	8	axes	axis	NOUN
alkej-284	151	9	of	of	ADP
alkej-284	151	10	the	the	DET
alkej-284	151	11	elliptic	elliptic	ADJ
alkej-284	151	12	reference	reference	NOUN
alkej-284	151	13	position	position	NOUN
alkej-284	151	14	trajectory	trajectory	NOUN
alkej-284	151	15	with	with	ADP
alkej-284	151	16	disturbance	disturbance	NOUN
alkej-284	151	17	.	.	PUNCT
alkej-284	152	1	fig	fig	NOUN
alkej-284	152	2	.	.	PUNCT
alkej-284	153	1	9	9	X
alkej-284	153	2	.	.	X
alkej-284	153	3	position	position	NOUN
alkej-284	153	4	trajectory	trajectory	NOUN
alkej-284	153	5	response	response	NOUN
alkej-284	153	6	with	with	ADP
alkej-284	153	7	disturbance	disturbance	NOUN
alkej-284	153	8	in	in	ADP
alkej-284	153	9	(	(	PUNCT
alkej-284	153	10	x	x	NOUN
alkej-284	153	11	-	-	NOUN
alkej-284	153	12	y	y	ADJ
alkej-284	153	13	)	)	PUNCT
alkej-284	153	14	axes	axis	NOUN
alkej-284	153	15	0	0	NUM
alkej-284	154	1	2	2	NUM
alkej-284	154	2	4	4	NUM
alkej-284	154	3	6	6	NUM
alkej-284	154	4	8	8	NUM
alkej-284	154	5	10	10	NUM
alkej-284	154	6	12	12	NUM
alkej-284	154	7	14	14	NUM
alkej-284	154	8	16	16	NUM
alkej-284	154	9	18	18	NUM
alkej-284	154	10	20	20	NUM
alkej-284	154	11	0.5	0.5	NUM
alkej-284	154	12	0.6	0.6	NUM
alkej-284	154	13	0.7	0.7	NUM
alkej-284	154	14	0.8	0.8	NUM
alkej-284	154	15	0.9	0.9	NUM
alkej-284	154	16	1	1	NUM
alkej-284	154	17	1.1	1.1	NUM
alkej-284	154	18	1.2	1.2	NUM
alkej-284	154	19	time	time	NOUN
alkej-284	154	20	(	(	PUNCT
alkej-284	154	21	second	second	ADJ
alkej-284	154	22	)	)	PUNCT
alkej-284	154	23	xax	xax	PROPN
alkej-284	154	24	is	be	AUX
alkej-284	154	25	(	(	PUNCT
alkej-284	154	26	m	m	VERB
alkej-284	154	27	et	et	NOUN
alkej-284	154	28	er	er	INTJ
alkej-284	154	29	)	)	PUNCT
alkej-284	154	30	x	x	ADJ
alkej-284	154	31	-	-	ADJ
alkej-284	154	32	axis	axis	ADJ
alkej-284	154	33	response	response	NOUN
alkej-284	154	34	desired	desire	VERB
alkej-284	154	35	actual	actual	ADJ
alkej-284	154	36	0	0	NUM
alkej-284	154	37	2	2	NUM
alkej-284	154	38	4	4	NUM
alkej-284	154	39	6	6	NUM
alkej-284	154	40	8	8	NUM
alkej-284	154	41	10	10	NUM
alkej-284	154	42	12	12	NUM
alkej-284	154	43	14	14	NUM
alkej-284	154	44	16	16	NUM
alkej-284	154	45	18	18	NUM
alkej-284	154	46	20	20	NUM
alkej-284	154	47	-0.2	-0.2	NUM
alkej-284	154	48	-0.15	-0.15	NUM
alkej-284	154	49	-0.1	-0.1	PROPN
alkej-284	154	50	-0.05	-0.05	NOUN
alkej-284	154	51	0	0	NUM
alkej-284	154	52	0.05	0.05	NUM
alkej-284	154	53	0.1	0.1	NUM
alkej-284	154	54	0.15	0.15	NUM
alkej-284	154	55	time	time	NOUN
alkej-284	154	56	(	(	PUNCT
alkej-284	154	57	second	second	ADJ
alkej-284	154	58	)	)	PUNCT
alkej-284	154	59	yax	yax	PROPN
alkej-284	154	60	is	be	AUX
alkej-284	154	61	(	(	PUNCT
alkej-284	154	62	m	m	VERB
alkej-284	154	63	et	et	NOUN
alkej-284	154	64	er	er	INTJ
alkej-284	154	65	)	)	PUNCT
alkej-284	154	66	y	y	ADJ
alkej-284	154	67	-	-	PUNCT
alkej-284	154	68	axis	axis	NOUN
alkej-284	154	69	response	response	NOUN
alkej-284	154	70	desired	desire	VERB
alkej-284	154	71	actual	actual	ADJ
alkej-284	154	72	0.5	0.5	NUM
alkej-284	154	73	0.6	0.6	NUM
alkej-284	154	74	0.7	0.7	NUM
alkej-284	154	75	0.8	0.8	NUM
alkej-284	154	76	0.9	0.9	NUM
alkej-284	154	77	1	1	NUM
alkej-284	154	78	1.1	1.1	NUM
alkej-284	154	79	1.2	1.2	NUM
alkej-284	154	80	-0.2	-0.2	NUM
alkej-284	154	81	-0.15	-0.15	NUM
alkej-284	154	82	-0.1	-0.1	PROPN
alkej-284	154	83	-0.05	-0.05	NOUN
alkej-284	154	84	0	0	NUM
alkej-284	154	85	0.05	0.05	NUM
alkej-284	154	86	0.1	0.1	NUM
alkej-284	154	87	0.15	0.15	NUM
alkej-284	154	88	x	x	NOUN
alkej-284	154	89	-	-	NOUN
alkej-284	154	90	axis	axis	ADJ
alkej-284	154	91	(	(	PUNCT
alkej-284	154	92	meter	meter	NOUN
alkej-284	154	93	)	)	PUNCT
alkej-284	154	94	yax	yax	PROPN
alkej-284	154	95	is	be	AUX
alkej-284	154	96	(	(	PUNCT
alkej-284	154	97	m	m	VERB
alkej-284	154	98	et	et	NOUN
alkej-284	154	99	er	er	INTJ
alkej-284	154	100	)	)	PUNCT
alkej-284	154	101	first	first	ADJ
alkej-284	154	102	trajectory	trajectory	NOUN
alkej-284	154	103	(	(	PUNCT
alkej-284	154	104	manual	manual	ADJ
alkej-284	154	105	tuning	tuning	NOUN
alkej-284	154	106	)	)	PUNCT
alkej-284	154	107	desired	desire	VERB
alkej-284	154	108	actual	actual	ADJ
alkej-284	154	109	0	0	NUM
alkej-284	154	110	2	2	NUM
alkej-284	154	111	4	4	NUM
alkej-284	154	112	6	6	NUM
alkej-284	154	113	8	8	NUM
alkej-284	154	114	10	10	NUM
alkej-284	154	115	12	12	NUM
alkej-284	154	116	14	14	NUM
alkej-284	154	117	16	16	NUM
alkej-284	154	118	18	18	NUM
alkej-284	154	119	20	20	NUM
alkej-284	154	120	0.5	0.5	NUM
alkej-284	154	121	0.6	0.6	NUM
alkej-284	154	122	0.7	0.7	NUM
alkej-284	154	123	0.8	0.8	NUM
alkej-284	154	124	0.9	0.9	NUM
alkej-284	154	125	1	1	NUM
alkej-284	154	126	1.1	1.1	NUM
alkej-284	154	127	1.2	1.2	NUM
alkej-284	154	128	x	x	ADJ
alkej-284	154	129	-	-	ADJ
alkej-284	154	130	axis	axis	ADJ
alkej-284	154	131	response	response	NOUN
alkej-284	154	132	time	time	NOUN
alkej-284	154	133	(	(	PUNCT
alkej-284	154	134	second	second	ADJ
alkej-284	154	135	)	)	PUNCT
alkej-284	154	136	xax	xax	PROPN
alkej-284	154	137	is	be	AUX
alkej-284	154	138	(	(	PUNCT
alkej-284	154	139	m	m	VERB
alkej-284	154	140	et	et	NOUN
alkej-284	154	141	er	er	INTJ
alkej-284	154	142	)	)	PUNCT
alkej-284	154	143	desired	desire	VERB
alkej-284	154	144	actual	actual	ADJ
alkej-284	154	145	0	0	NUM
alkej-284	154	146	2	2	NUM
alkej-284	154	147	4	4	NUM
alkej-284	154	148	6	6	NUM
alkej-284	154	149	8	8	NUM
alkej-284	154	150	10	10	NUM
alkej-284	154	151	12	12	NUM
alkej-284	154	152	14	14	NUM
alkej-284	154	153	16	16	NUM
alkej-284	154	154	18	18	NUM
alkej-284	154	155	20	20	NUM
alkej-284	154	156	-0.2	-0.2	NUM
alkej-284	154	157	-0.15	-0.15	NUM
alkej-284	154	158	-0.1	-0.1	PROPN
alkej-284	154	159	-0.05	-0.05	NOUN
alkej-284	154	160	0	0	NUM
alkej-284	154	161	0.05	0.05	NUM
alkej-284	154	162	0.1	0.1	NUM
alkej-284	154	163	0.15	0.15	NUM
alkej-284	154	164	time	time	NOUN
alkej-284	154	165	(	(	PUNCT
alkej-284	154	166	second	second	ADJ
alkej-284	154	167	)	)	PUNCT
alkej-284	154	168	yax	yax	PROPN
alkej-284	154	169	is	be	AUX
alkej-284	154	170	(	(	PUNCT
alkej-284	154	171	m	m	VERB
alkej-284	154	172	et	et	NOUN
alkej-284	154	173	er	er	INTJ
alkej-284	154	174	)	)	PUNCT
alkej-284	154	175	y	y	ADJ
alkej-284	154	176	-	-	PUNCT
alkej-284	154	177	axis	axis	NOUN
alkej-284	154	178	response	response	NOUN
alkej-284	154	179	desired	desire	VERB
alkej-284	154	180	actual	actual	ADJ
alkej-284	154	181	0.5	0.5	NUM
alkej-284	154	182	0.6	0.6	NUM
alkej-284	154	183	0.7	0.7	NUM
alkej-284	154	184	0.8	0.8	NUM
alkej-284	154	185	0.9	0.9	NUM
alkej-284	154	186	1	1	NUM
alkej-284	154	187	1.1	1.1	NUM
alkej-284	154	188	1.2	1.2	NUM
alkej-284	154	189	-0.2	-0.2	NUM
alkej-284	154	190	-0.15	-0.15	NUM
alkej-284	154	191	-0.1	-0.1	PROPN
alkej-284	154	192	-0.05	-0.05	NOUN
alkej-284	154	193	0	0	NUM
alkej-284	154	194	0.05	0.05	NUM
alkej-284	154	195	0.1	0.1	NUM
alkej-284	154	196	0.15	0.15	NUM
alkej-284	154	197	x	x	NOUN
alkej-284	154	198	-	-	NOUN
alkej-284	154	199	axis	axis	ADJ
alkej-284	154	200	(	(	PUNCT
alkej-284	154	201	meter	meter	NOUN
alkej-284	154	202	)	)	PUNCT
alkej-284	154	203	yax	yax	PROPN
alkej-284	154	204	is	be	AUX
alkej-284	154	205	(	(	PUNCT
alkej-284	154	206	m	m	VERB
alkej-284	154	207	et	et	NOUN
alkej-284	154	208	er	er	INTJ
alkej-284	154	209	)	)	PUNCT
alkej-284	154	210	first	first	ADJ
alkej-284	154	211	trajectory	trajectory	NOUN
alkej-284	155	1	w	w	PROPN
alkej-284	155	2	ith	ith	PROPN
alkej-284	155	3	distubance	distubance	NOUN
alkej-284	155	4	(	(	PUNCT
alkej-284	155	5	manual	manual	ADJ
alkej-284	155	6	tuning	tuning	NOUN
alkej-284	155	7	)	)	PUNCT
alkej-284	155	8	desired	desire	VERB
alkej-284	155	9	actual	actual	ADJ
alkej-284	155	10	mohammed	mohammed	PROPN
alkej-284	155	11	y.	y.	PROPN
alkej-284	155	12	hassan	hassan	PROPN
alkej-284	155	13	al	al	PROPN
alkej-284	155	14	-	-	PUNCT
alkej-284	155	15	khwarizmi	khwarizmi	PROPN
alkej-284	155	16	engineering	engineering	NOUN
alkej-284	155	17	journal	journal	PROPN
alkej-284	155	18	,	,	PUNCT
alkej-284	155	19	vol	vol	NOUN
alkej-284	155	20	.	.	PROPN
alkej-284	155	21	12	12	NUM
alkej-284	155	22	,	,	PUNCT
alkej-284	155	23	no	no	INTJ
alkej-284	155	24	.	.	NOUN
alkej-284	155	25	1	1	NUM
alkej-284	155	26	,	,	PUNCT
alkej-284	155	27	p.p	p.p	PROPN
alkej-284	155	28	.	.	NOUN
alkej-284	155	29	6172	6172	NUM
alkej-284	155	30	(	(	PUNCT
alkej-284	155	31	2016	2016	NUM
alkej-284	155	32	)	)	PUNCT
alkej-284	155	33	68	68	NUM
alkej-284	155	34	it	it	PRON
alkej-284	155	35	is	be	AUX
alkej-284	155	36	difficult	difficult	ADJ
alkej-284	155	37	to	to	PART
alkej-284	155	38	enhance	enhance	VERB
alkej-284	155	39	position	position	NOUN
alkej-284	155	40	tracking	tracking	NOUN
alkej-284	155	41	performance	performance	NOUN
alkej-284	155	42	using	use	VERB
alkej-284	155	43	the	the	DET
alkej-284	155	44	controller	controller	NOUN
alkej-284	155	45	tuned	tune	VERB
alkej-284	155	46	manually	manually	ADV
alkej-284	155	47	.	.	PUNCT
alkej-284	156	1	the	the	DET
alkej-284	156	2	process	process	NOUN
alkej-284	156	3	of	of	ADP
alkej-284	156	4	tuning	tune	VERB
alkej-284	156	5	the	the	DET
alkej-284	156	6	gains	gain	NOUN
alkej-284	156	7	of	of	ADP
alkej-284	156	8	the	the	DET
alkej-284	156	9	controllers	controller	NOUN
alkej-284	156	10	consumes	consume	VERB
alkej-284	156	11	time	time	NOUN
alkej-284	156	12	and	and	CCONJ
alkej-284	156	13	efforts	effort	NOUN
alkej-284	156	14	.	.	PUNCT
alkej-284	157	1	in	in	ADP
alkej-284	157	2	this	this	DET
alkej-284	157	3	research	research	NOUN
alkej-284	157	4	,	,	PUNCT
alkej-284	157	5	aco	aco	PROPN
alkej-284	157	6	algorithm	algorithm	PROPN
alkej-284	157	7	is	be	AUX
alkej-284	157	8	used	use	VERB
alkej-284	157	9	to	to	PART
alkej-284	157	10	tune	tune	VERB
alkej-284	157	11	the	the	DET
alkej-284	157	12	gains	gain	NOUN
alkej-284	157	13	of	of	ADP
alkej-284	157	14	the	the	DET
alkej-284	157	15	controllers	controller	NOUN
alkej-284	157	16	in	in	ADP
alkej-284	157	17	order	order	NOUN
alkej-284	157	18	to	to	PART
alkej-284	157	19	reach	reach	VERB
alkej-284	157	20	the	the	DET
alkej-284	157	21	best	good	ADJ
alkej-284	157	22	position	position	NOUN
alkej-284	157	23	performance	performance	NOUN
alkej-284	157	24	.	.	PUNCT
alkej-284	158	1	to	to	PART
alkej-284	158	2	get	get	VERB
alkej-284	158	3	more	more	ADV
alkej-284	158	4	accurate	accurate	ADJ
alkej-284	158	5	position	position	NOUN
alkej-284	158	6	responses	response	NOUN
alkej-284	158	7	,	,	PUNCT
alkej-284	158	8	the	the	DET
alkej-284	158	9	values	value	NOUN
alkej-284	158	10	of	of	ADP
alkej-284	158	11	the	the	DET
alkej-284	158	12	gains	gain	NOUN
alkej-284	158	13	�	�	PROPN
alkej-284	158	14	kp	kp	PROPN
alkej-284	158	15	,	,	PUNCT
alkej-284	158	16	kv	kv	PROPN
alkej-284	158	17	,	,	PUNCT
alkej-284	158	18	ko	ko	PROPN
alkej-284	158	19	and	and	CCONJ
alkej-284	158	20	kf	kf	PROPN
alkej-284	158	21	�	�	PROPN
alkej-284	158	22	for	for	ADP
alkej-284	158	23	each	each	DET
alkej-284	158	24	controller	controller	NOUN
alkej-284	158	25	are	be	AUX
alkej-284	158	26	tuned	tune	VERB
alkej-284	158	27	by	by	ADP
alkej-284	158	28	aco	aco	PROPN
alkej-284	158	29	to	to	PART
alkej-284	158	30	achieve	achieve	VERB
alkej-284	158	31	the	the	DET
alkej-284	158	32	desired	desire	VERB
alkej-284	158	33	specifications	specification	NOUN
alkej-284	158	34	.	.	PUNCT
alkej-284	159	1	the	the	DET
alkej-284	159	2	number	number	NOUN
alkej-284	159	3	of	of	ADP
alkej-284	159	4	iterations	iteration	NOUN
alkej-284	159	5	for	for	ADP
alkej-284	159	6	position	position	NOUN
alkej-284	159	7	trajectory	trajectory	NOUN
alkej-284	159	8	is	be	AUX
alkej-284	159	9	40	40	NUM
alkej-284	159	10	iterations	iteration	NOUN
alkej-284	159	11	.	.	PUNCT
alkej-284	160	1	the	the	DET
alkej-284	160	2	algorithm	algorithm	NOUN
alkej-284	160	3	stops	stop	VERB
alkej-284	160	4	iterating	iterate	VERB
alkej-284	160	5	either	either	CCONJ
alkej-284	160	6	when	when	SCONJ
alkej-284	160	7	an	an	DET
alkej-284	160	8	ant	ant	NOUN
alkej-284	160	9	found	find	VERB
alkej-284	160	10	a	a	DET
alkej-284	160	11	solution	solution	NOUN
alkej-284	160	12	or	or	CCONJ
alkej-284	160	13	when	when	SCONJ
alkej-284	160	14	a	a	DET
alkej-284	160	15	maximum	maximum	ADJ
alkej-284	160	16	number	number	NOUN
alkej-284	160	17	of	of	ADP
alkej-284	160	18	iterations	iteration	NOUN
alkej-284	160	19	have	have	AUX
alkej-284	160	20	been	be	AUX
alkej-284	160	21	performed	perform	VERB
alkej-284	160	22	.	.	PUNCT
alkej-284	161	1	table	table	NOUN
alkej-284	161	2	4	4	NUM
alkej-284	161	3	lists	list	VERB
alkej-284	161	4	the	the	DET
alkej-284	161	5	parameters	parameter	NOUN
alkej-284	161	6	of	of	ADP
alkej-284	161	7	force	force	NOUN
alkej-284	161	8	-	-	PUNCT
alkej-284	161	9	position	position	NOUN
alkej-284	161	10	controllers	controller	NOUN
alkej-284	161	11	obtained	obtain	VERB
alkej-284	161	12	by	by	ADP
alkej-284	161	13	aco	aco	PROPN
alkej-284	161	14	tuning	tune	VERB
alkej-284	161	15	to	to	PART
alkej-284	161	16	follow	follow	VERB
alkej-284	161	17	the	the	DET
alkej-284	161	18	reference	reference	NOUN
alkej-284	161	19	position	position	NOUN
alkej-284	161	20	trajectory	trajectory	NOUN
alkej-284	161	21	without	without	ADP
alkej-284	161	22	disturbance	disturbance	NOUN
alkej-284	161	23	.	.	PUNCT
alkej-284	162	1	the	the	DET
alkej-284	162	2	performance	performance	NOUN
alkej-284	162	3	index	index	NOUN
alkej-284	162	4	for	for	ADP
alkej-284	162	5	the	the	DET
alkej-284	162	6	elliptic	elliptic	ADJ
alkej-284	162	7	trajectory	trajectory	NOUN
alkej-284	162	8	without	without	ADP
alkej-284	162	9	disturbance	disturbance	NOUN
alkej-284	162	10	is	be	AUX
alkej-284	162	11	calculated	calculate	VERB
alkej-284	162	12	and	and	CCONJ
alkej-284	162	13	equals	equal	VERB
alkej-284	162	14	to	to	ADP
alkej-284	162	15	0.036	0.036	NUM
alkej-284	162	16	.	.	PUNCT
alkej-284	163	1	however	however	ADV
alkej-284	163	2	,	,	PUNCT
alkej-284	163	3	the	the	DET
alkej-284	163	4	response	response	NOUN
alkej-284	163	5	of	of	ADP
alkej-284	163	6	each	each	DET
alkej-284	163	7	axis	axis	NOUN
alkej-284	163	8	and	and	CCONJ
alkej-284	163	9	the	the	DET
alkej-284	163	10	position	position	NOUN
alkej-284	163	11	tracking	tracking	NOUN
alkej-284	163	12	responses	response	NOUN
alkej-284	163	13	in	in	ADP
alkej-284	163	14	the	the	DET
alkej-284	163	15	x	x	NOUN
alkej-284	163	16	,	,	PUNCT
alkej-284	163	17	y	y	PROPN
alkej-284	163	18	cartesian	cartesian	ADJ
alkej-284	163	19	space	space	NOUN
alkej-284	163	20	are	be	AUX
alkej-284	163	21	shown	show	VERB
alkej-284	163	22	in	in	ADP
alkej-284	163	23	figs	fig	NOUN
alkej-284	163	24	.	.	PUNCT
alkej-284	164	1	10	10	NUM
alkej-284	164	2	and	and	CCONJ
alkej-284	164	3	11	11	NUM
alkej-284	164	4	respectively	respectively	ADV
alkej-284	164	5	.	.	PUNCT
alkej-284	165	1	moreover	moreover	ADV
alkej-284	165	2	,	,	PUNCT
alkej-284	165	3	fig	fig	NOUN
alkej-284	165	4	.	.	PUNCT
alkej-284	166	1	12	12	NUM
alkej-284	166	2	shows	show	VERB
alkej-284	166	3	the	the	DET
alkej-284	166	4	performance	performance	NOUN
alkej-284	166	5	index	index	NOUN
alkej-284	166	6	obtained	obtain	VERB
alkej-284	166	7	by	by	ADP
alkej-284	166	8	aco	aco	PROPN
alkej-284	166	9	.	.	PUNCT
alkej-284	167	1	here	here	ADV
alkej-284	167	2	the	the	DET
alkej-284	167	3	disturbance	disturbance	NOUN
alkej-284	167	4	of	of	ADP
alkej-284	167	5	4*sin	4*sin	NOUN
alkej-284	167	6	(	(	PUNCT
alkej-284	167	7	10.π.t	10.π.t	NUM
alkej-284	167	8	)	)	PUNCT
alkej-284	167	9	is	be	AUX
alkej-284	167	10	applied	apply	VERB
alkej-284	167	11	.	.	PUNCT
alkej-284	168	1	the	the	DET
alkej-284	168	2	same	same	ADJ
alkej-284	168	3	parameters	parameter	NOUN
alkej-284	168	4	listed	list	VERB
alkej-284	168	5	in	in	ADP
alkej-284	168	6	table	table	NOUN
alkej-284	168	7	4	4	NUM
alkej-284	168	8	are	be	AUX
alkej-284	168	9	used	use	VERB
alkej-284	168	10	for	for	ADP
alkej-284	168	11	trajectory	trajectory	NOUN
alkej-284	168	12	with	with	ADP
alkej-284	168	13	disturbance	disturbance	NOUN
alkej-284	168	14	.	.	PUNCT
alkej-284	169	1	the	the	DET
alkej-284	169	2	performance	performance	NOUN
alkej-284	169	3	index	index	NOUN
alkej-284	169	4	for	for	ADP
alkej-284	169	5	position	position	NOUN
alkej-284	169	6	trajectory	trajectory	NOUN
alkej-284	169	7	with	with	ADP
alkej-284	169	8	disturbance	disturbance	NOUN
alkej-284	169	9	is	be	AUX
alkej-284	169	10	calculated	calculate	VERB
alkej-284	169	11	and	and	CCONJ
alkej-284	169	12	equals	equal	VERB
alkej-284	169	13	to	to	ADP
alkej-284	169	14	0.0362	0.0362	NUM
alkej-284	169	15	.	.	PUNCT
alkej-284	170	1	however	however	ADV
alkej-284	170	2	,	,	PUNCT
alkej-284	170	3	the	the	DET
alkej-284	170	4	position	position	NOUN
alkej-284	170	5	tracking	tracking	NOUN
alkej-284	170	6	responses	response	NOUN
alkej-284	170	7	in	in	ADP
alkej-284	170	8	the	the	DET
alkej-284	170	9	x	x	NOUN
alkej-284	170	10	,	,	PUNCT
alkej-284	170	11	y	y	PROPN
alkej-284	170	12	cartesian	cartesian	ADJ
alkej-284	170	13	space	space	NOUN
alkej-284	170	14	are	be	AUX
alkej-284	170	15	shown	show	VERB
alkej-284	170	16	in	in	ADP
alkej-284	170	17	figs	fig	NOUN
alkej-284	170	18	.	.	PUNCT
alkej-284	171	1	13	13	NUM
alkej-284	171	2	and	and	CCONJ
alkej-284	171	3	14	14	NUM
alkej-284	171	4	respectively	respectively	ADV
alkej-284	171	5	.	.	PUNCT
alkej-284	171	6	table	table	NOUN
alkej-284	171	7	4	4	NUM
alkej-284	171	8	,	,	PUNCT
alkej-284	171	9	pd	pd	ADJ
alkej-284	171	10	-	-	PUNCT
alkej-284	171	11	like	like	ADJ
alkej-284	171	12	force	force	NOUN
alkej-284	171	13	-	-	PUNCT
alkej-284	171	14	position	position	NOUN
alkej-284	171	15	flc	flc	PROPN
alkej-284	171	16	gains	gain	NOUN
alkej-284	171	17	for	for	ADP
alkej-284	171	18	the	the	DET
alkej-284	171	19	elliptic	elliptic	ADJ
alkej-284	171	20	trajectory	trajectory	NOUN
alkej-284	171	21	tuned	tune	VERB
alkej-284	171	22	aco	aco	PROPN
alkej-284	171	23	.	.	PUNCT
alkej-284	172	1	gain	gain	VERB
alkej-284	172	2	kp1	kp1	PROPN
alkej-284	172	3	kd1	kd1	PROPN
alkej-284	173	1	ko1	ko1	PROPN
alkej-284	173	2	kp2	kp2	PROPN
alkej-284	173	3	kd2	kd2	PROPN
alkej-284	173	4	ko2	ko2	PROPN
alkej-284	173	5	kp3	kp3	PROPN
alkej-284	173	6	kd3	kd3	PROPN
alkej-284	173	7	ko3	ko3	PROPN
alkej-284	173	8	value	value	NOUN
alkej-284	173	9	0.0081	0.0081	NUM
alkej-284	173	10	0.0029	0.0029	NUM
alkej-284	173	11	4.6456	4.6456	NUM
alkej-284	173	12	0.0496	0.0496	NUM
alkej-284	173	13	0.0067	0.0067	NUM
alkej-284	173	14	4.557	4.557	NUM
alkej-284	173	15	0.001	0.001	NUM
alkej-284	173	16	0.001	0.001	NUM
alkej-284	173	17	0.0065	0.0065	NUM
alkej-284	173	18	kf1	kf1	NOUN
alkej-284	173	19	kf2	kf2	PROPN
alkej-284	173	20	kf3	kf3	PROPN
alkej-284	173	21	2.381	2.381	NUM
alkej-284	173	22	4.6962	4.6962	NUM
alkej-284	173	23	0.0055	0.0055	NUM
alkej-284	173	24	fig	fig	NOUN
alkej-284	173	25	.	.	PUNCT
alkej-284	174	1	10	10	NUM
alkej-284	174	2	.	.	PUNCT
alkej-284	175	1	position	position	NOUN
alkej-284	175	2	response	response	NOUN
alkej-284	175	3	for	for	ADP
alkej-284	175	4	the	the	DET
alkej-284	175	5	x	x	X
alkej-284	175	6	and	and	CCONJ
alkej-284	175	7	y	y	PROPN
alkej-284	175	8	axes	axis	NOUN
alkej-284	175	9	of	of	ADP
alkej-284	175	10	the	the	DET
alkej-284	175	11	elliptic	elliptic	ADJ
alkej-284	175	12	reference	reference	NOUN
alkej-284	175	13	position	position	NOUN
alkej-284	175	14	trajectory	trajectory	NOUN
alkej-284	175	15	tuned	tune	VERB
alkej-284	175	16	by	by	ADP
alkej-284	175	17	aco	aco	PROPN
alkej-284	175	18	without	without	ADP
alkej-284	175	19	disturbance	disturbance	NOUN
alkej-284	175	20	.	.	PUNCT
alkej-284	176	1	0	0	NUM
alkej-284	177	1	2	2	NUM
alkej-284	177	2	4	4	NUM
alkej-284	177	3	6	6	NUM
alkej-284	177	4	8	8	NUM
alkej-284	177	5	10	10	NUM
alkej-284	177	6	12	12	NUM
alkej-284	177	7	14	14	NUM
alkej-284	177	8	16	16	NUM
alkej-284	177	9	18	18	NUM
alkej-284	177	10	20	20	NUM
alkej-284	177	11	0.5	0.5	NUM
alkej-284	177	12	0.6	0.6	NUM
alkej-284	177	13	0.7	0.7	NUM
alkej-284	177	14	0.8	0.8	NUM
alkej-284	177	15	0.9	0.9	NUM
alkej-284	177	16	1	1	NUM
alkej-284	177	17	1.1	1.1	NUM
alkej-284	177	18	1.2	1.2	NUM
alkej-284	177	19	time	time	NOUN
alkej-284	177	20	(	(	PUNCT
alkej-284	177	21	second	second	ADJ
alkej-284	177	22	)	)	PUNCT
alkej-284	177	23	xax	xax	PROPN
alkej-284	177	24	is	be	AUX
alkej-284	177	25	(	(	PUNCT
alkej-284	177	26	m	m	VERB
alkej-284	177	27	et	et	NOUN
alkej-284	177	28	er	er	INTJ
alkej-284	177	29	)	)	PUNCT
alkej-284	177	30	x	x	ADJ
alkej-284	177	31	-	-	ADJ
alkej-284	177	32	axis	axis	ADJ
alkej-284	177	33	response	response	NOUN
alkej-284	177	34	desired	desire	VERB
alkej-284	177	35	actual	actual	ADJ
alkej-284	177	36	0	0	NUM
alkej-284	177	37	2	2	NUM
alkej-284	177	38	4	4	NUM
alkej-284	177	39	6	6	NUM
alkej-284	177	40	8	8	NUM
alkej-284	177	41	10	10	NUM
alkej-284	177	42	12	12	NUM
alkej-284	177	43	14	14	NUM
alkej-284	177	44	16	16	NUM
alkej-284	177	45	18	18	NUM
alkej-284	177	46	20	20	NUM
alkej-284	177	47	-0.1	-0.1	NOUN
alkej-284	177	48	-0.05	-0.05	NOUN
alkej-284	177	49	0	0	NUM
alkej-284	177	50	0.05	0.05	NUM
alkej-284	177	51	0.1	0.1	NUM
alkej-284	177	52	time	time	NOUN
alkej-284	177	53	(	(	PUNCT
alkej-284	177	54	second	second	ADJ
alkej-284	177	55	)	)	PUNCT
alkej-284	177	56	yax	yax	PROPN
alkej-284	177	57	is	be	AUX
alkej-284	177	58	(	(	PUNCT
alkej-284	177	59	m	m	VERB
alkej-284	177	60	et	et	NOUN
alkej-284	177	61	er	er	INTJ
alkej-284	177	62	)	)	PUNCT
alkej-284	177	63	y	y	ADJ
alkej-284	177	64	-	-	PUNCT
alkej-284	177	65	axis	axis	NOUN
alkej-284	177	66	response	response	NOUN
alkej-284	177	67	desired	desire	VERB
alkej-284	177	68	actual	actual	ADJ
alkej-284	177	69	mohammed	mohammed	PROPN
alkej-284	177	70	y.	y.	PROPN
alkej-284	177	71	hassan	hassan	PROPN
alkej-284	177	72	al	al	PROPN
alkej-284	177	73	-	-	PUNCT
alkej-284	177	74	khwarizmi	khwarizmi	PROPN
alkej-284	177	75	engineering	engineering	NOUN
alkej-284	177	76	journal	journal	PROPN
alkej-284	177	77	,	,	PUNCT
alkej-284	177	78	vol	vol	NOUN
alkej-284	177	79	.	.	PROPN
alkej-284	178	1	12	12	NUM
alkej-284	178	2	,	,	PUNCT
alkej-284	178	3	no	no	INTJ
alkej-284	178	4	.	.	NOUN
alkej-284	178	5	1	1	NUM
alkej-284	178	6	,	,	PUNCT
alkej-284	178	7	p.p	p.p	PROPN
alkej-284	178	8	.	.	NOUN
alkej-284	178	9	6172	6172	NUM
alkej-284	178	10	(	(	PUNCT
alkej-284	178	11	2016	2016	NUM
alkej-284	178	12	)	)	PUNCT
alkej-284	178	13	69	69	NUM
alkej-284	178	14	fig	fig	NOUN
alkej-284	178	15	.	.	PUNCT
alkej-284	179	1	11	11	NUM
alkej-284	179	2	.	.	PUNCT
alkej-284	180	1	position	position	NOUN
alkej-284	180	2	trajectory	trajectory	NOUN
alkej-284	180	3	response	response	NOUN
alkej-284	180	4	without	without	ADP
alkej-284	180	5	disturbance	disturbance	NOUN
alkej-284	180	6	.	.	PUNCT
alkej-284	181	1	fig	fig	NOUN
alkej-284	181	2	.	.	PUNCT
alkej-284	182	1	12	12	NUM
alkej-284	182	2	.	.	PUNCT
alkej-284	182	3	aco	aco	PROPN
alkej-284	182	4	performance	performance	NOUN
alkej-284	182	5	index	index	NOUN
alkej-284	182	6	response	response	NOUN
alkej-284	182	7	.	.	PUNCT
alkej-284	183	1	fig	fig	NOUN
alkej-284	183	2	.	.	PUNCT
alkej-284	184	1	13	13	NUM
alkej-284	184	2	.	.	PUNCT
alkej-284	185	1	position	position	NOUN
alkej-284	185	2	response	response	NOUN
alkej-284	185	3	for	for	ADP
alkej-284	185	4	the	the	DET
alkej-284	185	5	x	x	X
alkej-284	185	6	and	and	CCONJ
alkej-284	185	7	y	y	PROPN
alkej-284	185	8	axes	axis	NOUN
alkej-284	185	9	of	of	ADP
alkej-284	185	10	the	the	DET
alkej-284	185	11	elliptic	elliptic	ADJ
alkej-284	185	12	reference	reference	NOUN
alkej-284	185	13	position	position	NOUN
alkej-284	185	14	trajectory	trajectory	NOUN
alkej-284	185	15	with	with	ADP
alkej-284	185	16	disturbance	disturbance	NOUN
alkej-284	185	17	.	.	PUNCT
alkej-284	186	1	0.55	0.55	NUM
alkej-284	186	2	0.6	0.6	NUM
alkej-284	186	3	0.65	0.65	NUM
alkej-284	186	4	0.7	0.7	NUM
alkej-284	186	5	0.75	0.75	NUM
alkej-284	186	6	0.8	0.8	NUM
alkej-284	186	7	0.85	0.85	NUM
alkej-284	186	8	0.9	0.9	NUM
alkej-284	186	9	0.95	0.95	NUM
alkej-284	186	10	1	1	NUM
alkej-284	186	11	1.05	1.05	NUM
alkej-284	186	12	-0.1	-0.1	NOUN
alkej-284	186	13	-0.05	-0.05	NOUN
alkej-284	186	14	0	0	NUM
alkej-284	186	15	0.05	0.05	NUM
alkej-284	186	16	0.1	0.1	NUM
alkej-284	186	17	x	x	NOUN
alkej-284	186	18	-	-	NOUN
alkej-284	186	19	axis	axis	ADJ
alkej-284	186	20	(	(	PUNCT
alkej-284	186	21	meter	meter	NOUN
alkej-284	186	22	)	)	PUNCT
alkej-284	186	23	yax	yax	PROPN
alkej-284	186	24	is	be	AUX
alkej-284	186	25	(	(	PUNCT
alkej-284	186	26	m	m	VERB
alkej-284	186	27	et	et	NOUN
alkej-284	186	28	er	er	INTJ
alkej-284	186	29	)	)	PUNCT
alkej-284	186	30	first	first	ADJ
alkej-284	186	31	trajectory	trajectory	NOUN
alkej-284	186	32	w	w	PROPN
alkej-284	186	33	ithout	ithout	PROPN
alkej-284	186	34	disturbance	disturbance	NOUN
alkej-284	186	35	(	(	PUNCT
alkej-284	186	36	aco	aco	PROPN
alkej-284	186	37	tuning	tuning	NOUN
alkej-284	186	38	)	)	PUNCT
alkej-284	186	39	desired	desire	VERB
alkej-284	186	40	actual	actual	ADJ
alkej-284	186	41	0	0	NUM
alkej-284	186	42	5	5	NUM
alkej-284	186	43	10	10	NUM
alkej-284	186	44	15	15	NUM
alkej-284	186	45	20	20	NUM
alkej-284	186	46	25	25	NUM
alkej-284	186	47	30	30	NUM
alkej-284	186	48	35	35	NUM
alkej-284	186	49	40	40	NUM
alkej-284	186	50	0.034	0.034	NUM
alkej-284	186	51	0.036	0.036	NUM
alkej-284	186	52	0.038	0.038	NUM
alkej-284	186	53	0.04	0.04	NUM
alkej-284	186	54	0.042	0.042	NUM
alkej-284	186	55	0.044	0.044	NUM
alkej-284	186	56	0.046	0.046	NUM
alkej-284	186	57	0.048	0.048	NUM
alkej-284	186	58	fitness	fitness	NOUN
alkej-284	186	59	response	response	NOUN
alkej-284	186	60	for	for	ADP
alkej-284	186	61	the	the	DET
alkej-284	186	62	first	first	ADJ
alkej-284	186	63	trajectory	trajectory	NOUN
alkej-284	186	64	(	(	PUNCT
alkej-284	186	65	elliptic	elliptic	ADJ
alkej-284	186	66	)	)	PUNCT
alkej-284	186	67	iteration	iteration	NOUN
alkej-284	186	68	fit	fit	PROPN
alkej-284	186	69	ne	ne	PROPN
alkej-284	186	70	ss	ss	NOUN
alkej-284	186	71	0	0	NUM
alkej-284	186	72	2	2	NUM
alkej-284	186	73	4	4	NUM
alkej-284	186	74	6	6	NUM
alkej-284	186	75	8	8	NUM
alkej-284	186	76	10	10	NUM
alkej-284	186	77	12	12	NUM
alkej-284	186	78	14	14	NUM
alkej-284	186	79	16	16	NUM
alkej-284	186	80	18	18	NUM
alkej-284	186	81	20	20	NUM
alkej-284	186	82	0.5	0.5	NUM
alkej-284	186	83	0.6	0.6	NUM
alkej-284	186	84	0.7	0.7	NUM
alkej-284	186	85	0.8	0.8	NUM
alkej-284	186	86	0.9	0.9	NUM
alkej-284	186	87	1	1	NUM
alkej-284	186	88	1.1	1.1	NUM
alkej-284	186	89	1.2	1.2	NUM
alkej-284	186	90	x	x	ADJ
alkej-284	186	91	-	-	ADJ
alkej-284	186	92	axis	axis	ADJ
alkej-284	186	93	response	response	NOUN
alkej-284	186	94	time	time	NOUN
alkej-284	186	95	(	(	PUNCT
alkej-284	186	96	second	second	ADJ
alkej-284	186	97	)	)	PUNCT
alkej-284	186	98	xax	xax	PROPN
alkej-284	186	99	is	be	AUX
alkej-284	186	100	(	(	PUNCT
alkej-284	186	101	m	m	VERB
alkej-284	186	102	et	et	NOUN
alkej-284	186	103	er	er	INTJ
alkej-284	186	104	)	)	PUNCT
alkej-284	186	105	desire	desire	NOUN
alkej-284	186	106	actual	actual	ADJ
alkej-284	186	107	0	0	NUM
alkej-284	186	108	2	2	NUM
alkej-284	186	109	4	4	NUM
alkej-284	186	110	6	6	NUM
alkej-284	186	111	8	8	NUM
alkej-284	186	112	10	10	NUM
alkej-284	186	113	12	12	NUM
alkej-284	186	114	14	14	NUM
alkej-284	186	115	16	16	NUM
alkej-284	186	116	18	18	NUM
alkej-284	186	117	20	20	NUM
alkej-284	186	118	-0.1	-0.1	NOUN
alkej-284	186	119	-0.05	-0.05	NOUN
alkej-284	186	120	0	0	NUM
alkej-284	186	121	0.05	0.05	NUM
alkej-284	186	122	0.1	0.1	NUM
alkej-284	186	123	time	time	NOUN
alkej-284	186	124	(	(	PUNCT
alkej-284	186	125	second	second	ADJ
alkej-284	186	126	)	)	PUNCT
alkej-284	186	127	yax	yax	PROPN
alkej-284	186	128	is	be	AUX
alkej-284	186	129	(	(	PUNCT
alkej-284	186	130	m	m	VERB
alkej-284	186	131	et	et	NOUN
alkej-284	186	132	er	er	INTJ
alkej-284	186	133	)	)	PUNCT
alkej-284	186	134	y	y	ADJ
alkej-284	186	135	-	-	PUNCT
alkej-284	186	136	axis	axis	NOUN
alkej-284	186	137	response	response	NOUN
alkej-284	186	138	desired	desire	VERB
alkej-284	186	139	actual	actual	ADJ
alkej-284	186	140	mohammed	mohammed	PROPN
alkej-284	186	141	y.	y.	PROPN
alkej-284	186	142	hassan	hassan	PROPN
alkej-284	186	143	al	al	PROPN
alkej-284	186	144	-	-	PUNCT
alkej-284	186	145	khwarizmi	khwarizmi	PROPN
alkej-284	186	146	engineering	engineering	NOUN
alkej-284	186	147	journal	journal	PROPN
alkej-284	186	148	,	,	PUNCT
alkej-284	186	149	vol	vol	NOUN
alkej-284	186	150	.	.	PROPN
alkej-284	187	1	12	12	NUM
alkej-284	187	2	,	,	PUNCT
alkej-284	187	3	no	no	INTJ
alkej-284	187	4	.	.	NOUN
alkej-284	187	5	1	1	NUM
alkej-284	187	6	,	,	PUNCT
alkej-284	187	7	p.p	p.p	PROPN
alkej-284	187	8	.	.	NOUN
alkej-284	187	9	6172	6172	NUM
alkej-284	187	10	(	(	PUNCT
alkej-284	187	11	2016	2016	NUM
alkej-284	187	12	)	)	PUNCT
alkej-284	187	13	70	70	NUM
alkej-284	187	14	fig	fig	NOUN
alkej-284	187	15	.	.	PUNCT
alkej-284	188	1	14	14	NUM
alkej-284	188	2	.	.	PUNCT
alkej-284	189	1	position	position	NOUN
alkej-284	189	2	trajectory	trajectory	NOUN
alkej-284	189	3	response	response	NOUN
alkej-284	189	4	with	with	ADP
alkej-284	189	5	disturbance	disturbance	NOUN
alkej-284	189	6	.	.	PUNCT
alkej-284	190	1	5	5	X
alkej-284	190	2	.	.	X
alkej-284	190	3	conclusions	conclusion	NOUN
alkej-284	190	4	force	force	NOUN
alkej-284	190	5	-	-	PUNCT
alkej-284	190	6	position	position	NOUN
alkej-284	190	7	controllers	controller	NOUN
alkej-284	190	8	were	be	AUX
alkej-284	190	9	designed	design	VERB
alkej-284	190	10	to	to	PART
alkej-284	190	11	control	control	VERB
alkej-284	190	12	the	the	DET
alkej-284	190	13	proposed	propose	VERB
alkej-284	190	14	robot	robot	NOUN
alkej-284	190	15	.	.	PUNCT
alkej-284	191	1	result	result	PROPN
alkej-284	191	2	showed	show	VERB
alkej-284	191	3	that	that	SCONJ
alkej-284	191	4	:	:	PUNCT
alkej-284	191	5	1	1	X
alkej-284	191	6	.	.	X
alkej-284	191	7	the	the	DET
alkej-284	191	8	proposed	propose	VERB
alkej-284	191	9	controller	controller	NOUN
alkej-284	191	10	using	use	VERB
alkej-284	191	11	manual	manual	ADJ
alkej-284	191	12	tuning	tuning	NOUN
alkej-284	191	13	could	could	AUX
alkej-284	191	14	not	not	PART
alkej-284	191	15	overcome	overcome	VERB
alkej-284	191	16	the	the	DET
alkej-284	191	17	nonlinearity	nonlinearity	NOUN
alkej-284	191	18	of	of	ADP
alkej-284	191	19	dynamic	dynamic	ADJ
alkej-284	191	20	model	model	NOUN
alkej-284	191	21	,	,	PUNCT
alkej-284	191	22	nonlinearity	nonlinearity	NOUN
alkej-284	191	23	of	of	ADP
alkej-284	191	24	pma	pma	NOUN
alkej-284	191	25	,	,	PUNCT
alkej-284	191	26	effects	effect	NOUN
alkej-284	191	27	of	of	ADP
alkej-284	191	28	frictions	friction	NOUN
alkej-284	191	29	,	,	PUNCT
alkej-284	191	30	and	and	CCONJ
alkej-284	191	31	disturbances	disturbance	NOUN
alkej-284	191	32	.	.	PUNCT
alkej-284	192	1	2	2	X
alkej-284	192	2	.	.	X
alkej-284	192	3	aco	aco	PROPN
alkej-284	192	4	algorithm	algorithm	PROPN
alkej-284	192	5	was	be	AUX
alkej-284	192	6	used	use	VERB
alkej-284	192	7	to	to	PART
alkej-284	192	8	tune	tune	VERB
alkej-284	192	9	the	the	DET
alkej-284	192	10	gains	gain	NOUN
alkej-284	192	11	of	of	ADP
alkej-284	192	12	the	the	DET
alkej-284	192	13	force	force	NOUN
alkej-284	192	14	part	part	NOUN
alkej-284	192	15	and	and	CCONJ
alkej-284	192	16	position	position	VERB
alkej-284	192	17	part	part	NOUN
alkej-284	192	18	of	of	ADP
alkej-284	192	19	forceposition	forceposition	NOUN
alkej-284	192	20	controllers	controller	NOUN
alkej-284	192	21	to	to	PART
alkej-284	192	22	satisfy	satisfy	VERB
alkej-284	192	23	the	the	DET
alkej-284	192	24	desired	desire	VERB
alkej-284	192	25	specification	specification	NOUN
alkej-284	192	26	.	.	PUNCT
alkej-284	193	1	results	result	NOUN
alkej-284	193	2	of	of	ADP
alkej-284	193	3	applying	apply	VERB
alkej-284	193	4	the	the	DET
alkej-284	193	5	medical	medical	ADJ
alkej-284	193	6	trajectory	trajectory	NOUN
alkej-284	193	7	show	show	VERB
alkej-284	193	8	an	an	DET
alkej-284	193	9	average	average	ADJ
alkej-284	193	10	enhancement	enhancement	NOUN
alkej-284	193	11	in	in	ADP
alkej-284	193	12	the	the	DET
alkej-284	193	13	position	position	NOUN
alkej-284	193	14	trajectory	trajectory	NOUN
alkej-284	193	15	.	.	PUNCT
alkej-284	194	1	3	3	X
alkej-284	194	2	.	.	X
alkej-284	194	3	(	(	PUNCT
alkej-284	194	4	without	without	ADP
alkej-284	194	5	disturbance	disturbance	NOUN
alkej-284	194	6	and	and	CCONJ
alkej-284	194	7	with	with	ADP
alkej-284	194	8	disturbance	disturbance	NOUN
alkej-284	194	9	)	)	PUNCT
alkej-284	194	10	for	for	ADP
alkej-284	194	11	elliptic	elliptic	ADJ
alkej-284	194	12	trajectory	trajectory	NOUN
alkej-284	194	13	(	(	PUNCT
alkej-284	194	14	39	39	NUM
alkej-284	194	15	%	%	NOUN
alkej-284	194	16	)	)	PUNCT
alkej-284	194	17	.	.	PUNCT
alkej-284	195	1	4	4	X
alkej-284	195	2	.	.	X
alkej-284	195	3	for	for	ADP
alkej-284	195	4	the	the	DET
alkej-284	195	5	proposed	propose	VERB
alkej-284	195	6	force	force	NOUN
alkej-284	195	7	-	-	PUNCT
alkej-284	195	8	position	position	NOUN
alkej-284	195	9	controllers	controller	NOUN
alkej-284	195	10	tuned	tune	VERB
alkej-284	195	11	by	by	ADP
alkej-284	195	12	aco	aco	PROPN
alkej-284	195	13	,	,	PUNCT
alkej-284	195	14	the	the	DET
alkej-284	195	15	results	result	NOUN
alkej-284	195	16	of	of	ADP
alkej-284	195	17	the	the	DET
alkej-284	195	18	elliptic	elliptic	ADJ
alkej-284	195	19	trajectory	trajectory	NOUN
alkej-284	195	20	were	be	AUX
alkej-284	195	21	compared	compare	VERB
alkej-284	195	22	with	with	ADP
alkej-284	195	23	the	the	DET
alkej-284	195	24	results	result	NOUN
alkej-284	195	25	of	of	ADP
alkej-284	195	26	reference	reference	NOUN
alkej-284	195	27	11	11	NUM
alkej-284	195	28	.	.	PUNCT
alkej-284	196	1	the	the	DET
alkej-284	196	2	percentage	percentage	NOUN
alkej-284	196	3	of	of	ADP
alkej-284	196	4	enhancement	enhancement	NOUN
alkej-284	196	5	for	for	ADP
alkej-284	196	6	x	x	SYM
alkej-284	196	7	and	and	CCONJ
alkej-284	196	8	y	y	PROPN
alkej-284	196	9	axes	axis	NOUN
alkej-284	196	10	are	be	AUX
alkej-284	196	11	50	50	NUM
alkej-284	196	12	%	%	NOUN
alkej-284	196	13	and	and	CCONJ
alkej-284	196	14	85	85	NUM
alkej-284	196	15	%	%	NOUN
alkej-284	196	16	respectively	respectively	ADV
alkej-284	196	17	.	.	PUNCT
alkej-284	197	1	5	5	X
alkej-284	197	2	.	.	PUNCT
alkej-284	197	3	the	the	DET
alkej-284	197	4	proposed	propose	VERB
alkej-284	197	5	force	force	NOUN
alkej-284	197	6	-	-	PUNCT
alkej-284	197	7	position	position	NOUN
alkej-284	197	8	controllers	controller	NOUN
alkej-284	197	9	tuned	tune	VERB
alkej-284	197	10	by	by	ADP
alkej-284	197	11	aco	aco	PROPN
alkej-284	197	12	had	have	AUX
alkej-284	197	13	achieved	achieve	VERB
alkej-284	197	14	the	the	DET
alkej-284	197	15	desired	desire	VERB
alkej-284	197	16	performance	performance	NOUN
alkej-284	197	17	and	and	CCONJ
alkej-284	197	18	compensated	compensate	VERB
alkej-284	197	19	the	the	DET
alkej-284	197	20	nonlinearity	nonlinearity	NOUN
alkej-284	197	21	of	of	ADP
alkej-284	197	22	frictions	friction	NOUN
alkej-284	197	23	,	,	PUNCT
alkej-284	197	24	external	external	ADJ
alkej-284	197	25	disturbance	disturbance	NOUN
alkej-284	197	26	and	and	CCONJ
alkej-284	197	27	any	any	DET
alkej-284	197	28	other	other	ADJ
alkej-284	197	29	nonlinearity	nonlinearity	NOUN
alkej-284	197	30	in	in	ADP
alkej-284	197	31	the	the	DET
alkej-284	197	32	proposed	propose	VERB
alkej-284	197	33	model	model	NOUN
alkej-284	197	34	.	.	PUNCT
alkej-284	198	1	list	list	NOUN
alkej-284	198	2	of	of	ADP
alkej-284	198	3	symbols	symbol	NOUN
alkej-284	198	4	symbols	symbols	PROPN
alkej-284	198	5	definition	definition	NOUN
alkej-284	198	6	unit	unit	NOUN
alkej-284	198	7	.	.	PUNCT
alkej-284	199	1	�	�	PROPN
alkej-284	199	2	�	�	PROPN
alkej-284	199	3	damping	damp	VERB
alkej-284	199	4	diagonal	diagonal	ADJ
alkej-284	199	5	matrix	matrix	NOUN
alkej-284	199	6	^.	^.	PUNCT
alkej-284	200	1	_	_	PUNCT
alkej-284	200	2	/	/	SYM
alkej-284	200	3	`	`	PUNCT
alkej-284	200	4	f	f	PROPN
alkej-284	200	5	generated	generate	VERB
alkej-284	200	6	force	force	NOUN
alkej-284	200	7	^	^	PUNCT
alkej-284	200	8	�	�	PROPN
alkej-284	200	9	�	�	PROPN
alkej-284	200	10	the	the	DET
alkej-284	200	11	desired	desire	VERB
alkej-284	200	12	joint	joint	ADJ
alkej-284	200	13	forces	force	NOUN
alkej-284	200	14	applying	apply	VERB
alkej-284	200	15	to	to	ADP
alkej-284	200	16	the	the	DET
alkej-284	200	17	robot	robot	NOUN
alkej-284	200	18	joints	joint	NOUN
alkej-284	200	19	n	n	PRON
alkej-284	200	20	�	�	PROPN
alkej-284	200	21	�	�	PROPN
alkej-284	200	22	stiffness	stiffness	NOUN
alkej-284	200	23	diagonal	diagonal	ADJ
alkej-284	200	24	matrix	matrix	NOUN
alkej-284	200	25	^/	^/	NUM
alkej-284	200	26	`	`	PART
alkej-284	200	27	�	�	NOUN
alkej-284	200	28	�	�	PROPN
alkej-284	200	29	inertia	inertia	NOUN
alkej-284	200	30	diagonal	diagonal	ADJ
alkej-284	200	31	matrix	matrix	NOUN
alkej-284	200	32	;	;	PUNCT
alkej-284	200	33	a	a	DET
alkej-284	200	34	�	�	PROPN
alkej-284	200	35	the	the	DET
alkej-284	200	36	position	position	NOUN
alkej-284	200	37	�	�	NOUN
alkej-284	200	38	�	�	PROPN
alkej-284	200	39	the	the	DET
alkej-284	200	40	velocity	velocity	NOUN
alkej-284	200	41	�	�	NOUN
alkej-284	200	42	<3	<3	X
alkej-284	200	43	proportional	proportional	ADJ
alkej-284	200	44	gains	gain	NOUN
alkej-284	200	45	of	of	ADP
alkej-284	200	46	ith	ith	PROPN
alkej-284	200	47	controller	controller	PROPN
alkej-284	200	48	�	�	PROPN
alkej-284	200	49	=3	=3	VERB
alkej-284	200	50	velocity	velocity	NOUN
alkej-284	200	51	gains	gain	NOUN
alkej-284	200	52	of	of	ADP
alkej-284	200	53	ith	ith	PROPN
alkej-284	200	54	controller	controller	PROPN
alkej-284	200	55	�	�	PROPN
alkej-284	200	56	b3	b3	PROPN
alkej-284	200	57	output	output	NOUN
alkej-284	200	58	gains	gain	NOUN
alkej-284	200	59	of	of	ADP
alkej-284	200	60	ith	ith	PROPN
alkej-284	200	61	controller	controller	PROPN
alkej-284	200	62	�	�	PROPN
alkej-284	200	63	$	$	SYM
alkej-284	200	64	3	3	NUM
alkej-284	200	65	the	the	DET
alkej-284	200	66	force	force	NOUN
alkej-284	200	67	gain	gain	NOUN
alkej-284	200	68	of	of	ADP
alkej-284	200	69	ith	ith	PROPN
alkej-284	200	70	controller	controller	PROPN
alkej-284	200	71	j	j	PROPN
alkej-284	200	72	jacobean	jacobean	PROPN
alkej-284	200	73	matrix	matrix	PROPN
alkej-284	200	74	u	u	NOUN
alkej-284	200	75	voltage	voltage	NOUN
alkej-284	200	76	input	input	NOUN
alkej-284	200	77	volt	volt	NOUN
alkej-284	200	78	23	23	NUM
alkej-284	200	79	joint	joint	ADJ
alkej-284	200	80	angle	angle	NOUN
alkej-284	200	81	of	of	ADP
alkej-284	200	82	link	link	NOUN
alkej-284	201	1	i	i	PRON
alkej-284	201	2	+9ac99	+9ac99	PUNCT
alkej-284	202	1	d	d	X
alkej-284	202	2	damping	damp	VERB
alkej-284	202	3	ratio	ratio	NOUN
alkej-284	202	4	e	e	NOUN
alkej-284	202	5	(	(	PUNCT
alkej-284	202	6	un	un	ADJ
alkej-284	202	7	-	-	ADJ
alkej-284	202	8	damped	damped	ADJ
alkej-284	202	9	natural	natural	ADJ
alkej-284	202	10	frequency	frequency	NOUN
alkej-284	202	11	c)+/	c)+/	NOUN
alkej-284	202	12	_	_	PRON
alkej-284	202	13	9.	9.	NUM
alkej-284	202	14	�	�	SYM
alkej-284	202	15	x	x	VERB
alkej-284	202	16	�	�	NOUN
alkej-284	202	17	the	the	DET
alkej-284	202	18	trajectory	trajectory	NOUN
alkej-284	202	19	error	error	NOUN
alkej-284	202	20	in	in	ADP
alkej-284	202	21	x	x	PUNCT
alkej-284	202	22	axis	axis	ADJ
alkej-284	202	23	`	`	PUNCT
alkej-284	202	24	9/	9/	NUM
alkej-284	202	25	�	�	PROPN
alkej-284	202	26	x	x	X
alkej-284	202	27	�	�	NOUN
alkej-284	202	28	the	the	DET
alkej-284	202	29	trajectory	trajectory	NOUN
alkej-284	202	30	error	error	NOUN
alkej-284	202	31	in	in	ADP
alkej-284	202	32	y	y	PROPN
alkej-284	202	33	axis	axis	NOUN
alkej-284	202	34	`	`	PUNCT
alkej-284	202	35	90	90	NUM
alkej-284	202	36	�	�	PROPN
alkej-284	202	37	x	x	X
alkej-284	202	38	�	�	NOUN
alkej-284	202	39	the	the	DET
alkej-284	202	40	trajectory	trajectory	NOUN
alkej-284	202	41	error	error	NOUN
alkej-284	202	42	in	in	ADP
alkej-284	202	43	z	z	PROPN
alkej-284	202	44	axis	axis	NOUN
alkej-284	202	45	`	`	PUNCT
alkej-284	202	46	0.55	0.55	NUM
alkej-284	202	47	0.6	0.6	NUM
alkej-284	202	48	0.65	0.65	NUM
alkej-284	202	49	0.7	0.7	NUM
alkej-284	202	50	0.75	0.75	NUM
alkej-284	202	51	0.8	0.8	NUM
alkej-284	202	52	0.85	0.85	NUM
alkej-284	202	53	0.9	0.9	NUM
alkej-284	202	54	0.95	0.95	NUM
alkej-284	202	55	1	1	NUM
alkej-284	202	56	1.05	1.05	NUM
alkej-284	202	57	-0.1	-0.1	NOUN
alkej-284	202	58	-0.05	-0.05	NOUN
alkej-284	202	59	0	0	NUM
alkej-284	202	60	0.05	0.05	NUM
alkej-284	202	61	0.1	0.1	NUM
alkej-284	202	62	x	x	NOUN
alkej-284	202	63	-	-	NOUN
alkej-284	202	64	axis	axis	ADJ
alkej-284	202	65	(	(	PUNCT
alkej-284	202	66	meter	meter	NOUN
alkej-284	202	67	)	)	PUNCT
alkej-284	202	68	yax	yax	PROPN
alkej-284	202	69	is	be	AUX
alkej-284	202	70	(	(	PUNCT
alkej-284	202	71	m	m	VERB
alkej-284	202	72	et	et	NOUN
alkej-284	202	73	er	er	INTJ
alkej-284	202	74	)	)	PUNCT
alkej-284	202	75	first	first	ADJ
alkej-284	202	76	trajectory	trajectory	NOUN
alkej-284	202	77	w	w	PROPN
alkej-284	202	78	ith	ith	PROPN
alkej-284	202	79	disturbance	disturbance	NOUN
alkej-284	202	80	(	(	PUNCT
alkej-284	202	81	aco	aco	PROPN
alkej-284	202	82	)	)	PUNCT
alkej-284	202	83	tuning	tune	VERB
alkej-284	202	84	desired	desire	VERB
alkej-284	202	85	actual	actual	ADJ
alkej-284	202	86	mohammed	mohammed	PROPN
alkej-284	202	87	y.	y.	PROPN
alkej-284	202	88	hassan	hassan	PROPN
alkej-284	202	89	al	al	PROPN
alkej-284	202	90	-	-	PUNCT
alkej-284	202	91	khwarizmi	khwarizmi	PROPN
alkej-284	202	92	engineering	engineering	NOUN
alkej-284	202	93	journal	journal	PROPN
alkej-284	202	94	,	,	PUNCT
alkej-284	202	95	vol	vol	NOUN
alkej-284	202	96	.	.	PROPN
alkej-284	202	97	12	12	NUM
alkej-284	202	98	,	,	PUNCT
alkej-284	202	99	no	no	INTJ
alkej-284	202	100	.	.	NOUN
alkej-284	202	101	1	1	NUM
alkej-284	202	102	,	,	PUNCT
alkej-284	202	103	p.p	p.p	PROPN
alkej-284	202	104	.	.	NOUN
alkej-284	202	105	6172	6172	NUM
alkej-284	202	106	(	(	PUNCT
alkej-284	202	107	2016	2016	NUM
alkej-284	202	108	)	)	PUNCT
alkej-284	202	109	71	71	NUM
alkej-284	202	110	6	6	NUM
alkej-284	202	111	.	.	PUNCT
alkej-284	203	1	references	reference	NOUN
alkej-284	203	2	[	[	X
alkej-284	203	3	1	1	NUM
alkej-284	203	4	]	]	SYM
alkej-284	203	5	nef	nef	PROPN
alkej-284	203	6	,	,	PUNCT
alkej-284	203	7	t.	t.	PROPN
alkej-284	203	8	;	;	PUNCT
alkej-284	203	9	mihelj	mihelj	NOUN
alkej-284	203	10	,	,	PUNCT
alkej-284	203	11	m.	m.	NOUN
alkej-284	203	12	;	;	PUNCT
alkej-284	203	13	riener	riener	PROPN
alkej-284	203	14	,	,	PUNCT
alkej-284	203	15	r.	r.	PROPN
alkej-284	203	16	:	:	PUNCT
alkej-284	203	17	armin	armin	PROPN
alkej-284	203	18	:	:	PUNCT
alkej-284	203	19	a	a	DET
alkej-284	203	20	robot	robot	NOUN
alkej-284	203	21	for	for	ADP
alkej-284	203	22	patient	patient	ADJ
alkej-284	203	23	-	-	PUNCT
alkej-284	203	24	cooperative	cooperative	ADJ
alkej-284	203	25	arm	arm	NOUN
alkej-284	203	26	therapy	therapy	NOUN
alkej-284	203	27	.	.	PUNCT
alkej-284	204	1	medical	medical	ADJ
alkej-284	204	2	and	and	CCONJ
alkej-284	204	3	biological	biological	ADJ
alkej-284	204	4	engineering	engineering	NOUN
alkej-284	204	5	and	and	CCONJ
alkej-284	204	6	computing	computing	NOUN
alkej-284	204	7	,	,	PUNCT
alkej-284	204	8	international	international	PROPN
alkej-284	204	9	federation	federation	PROPN
alkej-284	204	10	for	for	ADP
alkej-284	204	11	medical	medical	ADJ
alkej-284	204	12	and	and	CCONJ
alkej-284	204	13	biological	biological	ADJ
alkej-284	204	14	engineering	engineering	NOUN
alkej-284	204	15	,	,	PUNCT
alkej-284	204	16	45	45	NUM
alkej-284	204	17	,	,	PUNCT
alkej-284	204	18	887900	887900	NUM
alkej-284	204	19	,	,	PUNCT
alkej-284	204	20	1	1	NUM
alkej-284	204	21	july	july	PROPN
alkej-284	204	22	(	(	PUNCT
alkej-284	204	23	2007	2007	NUM
alkej-284	204	24	)	)	PUNCT
alkej-284	204	25	.	.	PUNCT
alkej-284	205	1	[	[	X
alkej-284	205	2	2	2	NUM
alkej-284	205	3	]	]	X
alkej-284	205	4	rocon	rocon	NOUN
alkej-284	205	5	,	,	PUNCT
alkej-284	205	6	e.	e.	PROPN
alkej-284	205	7	;	;	PUNCT
alkej-284	205	8	pons	pons	PROPN
alkej-284	205	9	,	,	PUNCT
alkej-284	205	10	j.	j.	PROPN
alkej-284	205	11	l.	l.	PROPN
alkej-284	205	12	:	:	PUNCT
alkej-284	205	13	exoskeletons	exoskeleton	NOUN
alkej-284	205	14	in	in	ADP
alkej-284	205	15	rehabilitation	rehabilitation	NOUN
alkej-284	205	16	robotics	robotic	NOUN
alkej-284	205	17	,	,	PUNCT
alkej-284	205	18	springer	springer	NOUN
alkej-284	205	19	-	-	PUNCT
alkej-284	205	20	verlag	verlag	PROPN
alkej-284	205	21	berlin	berlin	PROPN
alkej-284	205	22	heidelberg	heidelberg	PROPN
alkej-284	205	23	,	,	PUNCT
alkej-284	205	24	1–20	1–20	PROPN
alkej-284	205	25	,	,	PUNCT
alkej-284	205	26	(	(	PUNCT
alkej-284	205	27	2011	2011	NUM
alkej-284	205	28	)	)	PUNCT
alkej-284	205	29	.	.	PUNCT
alkej-284	206	1	[	[	X
alkej-284	206	2	3	3	NUM
alkej-284	206	3	]	]	X
alkej-284	206	4	ollinger	ollinger	NOUN
alkej-284	206	5	,	,	PUNCT
alkej-284	206	6	g.	g.	PROPN
alkej-284	206	7	a.	a.	PROPN
alkej-284	206	8	;	;	PUNCT
alkej-284	206	9	colgate	colgate	PROPN
alkej-284	206	10	,	,	PUNCT
alkej-284	206	11	j.	j.	PROPN
alkej-284	206	12	e.	e.	PROPN
alkej-284	206	13	;	;	PUNCT
alkej-284	206	14	peshkin	peshkin	NOUN
alkej-284	206	15	,	,	PUNCT
alkej-284	206	16	m.	m.	NOUN
alkej-284	206	17	a.	a.	PROPN
alkej-284	206	18	;	;	PUNCT
alkej-284	206	19	goswami	goswami	PROPN
alkej-284	206	20	,	,	PUNCT
alkej-284	206	21	a.	a.	NOUN
alkej-284	206	22	:	:	PUNCT
alkej-284	206	23	active	active	ADJ
alkej-284	206	24	-	-	PUNCT
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alkej-284	206	26	control	control	NOUN
alkej-284	206	27	of	of	ADP
alkej-284	206	28	a	a	DET
alkej-284	206	29	lower	low	ADJ
alkej-284	206	30	-	-	PUNCT
alkej-284	206	31	limb	limb	NOUN
alkej-284	206	32	assistive	assistive	ADJ
alkej-284	206	33	exoskeleton	exoskeleton	PROPN
alkej-284	206	34	.	.	PUNCT
alkej-284	207	1	ieee	ieee	PROPN
alkej-284	207	2	10th	10th	ADJ
alkej-284	207	3	international	international	ADJ
alkej-284	207	4	conference	conference	NOUN
alkej-284	207	5	on	on	ADP
alkej-284	207	6	rehabilitation	rehabilitation	NOUN
alkej-284	207	7	robotics	robotic	NOUN
alkej-284	207	8	,	,	PUNCT
alkej-284	207	9	june	june	PROPN
alkej-284	207	10	12	12	NUM
alkej-284	207	11	-	-	SYM
alkej-284	207	12	15	15	NUM
alkej-284	207	13	,	,	PUNCT
alkej-284	207	14	noordwijk	noordwijk	NOUN
alkej-284	207	15	,	,	PUNCT
alkej-284	207	16	netherlands	netherlands	PROPN
alkej-284	207	17	,	,	PUNCT
alkej-284	207	18	188	188	NUM
alkej-284	207	19	-	-	SYM
alkej-284	207	20	195	195	NUM
alkej-284	207	21	,	,	PUNCT
alkej-284	207	22	12	12	NUM
alkej-284	207	23	-	-	SYM
alkej-284	207	24	15	15	NUM
alkej-284	207	25	june	june	PROPN
alkej-284	207	26	(	(	PUNCT
alkej-284	207	27	2007	2007	NUM
alkej-284	207	28	)	)	PUNCT
alkej-284	207	29	.	.	PUNCT
alkej-284	208	1	[	[	X
alkej-284	208	2	4	4	NUM
alkej-284	208	3	]	]	PUNCT
alkej-284	208	4	akdoğan	akdoğan	NOUN
alkej-284	208	5	,	,	PUNCT
alkej-284	208	6	e.	e.	PROPN
alkej-284	208	7	;	;	PUNCT
alkej-284	208	8	şişman	şişman	PROPN
alkej-284	208	9	,	,	PUNCT
alkej-284	208	10	z.	z.	PROPN
alkej-284	208	11	:	:	PUNCT
alkej-284	208	12	a	a	DET
alkej-284	208	13	muscular	muscular	ADJ
alkej-284	208	14	activation	activation	NOUN
alkej-284	208	15	controlled	control	VERB
alkej-284	208	16	rehabilitation	rehabilitation	NOUN
alkej-284	208	17	robot	robot	NOUN
alkej-284	208	18	system	system	NOUN
alkej-284	208	19	”	"	PUNCT
alkej-284	208	20	,	,	PUNCT
alkej-284	208	21	springer	springer	NOUN
alkej-284	208	22	-	-	PUNCT
alkej-284	208	23	verlag	verlag	PROPN
alkej-284	208	24	berlin	berlin	PROPN
alkej-284	208	25	heidelberg	heidelberg	PROPN
alkej-284	208	26	,	,	PUNCT
alkej-284	208	27	271–279	271–279	NUM
alkej-284	208	28	,	,	PUNCT
alkej-284	208	29	2011	2011	NUM
alkej-284	208	30	.	.	PUNCT
alkej-284	209	1	[	[	X
alkej-284	209	2	5	5	NUM
alkej-284	209	3	]	]	X
alkej-284	209	4	thanh	thanh	NOUN
alkej-284	209	5	,	,	PUNCT
alkej-284	209	6	t.	t.	PROPN
alkej-284	209	7	d.	d.	PROPN
alkej-284	209	8	c.	c.	PROPN
alkej-284	209	9	;	;	PUNCT
alkej-284	209	10	phuc	phuc	PROPN
alkej-284	209	11	,	,	PUNCT
alkej-284	209	12	t.	t.	PROPN
alkej-284	209	13	t.	t.	PROPN
alkej-284	209	14	:	:	PUNCT
alkej-284	209	15	neural	neural	ADJ
alkej-284	209	16	network	network	NOUN
alkej-284	209	17	control	control	NOUN
alkej-284	209	18	of	of	ADP
alkej-284	209	19	pneumatic	pneumatic	ADJ
alkej-284	209	20	artificial	artificial	ADJ
alkej-284	209	21	muscle	muscle	NOUN
alkej-284	209	22	manipulator	manipulator	NOUN
alkej-284	209	23	for	for	ADP
alkej-284	209	24	knee	knee	NOUN
alkej-284	209	25	rehabilitation	rehabilitation	NOUN
alkej-284	209	26	.	.	PUNCT
alkej-284	210	1	science	science	PROPN
alkej-284	210	2	&	&	CCONJ
alkej-284	210	3	technology	technology	PROPN
alkej-284	210	4	development	development	NOUN
alkej-284	210	5	,	,	PUNCT
alkej-284	210	6	11	11	NUM
alkej-284	210	7	,	,	PUNCT
alkej-284	210	8	03	03	NUM
alkej-284	210	9	,	,	PUNCT
alkej-284	210	10	16	16	NUM
alkej-284	210	11	-	-	SYM
alkej-284	210	12	29	29	NUM
alkej-284	210	13	,	,	PUNCT
alkej-284	210	14	(	(	PUNCT
alkej-284	210	15	2008	2008	NUM
alkej-284	210	16	)	)	PUNCT
alkej-284	210	17	.	.	PUNCT
alkej-284	211	1	[	[	X
alkej-284	211	2	6	6	NUM
alkej-284	211	3	]	]	SYM
alkej-284	211	4	akdo˘gan	akdo˘gan	NOUN
alkej-284	211	5	,	,	PUNCT
alkej-284	211	6	e.	e.	PROPN
alkej-284	211	7	;	;	PUNCT
alkej-284	211	8	taçgın	taçgın	NUM
alkej-284	211	9	,	,	PUNCT
alkej-284	211	10	e.	e.	PROPN
alkej-284	211	11	;	;	PUNCT
alkej-284	211	12	adli	adli	PROPN
alkej-284	211	13	,	,	PUNCT
alkej-284	211	14	m.	m.	NOUN
alkej-284	211	15	a.	a.	PROPN
alkej-284	211	16	:	:	PUNCT
alkej-284	212	1	knee	knee	NOUN
alkej-284	212	2	rehabilitation	rehabilitation	NOUN
alkej-284	212	3	using	use	VERB
alkej-284	212	4	an	an	DET
alkej-284	212	5	intelligent	intelligent	ADJ
alkej-284	212	6	robotic	robotic	ADJ
alkej-284	212	7	system	system	NOUN
alkej-284	212	8	.	.	PUNCT
alkej-284	213	1	springer	springer	NOUN
alkej-284	213	2	science+business	science+business	NOUN
alkej-284	213	3	media	medium	NOUN
alkej-284	213	4	,	,	PUNCT
alkej-284	213	5	20	20	NUM
alkej-284	213	6	,	,	PUNCT
alkej-284	213	7	195	195	NUM
alkej-284	213	8	-	-	SYM
alkej-284	213	9	202	202	NUM
alkej-284	213	10	,	,	PUNCT
alkej-284	213	11	jan	jan	PROPN
alkej-284	213	12	.	.	PROPN
alkej-284	213	13	(	(	PUNCT
alkej-284	213	14	2009	2009	NUM
alkej-284	213	15	)	)	PUNCT
alkej-284	213	16	.	.	PUNCT
alkej-284	214	1	[	[	X
alkej-284	214	2	7	7	NUM
alkej-284	214	3	]	]	SYM
alkej-284	214	4	aminiazar	aminiazar	NOUN
alkej-284	214	5	,	,	PUNCT
alkej-284	214	6	w.	w.	PROPN
alkej-284	214	7	;	;	PUNCT
alkej-284	214	8	najafi	najafi	PROPN
alkej-284	214	9	,	,	PUNCT
alkej-284	214	10	f.	f.	PROPN
alkej-284	214	11	;	;	PUNCT
alkej-284	214	12	nekoui	nekoui	ADJ
alkej-284	214	13	,	,	PUNCT
alkej-284	214	14	m.	m.	NOUN
alkej-284	214	15	a.	a.	PROPN
alkej-284	214	16	:	:	PUNCT
alkej-284	214	17	optimized	optimize	VERB
alkej-284	214	18	intelligent	intelligent	ADJ
alkej-284	214	19	control	control	NOUN
alkej-284	214	20	of	of	ADP
alkej-284	214	21	a	a	DET
alkej-284	214	22	2degree	2degree	NUM
alkej-284	214	23	of	of	ADP
alkej-284	214	24	freedom	freedom	NOUN
alkej-284	214	25	robot	robot	NOUN
alkej-284	214	26	for	for	ADP
alkej-284	214	27	rehabilitation	rehabilitation	NOUN
alkej-284	214	28	of	of	ADP
alkej-284	214	29	lower	low	ADJ
alkej-284	214	30	limbs	limb	NOUN
alkej-284	214	31	using	use	VERB
alkej-284	214	32	neural	neural	ADJ
alkej-284	214	33	network	network	NOUN
alkej-284	214	34	and	and	CCONJ
alkej-284	214	35	genetic	genetic	ADJ
alkej-284	214	36	algorithm	algorithm	NOUN
alkej-284	214	37	.	.	PUNCT
alkej-284	215	1	journal	journal	PROPN
alkej-284	215	2	of	of	ADP
alkej-284	215	3	neuro	neuro	PROPN
alkej-284	215	4	engineering	engineering	NOUN
alkej-284	215	5	and	and	CCONJ
alkej-284	215	6	rehabilitation	rehabilitation	NOUN
alkej-284	215	7	,	,	PUNCT
alkej-284	215	8	(	(	PUNCT
alkej-284	215	9	2013	2013	NUM
alkej-284	215	10	)	)	PUNCT
alkej-284	215	11	.	.	PUNCT
alkej-284	216	1	[	[	X
alkej-284	216	2	8	8	NUM
alkej-284	216	3	]	]	X
alkej-284	216	4	hassan	hassan	PROPN
alkej-284	216	5	,	,	PUNCT
alkej-284	216	6	m.	m.	NOUN
alkej-284	216	7	y.	y.	PROPN
alkej-284	216	8	:	:	PUNCT
alkej-284	216	9	a	a	DET
alkej-284	216	10	neural	neural	ADJ
alkej-284	216	11	network	network	NOUN
alkej-284	216	12	based	base	VERB
alkej-284	216	13	fuzzy	fuzzy	ADJ
alkej-284	216	14	controller	controller	NOUN
alkej-284	216	15	for	for	ADP
alkej-284	216	16	pneumatic	pneumatic	ADJ
alkej-284	216	17	circuit	circuit	NOUN
alkej-284	216	18	,	,	PUNCT
alkej-284	216	19	eng	eng	PROPN
alkej-284	216	20	.	.	PROPN
alkej-284	216	21	&	&	CCONJ
alkej-284	216	22	tech	tech	PROPN
alkej-284	216	23	.	.	PUNCT
alkej-284	217	1	journal	journal	PROPN
alkej-284	217	2	,	,	PUNCT
alkej-284	217	3	28	28	NUM
alkej-284	217	4	,	,	PUNCT
alkej-284	217	5	2010	2010	NUM
alkej-284	217	6	.	.	PUNCT
alkej-284	218	1	[	[	X
alkej-284	218	2	9	9	NUM
alkej-284	218	3	]	]	X
alkej-284	218	4	hassan	hassan	PROPN
alkej-284	218	5	,	,	PUNCT
alkej-284	218	6	m.	m.	NOUN
alkej-284	218	7	y.	y.	PROPN
alkej-284	218	8	;	;	PUNCT
alkej-284	218	9	ghintab	ghintab	PROPN
alkej-284	218	10	,	,	PUNCT
alkej-284	218	11	sh	sh	PROPN
alkej-284	218	12	.	.	PUNCT
alkej-284	218	13	s.	s.	PROPN
alkej-284	218	14	:	:	PUNCT
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alkej-284	218	16	and	and	CCONJ
alkej-284	218	17	position	position	NOUN
alkej-284	218	18	control	control	NOUN
alkej-284	218	19	of	of	ADP
alkej-284	218	20	human	human	ADJ
alkej-284	218	21	lower	low	ADJ
alkej-284	218	22	limb	limb	NOUN
alkej-284	218	23	rehabilitation	rehabilitation	NOUN
alkej-284	218	24	robot	robot	NOUN
alkej-284	218	25	using	use	VERB
alkej-284	218	26	pneumatic	pneumatic	ADJ
alkej-284	218	27	muscle	muscle	NOUN
alkej-284	218	28	actuators	actuator	NOUN
alkej-284	218	29	.	.	PUNCT
alkej-284	219	1	accepted	accept	VERB
alkej-284	219	2	to	to	PART
alkej-284	219	3	be	be	AUX
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alkej-284	219	5	in	in	ADP
alkej-284	219	6	al	al	PROPN
alkej-284	219	7	-	-	PUNCT
alkej-284	219	8	mansour	mansour	PROPN
alkej-284	219	9	journal	journal	PROPN
alkej-284	219	10	,	,	PUNCT
alkej-284	219	11	iraq	iraq	PROPN
alkej-284	219	12	11/9/	11/9/	X
alkej-284	219	13	(	(	PUNCT
alkej-284	219	14	2014	2014	NUM
alkej-284	219	15	)	)	PUNCT
alkej-284	219	16	.	.	PUNCT
alkej-284	220	1	[	[	X
alkej-284	220	2	10	10	NUM
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alkej-284	220	4	hassan	hassan	PROPN
alkej-284	220	5	,	,	PUNCT
alkej-284	220	6	m.	m.	NOUN
alkej-284	220	7	y.	y.	PROPN
alkej-284	220	8	;	;	PUNCT
alkej-284	220	9	karam	karam	PROPN
alkej-284	220	10	,	,	PUNCT
alkej-284	220	11	z.	z.	PROPN
alkej-284	220	12	a.	a.	PROPN
alkej-284	220	13	:	:	PUNCT
alkej-284	220	14	modelling	modelling	NOUN
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alkej-284	220	17	-	-	PUNCT
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alkej-284	220	19	controller	controller	NOUN
alkej-284	220	20	design	design	NOUN
alkej-284	220	21	of	of	ADP
alkej-284	220	22	rehabilitation	rehabilitation	NOUN
alkej-284	220	23	robot	robot	NOUN
alkej-284	220	24	for	for	ADP
alkej-284	220	25	human	human	ADJ
alkej-284	220	26	arm	arm	NOUN
alkej-284	220	27	movements	movement	NOUN
alkej-284	220	28	,	,	PUNCT
alkej-284	220	29	eng	eng	PROPN
alkej-284	220	30	.	.	PROPN
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alkej-284	220	32	tech	tech	PROPN
alkej-284	220	33	.	.	PUNCT
alkej-284	221	1	journal	journal	PROPN
alkej-284	221	2	,	,	PUNCT
alkej-284	221	3	32	32	NUM
alkej-284	221	4	,	,	PUNCT
alkej-284	221	5	8	8	NUM
alkej-284	221	6	,	,	PUNCT
alkej-284	221	7	2079	2079	NUM
alkej-284	221	8	-	-	SYM
alkej-284	221	9	2095	2095	NUM
alkej-284	221	10	,	,	PUNCT
alkej-284	221	11	(	(	PUNCT
alkej-284	221	12	2014	2014	NUM
alkej-284	221	13	)	)	PUNCT
alkej-284	221	14	.	.	PUNCT
alkej-284	222	1	[	[	X
alkej-284	222	2	11	11	NUM
alkej-284	222	3	]	]	PUNCT
alkej-284	222	4	chiha	chiha	NOUN
alkej-284	222	5	,	,	PUNCT
alkej-284	222	6	i.	i.	NOUN
alkej-284	222	7	;	;	PUNCT
alkej-284	222	8	liouane	liouane	PROPN
alkej-284	222	9	,	,	PUNCT
alkej-284	222	10	n.	n.	NOUN
alkej-284	222	11	;	;	PUNCT
alkej-284	222	12	borne	bear	VERB
alkej-284	222	13	,	,	PUNCT
alkej-284	222	14	p.	p.	NOUN
alkej-284	222	15	:	:	PUNCT
alkej-284	222	16	tuning	tune	VERB
alkej-284	222	17	pid	pid	NOUN
alkej-284	222	18	controller	controller	NOUN
alkej-284	222	19	using	use	VERB
alkej-284	222	20	multi	multi	ADJ
alkej-284	222	21	objective	objective	ADJ
alkej-284	222	22	ant	ant	ADJ
alkej-284	222	23	colony	colony	NOUN
alkej-284	222	24	optimization	optimization	NOUN
alkej-284	222	25	.	.	PUNCT
alkej-284	223	1	hindawi	hindawi	ADJ
alkej-284	223	2	publishing	publishing	NOUN
alkej-284	223	3	corporation	corporation	NOUN
alkej-284	223	4	applied	apply	VERB
alkej-284	223	5	computational	computational	ADJ
alkej-284	223	6	intelligence	intelligence	NOUN
alkej-284	223	7	and	and	CCONJ
alkej-284	223	8	soft	soft	ADJ
alkej-284	223	9	computing	computing	NOUN
alkej-284	223	10	journal	journal	NOUN
alkej-284	223	11	,	,	PUNCT
alkej-284	223	12	1	1	NUM
alkej-284	223	13	-	-	SYM
alkej-284	223	14	7	7	NUM
alkej-284	223	15	,	,	PUNCT
alkej-284	223	16	(	(	PUNCT
alkej-284	223	17	2012	2012	NUM
alkej-284	223	18	)	)	PUNCT
alkej-284	223	19	.	.	PUNCT
alkej-284	224	1	[	[	X
alkej-284	224	2	12	12	NUM
alkej-284	224	3	]	]	X
alkej-284	224	4	wang	wang	PROPN
alkej-284	224	5	,	,	PUNCT
alkej-284	224	6	j.	j.	PROPN
alkej-284	224	7	;	;	PUNCT
alkej-284	224	8	li	li	PROPN
alkej-284	224	9	,	,	PUNCT
alkej-284	224	10	y.	y.	NOUN
alkej-284	224	11	:	:	PUNCT
alkej-284	224	12	hybrid	hybrid	ADJ
alkej-284	224	13	impedance	impedance	NOUN
alkej-284	224	14	control	control	NOUN
alkej-284	224	15	of	of	ADP
alkej-284	224	16	a	a	DET
alkej-284	224	17	3	3	NUM
alkej-284	224	18	-	-	PUNCT
alkej-284	224	19	dof	dof	NOUN
alkej-284	224	20	robotic	robotic	ADJ
alkej-284	224	21	arm	arm	NOUN
alkej-284	224	22	used	use	VERB
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alkej-284	224	24	rehabilitation	rehabilitation	NOUN
alkej-284	224	25	treatment	treatment	NOUN
alkej-284	224	26	.	.	PUNCT
alkej-284	225	1	6th	6th	ADJ
alkej-284	225	2	annual	annual	ADJ
alkej-284	225	3	ieee	ieee	NOUN
alkej-284	225	4	conference	conference	NOUN
alkej-284	225	5	on	on	ADP
alkej-284	225	6	automation	automation	NOUN
alkej-284	225	7	science	science	NOUN
alkej-284	225	8	and	and	CCONJ
alkej-284	225	9	engineering	engineering	PROPN
alkej-284	225	10	toronto	toronto	PROPN
alkej-284	225	11	,	,	PUNCT
alkej-284	225	12	ontario	ontario	PROPN
alkej-284	225	13	,	,	PUNCT
alkej-284	225	14	canada	canada	PROPN
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alkej-284	241	2	ا!+ر.4ت	ا!+ر.4ت	PRON
alkej-284	241	3	t3	t3	PROPN
alkej-284	241	4	ا!x%6	ا!x%6	PROPN
alkej-284	241	5	(	(	PUNCT
alkej-284	241	6	،	،	X
alkej-284	241	7	\4	\4	PROPN
alkej-284	242	1	[	[	X
alkej-284	242	2	'	'	X
alkej-284	242	3	(	(	PUNCT
alkej-284	242	4	؛	؛	NOUN
alkej-284	242	5	:	:	PUNCT
alkej-284	242	6	4dدة	4dدة	PROPN
alkej-284	242	7	?	?	PUNCT
alkej-284	242	8	sھ'r	sھ'r	PRON
alkej-284	242	9	ا!ac	ا!ac	NOUN
alkej-284	242	10	!	!	PUNCT
alkej-284	242	11	d6%a@8	d6%a@8	PART
alkej-284	243	1	وا!+وران	وا!+وران	PROPN
alkej-284	243	2	ا!81u	ا!81u	PROPN
alkej-284	243	3	.	.	PUNCT
alkej-284	244	1	b	b	X
alkej-284	244	2	ا!'t'a	ا!'t'a	X
alkej-284	244	3	وا!')4ر	وا!')4ر	NUM
alkej-284	244	4	�	�	PROPN
alkej-284	244	5	.ا!7@%6(ا!u	.ا!7@%6(ا!u	PROPN
alkej-284	244	6	/	/	SYM
alkej-284	244	7	اn	اn	PROPN
alkej-284	244	8	'	'	PUNCT
alkej-284	244	9	(	(	PUNCT
alkej-284	244	10	،	،	X
alkej-284	244	11	و26	و26	PROPN
alkej-284	244	12	+	+	X
alkej-284	244	13	ھgا	ھgا	PROPN
alkej-284	244	14	ا	ا	PROPN
alkej-284	244	15	!	!	PUNCT
alkej-284	244	16	/ع	/ع	PUNCT
alkej-284	245	1	t3	t3	PROPN
alkej-284	245	2	ا!j@a	ا!j@a	PROPN
alkej-284	245	3	>	>	X
alkej-284	245	4	ت	ت	X
alkej-284	245	5	،	،	X
alkej-284	245	6	اr=]n	اr=]n	X
alkej-284	246	1	[	[	X
alkej-284	246	2	8	8	NUM
alkej-284	246	3	ا!1&7'<4ت	ا!1&7'<4ت	NUM
alkej-284	246	4	ا!&7	ا!&7	PROPN
alkej-284	246	5	'	'	PUNCT
alkej-284	246	6	(	(	PUNCT
alkej-284	246	7	؛	؛	PROPN
alkej-284	246	8	9	9	NUM
alkej-284	246	9	�	�	NOUN
alkej-284	246	10	%اً	%اً	NOUN
alkej-284	246	11	!	!	PUNCT
alkej-284	247	1	q	q	X
alkej-284	247	2	/	/	SYM
alkej-284	247	3	اlp	اlp	NOUN
alkej-284	247	4	ا!2c	ا!2c	PROPN
alkej-284	247	5	!	!	PUNCT
alkej-284	247	6	)	)	PUNCT
alkej-284	247	7	uo4@a=>ت	uo4@a=>ت	VERB
alkej-284	247	8	o%!ا	o%!ا	PROPN
alkej-284	247	9	bcd	bcd	PROPN
alkej-284	247	10	8	8	NUM
alkej-284	247	11	]	]	PUNCT
alkej-284	247	12	)	)	PUNCT
alkej-284	247	13	'	'	PUNCT
alkej-284	247	14	!	!	PUNCT
alkej-284	248	1	42!ا	42!ا	NUM
alkej-284	248	2	)	)	PUNCT
alkej-284	248	3	'	'	PUNCT
alkej-284	248	4	&	&	CCONJ
alkej-284	248	5	p<!ا	p<!ا	PROPN
alkej-284	248	6	t3	t3	PROPN
alkej-284	248	7	�	�	PROPN
alkej-284	248	8	،	،	PROPN
alkej-284	249	1	إ	إ	NOUN
alkej-284	249	2	:	:	PUNCT
alkej-284	249	3	ان	ان	ADP
alkej-284	249	4	ا!)'&%ة	ا!)'&%ة	PROPN
alkej-284	249	5	bcd	bcd	NOUN
alkej-284	249	6	?	?	PUNCT
alkej-284	249	7	71	71	NUM
alkej-284	249	8	]	]	PUNCT
alkej-284	249	9	ا!a)4رات	ا!a)4رات	PROPN
alkej-284	249	10	ا!&7	ا!&7	PROPN
alkej-284	249	11	'	'	PROPN
alkej-284	249	12	(	(	PUNCT
alkej-284	249	13	-+	-+	PROPN
alkej-284	249	14	?	?	PUNCT
alkej-284	249	15	td	td	PROPN
alkej-284	249	16	ra	ra	PROPN
alkej-284	249	17	طq6	طq6	X
alkej-284	249	18	%	%	NOUN
alkej-284	249	19	3)'&%ات	3)'&%ات	NUM
alkej-284	249	20	'	'	NUM
alkej-284	249	21	av1!9	av1!9	PROPN
alkej-284	249	22	/	/	SYM
alkej-284	249	23	ع	ع	NOUN
alkej-284	249	24	)	)	PUNCT
alkej-284	249	25	-/ة	-/ة	PUNCT
alkej-284	249	26	ـ	ـ	PROPN
alkej-284	249	27	3/-](ا	3/-](ا	NUM
alkej-284	249	28	t3	t3	NOUN
alkej-284	250	1	[	[	X
alkej-284	250	2	-/ac	-/ac	X
alkej-284	250	3	!	!	PUNCT
alkej-284	251	1	(	(	PUNCT
alkej-284	251	2	3)'&%ات	3)'&%ات	NUM
alkej-284	251	3	_	_	PUNCT
alkej-284	251	4	<	<	X
alkej-284	251	5	_	_	X
alkej-284	251	6	t3	t3	PROPN
alkej-284	251	7	8	8	NUM
alkej-284	251	8	)	)	PUNCT
alkej-284	251	9	03	03	NUM
alkej-284	251	10	/	/	SYM
alkej-284	251	11	نo47ض	نo47ض	NOUN
alkej-284	251	12	q	q	PROPN
alkej-284	251	13	&	&	CCONJ
alkej-284	251	14	3	3	NUM
alkej-284	251	15	r4ضk13	r4ضk13	PROPN
alkej-284	251	16	ـ	ـ	PROPN
alkej-284	251	17	u*4	u*4	PROPN
alkej-284	251	18	13	13	NUM
alkej-284	251	19	8\ذ	8\ذ	NUM
alkej-284	251	20	pd	pd	PROPN
alkej-284	251	21	–	–	PUNCT
alkej-284	251	22	tsk	tsk	NOUN
alkej-284	251	23	)	)	PUNCT
alkej-284	251	24	ة/>c	ة/>c	PROPN
alkej-284	251	25	!	!	PUNCT
alkej-284	252	1	u*4	u*4	ADJ
alkej-284	252	2	13	13	NUM
alkej-284	252	3	9	9	NUM
alkej-284	252	4	/	/	SYM
alkej-284	252	5	ع	ع	NOUN
alkej-284	252	6	t3	t3	NOUN
alkej-284	252	7	٣(و	٣(و	ADJ
alkej-284	253	1	_	_	NOUN
alkej-284	253	2	>	>	PUNCT
alkej-284	254	1	_	_	PUNCT
alkej-284	254	2	(	(	PUNCT
alkej-284	254	3	3)'&%ات	3)'&%ات	NUM
alkej-284	254	4	(	(	PUNCT
alkej-284	254	5	h!وذ	h!وذ	X
alkej-284	254	6	،	،	X
alkej-284	254	7	،	،	X
alkej-284	254	8	rp+a!45وز	rp+a!45وز	PROPN
alkej-284	254	9	ا	ا	PUNCT
alkej-284	254	10	?	?	PUNCT
alkej-284	255	1	r'c>1\	r'c>1\	VERB
alkej-284	255	2	،	،	NOUN
alkej-284	255	3	)	)	PUNCT
alkej-284	255	4	o	o	NOUN
alkej-284	255	5	/	/	SYM
alkej-284	255	6	c&a!4ت	c&a!4ت	ADJ
alkej-284	255	7	اkpا	اkpا	NOUN
alkej-284	255	8	/	/	SYM
alkej-284	255	9	a!ا	a!ا	PROPN
alkej-284	255	10	q'>x	q'>x	NOUN
alkej-284	255	11	?	?	PUNCT
alkej-284	255	12	ض%j	ض%j	ADV
alkej-284	255	13	!	!	PUNCT
alkej-284	255	14	.mء	.mء	PUNCT
alkej-284	256	1	ا!t3	ا!t3	VERB
alkej-284	256	2	r0	r0	NOUN
alkej-284	256	3	!	!	PUNCT
alkej-284	257	1	[	[	X
alkej-284	257	2	-/a	-/a	X
alkej-284	257	3	ا!p	ا!p	PRON
alkej-284	257	4	wx7	wx7	PROPN
alkej-284	257	5	/	/	SYM
alkej-284	257	6	ارزa21(3	ارزa21(3	NOUN
alkej-284	257	7	)	)	PUNCT
alkej-284	257	8	'	'	NUM
alkej-284	257	9	3%ات	3%ات	NUM
alkej-284	257	10	ا	ا	NOUN
alkej-284	257	11	!	!	PUNCT
alkej-284	258	1	ra	ra	PROPN
alkej-284	258	2	اa1d+	اa1d+	PUNCT
alkej-284	259	1	.ات	.ات	NUM
alkej-284	259	2	،	،	X
alkej-284	260	1	[=	[=	X
alkej-284	260	2	>	>	NOUN
alkej-284	260	3	ً	ً	NOUN
alkej-284	260	4	td	td	NOUN
alkej-284	260	5	3<4و3	3<4و3	NUM
alkej-284	260	6	(	(	PUNCT
alkej-284	260	7	ا	ا	NUM
alkej-284	260	8	:	:	PUNCT
alkej-284	260	9	ض&%ا4oتو?<r'c	ض&%ا4oتو?<r'c	PROPN
alkej-284	260	10	ا!gog1ب	ا!gog1ب	PROPN
alkej-284	260	11	،	،	PROPN
alkej-284	260	12	و?<r'c	و?<r'c	PROPN
alkej-284	260	13	9)7	9)7	NUM
alkej-284	260	14	(	(	PUNCT
alkej-284	260	15	ا!s&q	ا!s&q	X
alkej-284	260	16	[	[	PUNCT
alkej-284	260	17	8	8	NUM
alkej-284	260	18	3	3	NUM
alkej-284	260	19	/	/	SYM
alkej-284	260	20	ا-	ا-	X
alkej-284	260	21	]	]	PUNCT
alkej-284	260	22	ا!a)4ر	ا!a)4ر	PRON
alkej-284	260	23	�	�	PROPN
alkej-284	260	24	q1*so+ام	q1*so+ام	NUM
alkej-284	260	25	p	p	PROPN
alkej-284	260	26	/	/	SYM
alkej-284	260	27	ارزa21(3	ارزa21(3	NOUN
alkej-284	260	28	)	)	PUNCT
alkej-284	260	29	'	'	NUM
alkej-284	260	30	3%ات	3%ات	NUM
alkej-284	260	31	ا	ا	NOUN
alkej-284	260	32	!	!	PUNCT
alkej-284	261	1	ra	ra	INTJ
alkej-284	262	1	ان	ان	INTJ
alkej-284	262	2	ھ	ھ	ADP
alkej-284	262	3	4ك	4ك	NOUN
alkej-284	262	4	?	?	PUNCT
alkej-284	263	1	t(x	t(x	PROPN
alkej-284	264	1	[	[	X
alkej-284	264	2	8	8	NUM
alkej-284	264	3	أ_r17	أ_r17	ADJ
alkej-284	264	4	.	.	PUNCT
alkej-284	265	1	و.mء	و.mء	AUX
alkej-284	265	2	ا!</ة	ا!</ة	X
alkej-284	265	3	؛	؛	PROPN
alkej-284	265	4	!	!	PUNCT
alkej-284	265	5	j%ض	j%ض	PROPN
alkej-284	265	6	?	?	PUNCT
alkej-284	265	7	t'(x	t'(x	VERB
alkej-284	265	8	ا!a	ا!a	PROPN
alkej-284	265	9	/	/	SYM
alkej-284	265	10	ا4kpتj	ا4kpتj	NOUN
alkej-284	265	11	a!6+و46	a!6+و46	ADJ
alkej-284	265	12	وا	وا	VERB
alkej-284	265	13	�	�	PROPN
alkej-284	265	14	j	j	PROPN
alkej-284	265	15	a!ا	a!ا	PROPN
alkej-284	265	16	%	%	NOUN
alkej-284	265	17	&	&	CCONJ
alkej-284	265	18	'	'	PROPN
alkej-284	265	19	(	(	PUNCT
alkej-284	265	20	a!ا	a!ا	PROPN
alkej-284	265	21	zn419	zn419	PROPN
alkej-284	265	22	t'o	t'o	ADV
alkej-284	265	23	)	)	PUNCT
alkej-284	265	24	94ر	94ر	X
alkej-284	265	25	>	>	X
alkej-284	265	26	a!ا	a!ا	PROPN
alkej-284	265	27	%	%	NOUN
alkej-284	265	28	.٣٩\2a+ل	.٣٩\2a+ل	PUNCT
alkej-284	266	1	2o	2o	NOUN
alkej-284	266	2	(	(	PUNCT
alkej-284	266	3	)	)	PUNCT
alkej-284	266	4	7	7	NUM
alkej-284	266	5	(	(	PUNCT
alkej-284	266	6	o+م	o+م	NUM
alkej-284	266	7	?	?	PUNCT
alkej-284	266	8	)	)	PUNCT
alkej-284	267	1	c	c	X
alkej-284	267	2	'	'	NOUN
alkej-284	267	3	}	}	PUNCT
alkej-284	267	4	ا	ا	ADP
alkej-284	267	5	:	:	PUNCT
alkej-284	267	6	ض&%ا4oت	ض&%ا4oت	NOUN
alkej-284	267	7	ا!4qر	ا!4qر	NOUN
alkej-284	267	8	.	.	PUNCT
alkej-284	267	9	'	'	PUNCT
alkej-284	267	10	(	(	PUNCT
alkej-284	267	11	و3	و3	VERB
alkej-284	267	12	]	]	PUNCT
alkej-284	267	13	?	?	PUNCT
alkej-284	267	14	)	)	PUNCT
alkej-284	268	1	4u&'c(3/-	4u&'c(3/-	NUM
alkej-284	268	2	]	]	PUNCT
alkej-284	268	3	ا!a)4ر	ا!a)4ر	PRON
alkej-284	268	4	ا!&87	ا!&87	PROPN