id	sid	tid	token	lemma	pos
alkej-602	1	1	128	128	NUM
alkej-602	1	2	al	al	PROPN
alkej-602	1	3	-	-	PUNCT
alkej-602	1	4	khwarizmi	khwarizmi	PROPN
alkej-602	1	5	engineering	engineering	PROPN
alkej-602	1	6	journal	journal	PROPN
alkej-602	1	7	al	al	PROPN
alkej-602	1	8	-	-	PUNCT
alkej-602	1	9	khwarizmi	khwarizmi	PROPN
alkej-602	1	10	engineering	engineering	NOUN
alkej-602	1	11	journal	journal	PROPN
alkej-602	1	12	,	,	PUNCT
alkej-602	1	13	vol	vol	NOUN
alkej-602	1	14	.	.	PROPN
alkej-602	1	15	4	4	NUM
alkej-602	1	16	,	,	PUNCT
alkej-602	1	17	no	no	INTJ
alkej-602	1	18	.	.	NOUN
alkej-602	1	19	3	3	NUM
alkej-602	1	20	,	,	PUNCT
alkej-602	1	21	pp	pp	ADV
alkej-602	1	22	128	128	NUM
alkej-602	1	23	-	-	SYM
alkej-602	1	24	137	137	NUM
alkej-602	1	25	(	(	PUNCT
alkej-602	1	26	2008	2008	NUM
alkej-602	1	27	)	)	PUNCT
alkej-602	1	28	miniature	miniature	ADJ
alkej-602	1	29	two	two	NUM
alkej-602	1	30	-	-	PUNCT
alkej-602	1	31	fingered	finger	VERB
alkej-602	1	32	robot	robot	NOUN
alkej-602	1	33	hand	hand	NOUN
alkej-602	1	34	driven	drive	VERB
alkej-602	1	35	by	by	ADP
alkej-602	1	36	muscle	muscle	NOUN
alkej-602	1	37	wires	wire	NOUN
alkej-602	1	38	actuators	actuator	NOUN
alkej-602	1	39	a.	a.	PROPN
alkej-602	1	40	salam	salam	PROPN
alkej-602	1	41	al	al	PROPN
alkej-602	1	42	-	-	PUNCT
alkej-602	1	43	ammri	ammri	PROPN
alkej-602	1	44	,	,	PUNCT
alkej-602	1	45	bahaa	bahaa	NOUN
alkej-602	1	46	i.	i.	NOUN
alkej-602	1	47	kadim	kadim	PROPN
alkej-602	1	48	and	and	CCONJ
alkej-602	1	49	yarub	yarub	PROPN
alkej-602	1	50	o.	o.	PROPN
alkej-602	1	51	al	al	PROPN
alkej-602	1	52	-	-	PUNCT
alkej-602	1	53	azzawi	azzawi	PROPN
alkej-602	1	54	department	department	PROPN
alkej-602	1	55	of	of	ADP
alkej-602	1	56	mechatronics	mechatronic	NOUN
alkej-602	1	57	engineering/	engineering/	NUM
alkej-602	1	58	al	al	PROPN
alkej-602	1	59	-	-	PUNCT
alkej-602	1	60	khwarizmi	khwarizmi	PROPN
alkej-602	1	61	college	college	NOUN
alkej-602	1	62	of	of	ADP
alkej-602	1	63	engineering	engineering	NOUN
alkej-602	1	64	/	/	SYM
alkej-602	1	65	university	university	PROPN
alkej-602	1	66	of	of	ADP
alkej-602	1	67	baghdad	baghdad	PROPN
alkej-602	1	68	(	(	PUNCT
alkej-602	1	69	received	receive	VERB
alkej-602	1	70	9	9	NUM
alkej-602	1	71	march	march	NOUN
alkej-602	1	72	2008	2008	NUM
alkej-602	1	73	;	;	PUNCT
alkej-602	1	74	accepted	accept	VERB
alkej-602	1	75	2	2	NUM
alkej-602	1	76	september	september	PROPN
alkej-602	1	77	2008	2008	NUM
alkej-602	1	78	)	)	PUNCT
alkej-602	2	1	abstract	abstract	ADV
alkej-602	2	2	in	in	ADP
alkej-602	2	3	this	this	DET
alkej-602	2	4	research	research	NOUN
alkej-602	2	5	,	,	PUNCT
alkej-602	2	6	a	a	DET
alkej-602	2	7	modified	modify	VERB
alkej-602	2	8	artificial	artificial	ADJ
alkej-602	2	9	hand	hand	NOUN
alkej-602	2	10	with	with	ADP
alkej-602	2	11	direct	direct	ADJ
alkej-602	2	12	control	control	NOUN
alkej-602	2	13	has	have	AUX
alkej-602	2	14	been	be	AUX
alkej-602	2	15	designed	design	VERB
alkej-602	2	16	using	use	VERB
alkej-602	2	17	electrical	electrical	ADJ
alkej-602	2	18	artificial	artificial	ADJ
alkej-602	2	19	muscle	muscle	NOUN
alkej-602	2	20	wires	wire	NOUN
alkej-602	2	21	that	that	PRON
alkej-602	2	22	receive	receive	VERB
alkej-602	2	23	direct	direct	ADJ
alkej-602	2	24	sensory	sensory	ADJ
alkej-602	2	25	impulses	impulse	NOUN
alkej-602	2	26	through	through	ADP
alkej-602	2	27	human	human	ADJ
alkej-602	2	28	hand	hand	NOUN
alkej-602	2	29	instead	instead	ADV
alkej-602	2	30	of	of	ADP
alkej-602	2	31	using	use	VERB
alkej-602	2	32	the	the	DET
alkej-602	2	33	mechanical	mechanical	ADJ
alkej-602	2	34	action	action	NOUN
alkej-602	2	35	to	to	PART
alkej-602	2	36	open	open	VERB
alkej-602	2	37	and	and	CCONJ
alkej-602	2	38	close	close	VERB
alkej-602	2	39	this	this	DET
alkej-602	2	40	artificial	artificial	ADJ
alkej-602	2	41	hand	hand	NOUN
alkej-602	2	42	.	.	PUNCT
alkej-602	3	1	each	each	DET
alkej-602	3	2	finger	finger	NOUN
alkej-602	3	3	is	be	AUX
alkej-602	3	4	designed	design	VERB
alkej-602	3	5	as	as	ADP
alkej-602	3	6	a	a	DET
alkej-602	3	7	chain	chain	NOUN
alkej-602	3	8	and	and	CCONJ
alkej-602	3	9	its	its	PRON
alkej-602	3	10	movements	movement	NOUN
alkej-602	3	11	achieved	achieve	VERB
alkej-602	3	12	through	through	ADP
alkej-602	3	13	the	the	DET
alkej-602	3	14	conventional	conventional	ADJ
alkej-602	3	15	arrangement	arrangement	NOUN
alkej-602	3	16	control	control	NOUN
alkej-602	3	17	of	of	ADP
alkej-602	3	18	the	the	DET
alkej-602	3	19	electrical	electrical	ADJ
alkej-602	3	20	muscles	muscle	NOUN
alkej-602	3	21	wires	wire	NOUN
alkej-602	3	22	.	.	PUNCT
alkej-602	4	1	the	the	DET
alkej-602	4	2	results	result	NOUN
alkej-602	4	3	indicate	indicate	VERB
alkej-602	4	4	that	that	SCONJ
alkej-602	4	5	it	it	PRON
alkej-602	4	6	is	be	AUX
alkej-602	4	7	possible	possible	ADJ
alkej-602	4	8	to	to	PART
alkej-602	4	9	design	design	VERB
alkej-602	4	10	an	an	DET
alkej-602	4	11	artificial	artificial	ADJ
alkej-602	4	12	hand	hand	NOUN
alkej-602	4	13	using	use	VERB
alkej-602	4	14	electrical	electrical	ADJ
alkej-602	4	15	muscle	muscle	NOUN
alkej-602	4	16	wire	wire	NOUN
alkej-602	4	17	for	for	ADP
alkej-602	4	18	control	control	VERB
alkej-602	4	19	it	it	PRON
alkej-602	4	20	with	with	ADP
alkej-602	4	21	high	high	ADJ
alkej-602	4	22	accuracy	accuracy	NOUN
alkej-602	4	23	.	.	PUNCT
alkej-602	5	1	keywords	keyword	NOUN
alkej-602	5	2	:	:	PUNCT
alkej-602	5	3	muscle	muscle	NOUN
alkej-602	5	4	wires	wire	NOUN
alkej-602	5	5	,	,	PUNCT
alkej-602	5	6	shape	shape	NOUN
alkej-602	5	7	memory	memory	NOUN
alkej-602	5	8	alloy	alloy	NOUN
alkej-602	5	9	,	,	PUNCT
alkej-602	5	10	robotics	robotic	NOUN
alkej-602	5	11	hands	hand	NOUN
alkej-602	5	12	.	.	PUNCT
alkej-602	6	1	1	1	X
alkej-602	6	2	.	.	X
alkej-602	6	3	introduction	introduction	NOUN
alkej-602	6	4	much	much	ADJ
alkej-602	6	5	work	work	NOUN
alkej-602	6	6	over	over	ADP
alkej-602	6	7	the	the	DET
alkej-602	6	8	recent	recent	ADJ
alkej-602	6	9	years	year	NOUN
alkej-602	6	10	have	have	AUX
alkej-602	6	11	been	be	AUX
alkej-602	6	12	involved	involve	VERB
alkej-602	6	13	in	in	ADP
alkej-602	6	14	the	the	DET
alkej-602	6	15	creation	creation	NOUN
alkej-602	6	16	of	of	ADP
alkej-602	6	17	a	a	DET
alkej-602	6	18	humanoid	humanoid	NOUN
alkej-602	6	19	hand	hand	NOUN
alkej-602	6	20	,	,	PUNCT
alkej-602	6	21	where	where	SCONJ
alkej-602	6	22	degrees	degree	NOUN
alkej-602	6	23	of	of	ADP
alkej-602	6	24	freedom	freedom	NOUN
alkej-602	6	25	and	and	CCONJ
alkej-602	6	26	size	size	NOUN
alkej-602	6	27	of	of	ADP
alkej-602	6	28	the	the	DET
alkej-602	6	29	hand	hand	NOUN
alkej-602	6	30	and	and	CCONJ
alkej-602	6	31	forearm	forearm	NOUN
alkej-602	6	32	are	be	AUX
alkej-602	6	33	designed	design	VERB
alkej-602	6	34	to	to	PART
alkej-602	6	35	be	be	AUX
alkej-602	6	36	as	as	ADV
alkej-602	6	37	close	close	ADJ
alkej-602	6	38	as	as	ADP
alkej-602	6	39	possible	possible	ADJ
alkej-602	6	40	to	to	ADP
alkej-602	6	41	human	human	ADJ
alkej-602	6	42	proportions	proportion	NOUN
alkej-602	6	43	.	.	PUNCT
alkej-602	7	1	over	over	ADP
alkej-602	7	2	time	time	NOUN
alkej-602	7	3	various	various	ADJ
alkej-602	7	4	hands	hand	NOUN
alkej-602	7	5	were	be	AUX
alkej-602	7	6	built	build	VERB
alkej-602	7	7	from	from	ADP
alkej-602	7	8	a	a	DET
alkej-602	7	9	simple	simple	ADJ
alkej-602	7	10	2	2	NUM
alkej-602	7	11	finger	finger	NOUN
alkej-602	7	12	system	system	NOUN
alkej-602	7	13	without	without	ADP
alkej-602	7	14	a	a	DET
alkej-602	7	15	thumb	thumb	NOUN
alkej-602	7	16	,	,	PUNCT
alkej-602	7	17	all	all	DET
alkej-602	7	18	the	the	DET
alkej-602	7	19	way	way	NOUN
alkej-602	7	20	to	to	ADP
alkej-602	7	21	an	an	DET
alkej-602	7	22	almost	almost	ADV
alkej-602	7	23	exact	exact	ADJ
alkej-602	7	24	replication	replication	NOUN
alkej-602	7	25	of	of	ADP
alkej-602	7	26	a	a	DET
alkej-602	7	27	human	human	ADJ
alkej-602	7	28	hand	hand	NOUN
alkej-602	7	29	,	,	PUNCT
alkej-602	7	30	comprising	comprising	NOUN
alkej-602	7	31	of	of	ADP
alkej-602	7	32	4	4	NUM
alkej-602	7	33	multi	multi	ADJ
alkej-602	7	34	-	-	ADJ
alkej-602	7	35	jointed	jointed	ADJ
alkej-602	7	36	fingers	finger	NOUN
alkej-602	7	37	and	and	CCONJ
alkej-602	7	38	a	a	DET
alkej-602	7	39	thumb	thumb	NOUN
alkej-602	7	40	.	.	PUNCT
alkej-602	8	1	several	several	ADJ
alkej-602	8	2	forms	form	NOUN
alkej-602	8	3	of	of	ADP
alkej-602	8	4	actuation	actuation	NOUN
alkej-602	8	5	have	have	AUX
alkej-602	8	6	been	be	AUX
alkej-602	8	7	used	use	VERB
alkej-602	8	8	in	in	ADP
alkej-602	8	9	these	these	DET
alkej-602	8	10	hands	hand	NOUN
alkej-602	8	11	such	such	ADJ
alkej-602	8	12	as	as	ADP
alkej-602	8	13	electrical	electrical	ADJ
alkej-602	8	14	revolute	revolute	PROPN
alkej-602	8	15	motors	motor	NOUN
alkej-602	8	16	,	,	PUNCT
alkej-602	8	17	dc	dc	PROPN
alkej-602	8	18	motors	motors	PROPN
alkej-602	8	19	,	,	PUNCT
alkej-602	8	20	pneumatic	pneumatic	ADJ
alkej-602	8	21	actuators	actuator	NOUN
alkej-602	8	22	and	and	CCONJ
alkej-602	8	23	pneumatic	pneumatic	ADJ
alkej-602	8	24	muscles	muscle	NOUN
alkej-602	8	25	.	.	PUNCT
alkej-602	9	1	human	human	ADJ
alkej-602	9	2	being	being	NOUN
alkej-602	9	3	has	have	AUX
alkej-602	9	4	been	be	AUX
alkej-602	9	5	developing	develop	VERB
alkej-602	9	6	variety	variety	NOUN
alkej-602	9	7	of	of	ADP
alkej-602	9	8	robots	robot	NOUN
alkej-602	9	9	.	.	PUNCT
alkej-602	10	1	before	before	ADP
alkej-602	10	2	the	the	DET
alkej-602	10	3	1970	1970	NUM
alkej-602	10	4	,	,	PUNCT
alkej-602	10	5	the	the	DET
alkej-602	10	6	industrial	industrial	ADJ
alkej-602	10	7	robot	robot	NOUN
alkej-602	10	8	for	for	ADP
alkej-602	10	9	simple	simple	ADJ
alkej-602	10	10	work	work	NOUN
alkej-602	10	11	in	in	ADP
alkej-602	10	12	plant	plant	NOUN
alkej-602	10	13	were	be	AUX
alkej-602	10	14	mainly	mainly	ADV
alkej-602	10	15	developed	develop	VERB
alkej-602	10	16	then	then	ADV
alkej-602	10	17	,	,	PUNCT
alkej-602	10	18	the	the	DET
alkej-602	10	19	robots	robot	NOUN
alkej-602	10	20	have	have	AUX
alkej-602	10	21	been	be	AUX
alkej-602	10	22	improved	improve	VERB
alkej-602	10	23	and	and	CCONJ
alkej-602	10	24	multifunctionalized	multifunctionalize	VERB
alkej-602	10	25	with	with	ADP
alkej-602	10	26	the	the	DET
alkej-602	10	27	progress	progress	NOUN
alkej-602	10	28	of	of	ADP
alkej-602	10	29	technology	technology	NOUN
alkej-602	10	30	.	.	PUNCT
alkej-602	11	1	recently	recently	ADV
alkej-602	11	2	,	,	PUNCT
alkej-602	11	3	they	they	PRON
alkej-602	11	4	have	have	AUX
alkej-602	11	5	extended	extend	VERB
alkej-602	11	6	their	their	PRON
alkej-602	11	7	fields	field	NOUN
alkej-602	11	8	and	and	CCONJ
alkej-602	11	9	uses	use	NOUN
alkej-602	11	10	.	.	PUNCT
alkej-602	12	1	particularly	particularly	ADV
alkej-602	12	2	the	the	DET
alkej-602	12	3	humanoid	humanoid	NOUN
alkej-602	12	4	robot	robot	NOUN
alkej-602	12	5	technology	technology	NOUN
alkej-602	12	6	attracts	attract	VERB
alkej-602	12	7	high	high	ADJ
alkej-602	12	8	attention	attention	NOUN
alkej-602	12	9	of	of	ADP
alkej-602	12	10	public	public	NOUN
alkej-602	12	11	.	.	PUNCT
alkej-602	13	1	the	the	DET
alkej-602	13	2	humanoid	humanoid	NOUN
alkej-602	13	3	robot	robot	NOUN
alkej-602	13	4	has	have	VERB
alkej-602	13	5	a	a	DET
alkej-602	13	6	high	high	ADJ
alkej-602	13	7	flexibility	flexibility	NOUN
alkej-602	13	8	,	,	PUNCT
alkej-602	13	9	so	so	SCONJ
alkej-602	13	10	they	they	PRON
alkej-602	13	11	can	can	AUX
alkej-602	13	12	work	work	VERB
alkej-602	13	13	in	in	ADP
alkej-602	13	14	human	human	ADJ
alkej-602	13	15	environment	environment	NOUN
alkej-602	13	16	.	.	PUNCT
alkej-602	14	1	the	the	DET
alkej-602	14	2	manlike	manlike	PROPN
alkej-602	14	3	robot	robot	NOUN
alkej-602	14	4	such	such	ADJ
alkej-602	14	5	as	as	ADP
alkej-602	14	6	the	the	DET
alkej-602	14	7	humanoid	humanoid	NOUN
alkej-602	14	8	robot	robot	NOUN
alkej-602	14	9	is	be	AUX
alkej-602	14	10	expected	expect	VERB
alkej-602	14	11	to	to	PART
alkej-602	14	12	realize	realize	VERB
alkej-602	14	13	novel	novel	ADJ
alkej-602	14	14	concepts	concept	NOUN
alkej-602	14	15	as	as	ADP
alkej-602	14	16	tele	tele	NOUN
alkej-602	14	17	-	-	PUNCT
alkej-602	14	18	existence	existence	NOUN
alkej-602	14	19	and	and	CCONJ
alkej-602	14	20	coexistence	coexistence	NOUN
alkej-602	14	21	of	of	ADP
alkej-602	14	22	the	the	DET
alkej-602	14	23	human	human	ADJ
alkej-602	14	24	being	being	NOUN
alkej-602	14	25	and	and	CCONJ
alkej-602	14	26	robot	robot	NOUN
alkej-602	14	27	.	.	PUNCT
alkej-602	15	1	there	there	PRON
alkej-602	15	2	have	have	AUX
alkej-602	15	3	been	be	AUX
alkej-602	15	4	several	several	ADJ
alkej-602	15	5	robotic	robotic	ADJ
alkej-602	15	6	hand	hand	NOUN
alkej-602	15	7	implementations	implementation	NOUN
alkej-602	15	8	that	that	PRON
alkej-602	15	9	subscribe	subscribe	VERB
alkej-602	15	10	to	to	ADP
alkej-602	15	11	different	different	ADJ
alkej-602	15	12	levels	level	NOUN
alkej-602	15	13	of	of	ADP
alkej-602	15	14	anthropomorphism	anthropomorphism	NOUN
alkej-602	15	15	.	.	PUNCT
alkej-602	16	1	thus	thus	ADV
alkej-602	16	2	,	,	PUNCT
alkej-602	16	3	researchers	researcher	NOUN
alkej-602	16	4	have	have	AUX
alkej-602	16	5	since	since	SCONJ
alkej-602	16	6	modified	modify	VERB
alkej-602	16	7	commercially	commercially	ADV
alkej-602	16	8	available	available	ADJ
alkej-602	16	9	versions	version	NOUN
alkej-602	16	10	of	of	ADP
alkej-602	16	11	some	some	PRON
alkej-602	16	12	these	these	DET
alkej-602	16	13	original	original	ADJ
alkej-602	16	14	designs	design	NOUN
alkej-602	16	15	to	to	PART
alkej-602	16	16	incorporate	incorporate	VERB
alkej-602	16	17	more	more	ADV
alkej-602	16	18	elaborate	elaborate	ADJ
alkej-602	16	19	sensing	sense	VERB
alkej-602	16	20	techniques	technique	NOUN
alkej-602	16	21	.	.	PUNCT
alkej-602	17	1	human	human	ADJ
alkej-602	17	2	being	being	NOUN
alkej-602	17	3	usually	usually	ADV
alkej-602	17	4	contacts	contact	NOUN
alkej-602	17	5	with	with	ADP
alkej-602	17	6	the	the	DET
alkej-602	17	7	external	external	ADJ
alkej-602	17	8	environment	environment	NOUN
alkej-602	17	9	with	with	ADP
alkej-602	17	10	his	his	PRON
alkej-602	17	11	hand	hand	NOUN
alkej-602	17	12	.	.	PUNCT
alkej-602	18	1	the	the	DET
alkej-602	18	2	robot	robot	NOUN
alkej-602	18	3	also	also	ADV
alkej-602	18	4	needs	need	VERB
alkej-602	18	5	the	the	DET
alkej-602	18	6	hands	hand	NOUN
alkej-602	18	7	the	the	DET
alkej-602	18	8	end	end	NOUN
alkej-602	18	9	-	-	PUNCT
alkej-602	18	10	effecter	effecter	NOUN
alkej-602	18	11	to	to	PART
alkej-602	18	12	interact	interact	VERB
alkej-602	18	13	with	with	ADP
alkej-602	18	14	the	the	DET
alkej-602	18	15	object	object	NOUN
alkej-602	18	16	.	.	PUNCT
alkej-602	19	1	the	the	DET
alkej-602	19	2	robot	robot	NOUN
alkej-602	19	3	hand	hand	NOUN
alkej-602	19	4	is	be	AUX
alkej-602	19	5	divided	divide	VERB
alkej-602	19	6	into	into	ADP
alkej-602	19	7	three	three	NUM
alkej-602	19	8	categories	category	NOUN
alkej-602	19	9	:	:	PUNCT
alkej-602	19	10	mechanical	mechanical	ADJ
alkej-602	19	11	gripper	gripper	NOUN
alkej-602	19	12	,	,	PUNCT
alkej-602	19	13	special	special	ADJ
alkej-602	19	14	purpose	purpose	NOUN
alkej-602	19	15	hand	hand	NOUN
alkej-602	19	16	,	,	PUNCT
alkej-602	19	17	and	and	CCONJ
alkej-602	19	18	universal	universal	ADJ
alkej-602	19	19	hand	hand	NOUN
alkej-602	19	20	.	.	PUNCT
alkej-602	20	1	the	the	DET
alkej-602	20	2	former	former	ADJ
alkej-602	20	3	two	two	NUM
alkej-602	20	4	types	type	NOUN
alkej-602	20	5	are	be	AUX
alkej-602	20	6	for	for	ADP
alkej-602	20	7	the	the	DET
alkej-602	20	8	limited	limited	ADJ
alkej-602	20	9	use	use	NOUN
alkej-602	20	10	,	,	PUNCT
alkej-602	20	11	so	so	SCONJ
alkej-602	20	12	their	their	PRON
alkej-602	20	13	form	form	NOUN
alkej-602	20	14	is	be	AUX
alkej-602	20	15	not	not	PART
alkej-602	20	16	generally	generally	ADV
alkej-602	20	17	manlike	manlike	ADJ
alkej-602	20	18	.	.	PUNCT
alkej-602	21	1	they	they	PRON
alkej-602	21	2	are	be	AUX
alkej-602	21	3	often	often	ADV
alkej-602	21	4	used	use	VERB
alkej-602	21	5	for	for	ADP
alkej-602	21	6	industrial	industrial	ADJ
alkej-602	21	7	robots	robot	NOUN
alkej-602	21	8	.	.	PUNCT
alkej-602	22	1	on	on	ADP
alkej-602	22	2	the	the	DET
alkej-602	22	3	other	other	ADJ
alkej-602	22	4	hand	hand	NOUN
alkej-602	22	5	,	,	PUNCT
alkej-602	22	6	the	the	DET
alkej-602	22	7	humanoid	humanoid	NOUN
alkej-602	22	8	robot	robot	NOUN
alkej-602	22	9	has	have	VERB
alkej-602	22	10	the	the	DET
alkej-602	22	11	last	last	ADJ
alkej-602	22	12	type	type	NOUN
alkej-602	22	13	of	of	ADP
alkej-602	22	14	robot	robot	NOUN
alkej-602	22	15	hand	hand	NOUN
alkej-602	22	16	because	because	SCONJ
alkej-602	22	17	it	it	PRON
alkej-602	22	18	requires	require	VERB
alkej-602	22	19	handling	handle	VERB
alkej-602	22	20	the	the	DET
alkej-602	22	21	various	various	ADJ
alkej-602	22	22	types	type	NOUN
alkej-602	22	23	of	of	ADP
alkej-602	22	24	objects	object	NOUN
alkej-602	22	25	steadily	steadily	ADV
alkej-602	22	26	and	and	CCONJ
alkej-602	22	27	smoothly	smoothly	ADV
alkej-602	22	28	.	.	PUNCT
alkej-602	23	1	the	the	DET
alkej-602	23	2	universal	universal	ADJ
alkej-602	23	3	hand	hand	NOUN
alkej-602	23	4	can	can	AUX
alkej-602	23	5	also	also	ADV
alkej-602	23	6	be	be	AUX
alkej-602	23	7	used	use	VERB
alkej-602	23	8	for	for	ADP
alkej-602	23	9	other	other	ADJ
alkej-602	23	10	purposes	purpose	NOUN
alkej-602	23	11	such	such	ADJ
alkej-602	23	12	as	as	ADP
alkej-602	23	13	teleoperation	teleoperation	NOUN
alkej-602	23	14	in	in	ADP
alkej-602	23	15	space	space	NOUN
alkej-602	23	16	environment	environment	NOUN
alkej-602	23	17	and	and	CCONJ
alkej-602	23	18	in	in	ADP
alkej-602	23	19	hazardous	hazardous	ADJ
alkej-602	23	20	environment	environment	NOUN
alkej-602	23	21	and	and	CCONJ
alkej-602	23	22	tele	tele	NOUN
alkej-602	23	23	-	-	PUNCT
alkej-602	23	24	surgery	surgery	NOUN
alkej-602	23	25	.	.	PUNCT
alkej-602	24	1	therefore	therefore	ADV
alkej-602	24	2	,	,	PUNCT
alkej-602	24	3	the	the	DET
alkej-602	24	4	development	development	NOUN
alkej-602	24	5	of	of	ADP
alkej-602	24	6	universal	universal	ADJ
alkej-602	24	7	robot	robot	NOUN
alkej-602	24	8	hand	hand	NOUN
alkej-602	24	9	has	have	AUX
alkej-602	24	10	been	be	AUX
alkej-602	24	11	an	an	DET
alkej-602	24	12	interesting	interesting	ADJ
alkej-602	24	13	topic	topic	NOUN
alkej-602	24	14	among	among	ADP
alkej-602	24	15	researchers	researcher	NOUN
alkej-602	24	16	,	,	PUNCT
alkej-602	24	17	and	and	CCONJ
alkej-602	24	18	a	a	DET
alkej-602	24	19	lot	lot	NOUN
alkej-602	24	20	of	of	ADP
alkej-602	24	21	sophisticated	sophisticated	ADJ
alkej-602	24	22	robot	robot	NOUN
alkej-602	24	23	hands	hand	NOUN
alkej-602	24	24	have	have	AUX
alkej-602	24	25	indeed	indeed	ADV
alkej-602	24	26	developed	develop	VERB
alkej-602	24	27	all	all	ADV
alkej-602	24	28	over	over	ADP
alkej-602	24	29	the	the	DET
alkej-602	24	30	world	world	NOUN
alkej-602	25	1	[	[	X
alkej-602	25	2	1	1	NUM
alkej-602	25	3	]	]	PUNCT
alkej-602	25	4	.	.	PUNCT
alkej-602	26	1	ikuo	ikuo	PROPN
alkej-602	26	2	et	et	PROPN
alkej-602	26	3	al	al	PROPN
alkej-602	26	4	.	.	PUNCT
alkej-602	27	1	[	[	X
alkej-602	27	2	1	1	X
alkej-602	27	3	]	]	PUNCT
alkej-602	27	4	developed	develop	VERB
alkej-602	27	5	a	a	DET
alkej-602	27	6	robot	robot	NOUN
alkej-602	27	7	hand	hand	NOUN
alkej-602	27	8	having	have	VERB
alkej-602	27	9	equal	equal	ADJ
alkej-602	27	10	number	number	NOUN
alkej-602	27	11	of	of	ADP
alkej-602	27	12	dof	dof	NOUN
alkej-602	27	13	to	to	ADP
alkej-602	27	14	human	human	ADJ
alkej-602	27	15	hand	hand	NOUN
alkej-602	27	16	.	.	PUNCT
alkej-602	28	1	the	the	DET
alkej-602	28	2	method	method	NOUN
alkej-602	28	3	uses	use	VERB
alkej-602	28	4	restoring	restore	VERB
alkej-602	28	5	force	force	NOUN
alkej-602	28	6	of	of	ADP
alkej-602	28	7	elastic	elastic	ADJ
alkej-602	28	8	element	element	NOUN
alkej-602	28	9	as	as	ADP
alkej-602	28	10	driving	drive	VERB
alkej-602	28	11	power	power	NOUN
alkej-602	28	12	for	for	ADP
alkej-602	28	13	grasping	grasp	VERB
alkej-602	28	14	an	an	DET
alkej-602	28	15	object	object	NOUN
alkej-602	28	16	,	,	PUNCT
alkej-602	28	17	so	so	SCONJ
alkej-602	28	18	that	that	SCONJ
alkej-602	28	19	the	the	DET
alkej-602	28	20	hand	hand	NOUN
alkej-602	28	21	can	can	AUX
alkej-602	28	22	perform	perform	VERB
alkej-602	28	23	the	the	DET
alkej-602	28	24	soft	soft	ADJ
alkej-602	28	25	and	and	CCONJ
alkej-602	28	26	stable	stable	ADJ
alkej-602	28	27	grasping	grasping	NOUN
alkej-602	28	28	motion	motion	NOUN
alkej-602	28	29	with	with	ADP
alkej-602	28	30	no	no	DET
alkej-602	28	31	power	power	NOUN
alkej-602	28	32	supply	supply	NOUN
alkej-602	28	33	.	.	PUNCT
alkej-602	29	1	in	in	ADP
alkej-602	29	2	addition	addition	NOUN
alkej-602	29	3	,	,	PUNCT
alkej-602	29	4	all	all	DET
alkej-602	29	5	the	the	DET
alkej-602	29	6	components	component	NOUN
alkej-602	29	7	are	be	AUX
alkej-602	29	8	placed	place	VERB
alkej-602	29	9	inside	inside	ADP
alkej-602	29	10	the	the	DET
alkej-602	29	11	hand	hand	NOUN
alkej-602	29	12	it	it	PRON
alkej-602	29	13	had	have	VERB
alkej-602	29	14	a.	a.	NOUN
alkej-602	29	15	salam	salam	PROPN
alkej-602	29	16	al	al	PROPN
alkej-602	29	17	-	-	PROPN
alkej-602	29	18	ammri	ammri	PROPN
alkej-602	29	19	al	al	PROPN
alkej-602	29	20	-	-	PUNCT
alkej-602	29	21	khwarizmi	khwarizmi	PROPN
alkej-602	29	22	engineering	engineering	NOUN
alkej-602	29	23	journal	journal	PROPN
alkej-602	29	24	,	,	PUNCT
alkej-602	29	25	vol	vol	NOUN
alkej-602	29	26	.	.	PROPN
alkej-602	29	27	4	4	NUM
alkej-602	29	28	,	,	PUNCT
alkej-602	29	29	no	no	INTJ
alkej-602	29	30	.	.	NOUN
alkej-602	29	31	3	3	NUM
alkej-602	29	32	,	,	PUNCT
alkej-602	29	33	pp	pp	ADV
alkej-602	29	34	128	128	NUM
alkej-602	29	35	-	-	SYM
alkej-602	29	36	137	137	NUM
alkej-602	29	37	(	(	PUNCT
alkej-602	29	38	2008	2008	NUM
alkej-602	29	39	)	)	PUNCT
alkej-602	29	40	129	129	NUM
alkej-602	29	41	equal	equal	ADJ
alkej-602	29	42	number	number	NOUN
alkej-602	29	43	of	of	ADP
alkej-602	29	44	joints	joint	NOUN
alkej-602	29	45	and	and	CCONJ
alkej-602	29	46	dof	dof	NOUN
alkej-602	29	47	to	to	ADP
alkej-602	29	48	human	human	ADJ
alkej-602	29	49	index	index	NOUN
alkej-602	29	50	finger	finger	NOUN
alkej-602	29	51	,	,	PUNCT
alkej-602	29	52	and	and	CCONJ
alkej-602	29	53	it	it	PRON
alkej-602	29	54	was	be	AUX
alkej-602	29	55	also	also	ADV
alkej-602	29	56	equal	equal	ADJ
alkej-602	29	57	in	in	ADP
alkej-602	29	58	size	size	NOUN
alkej-602	29	59	to	to	ADP
alkej-602	29	60	the	the	DET
alkej-602	29	61	finger	finger	NOUN
alkej-602	29	62	of	of	ADP
alkej-602	29	63	average	average	ADJ
alkej-602	29	64	adult	adult	NOUN
alkej-602	29	65	male	male	NOUN
alkej-602	29	66	.	.	PUNCT
alkej-602	30	1	the	the	DET
alkej-602	30	2	performance	performance	NOUN
alkej-602	30	3	of	of	ADP
alkej-602	30	4	the	the	DET
alkej-602	30	5	robot	robot	NOUN
alkej-602	30	6	finger	finger	NOUN
alkej-602	30	7	was	be	AUX
alkej-602	30	8	confirmed	confirm	VERB
alkej-602	30	9	by	by	ADP
alkej-602	30	10	fundamental	fundamental	ADJ
alkej-602	30	11	driving	driving	NOUN
alkej-602	30	12	test	test	NOUN
alkej-602	30	13	.	.	PUNCT
alkej-602	31	1	jessica	jessica	PROPN
alkej-602	31	2	lauren	lauren	PROPN
alkej-602	31	3	banks	banks	PROPN
alkej-602	31	4	[	[	X
alkej-602	31	5	2	2	NUM
alkej-602	31	6	]	]	PUNCT
alkej-602	31	7	investigated	investigate	VERB
alkej-602	31	8	the	the	DET
alkej-602	31	9	problem	problem	NOUN
alkej-602	31	10	of	of	ADP
alkej-602	31	11	a	a	DET
alkej-602	31	12	tactile	tactile	ADJ
alkej-602	31	13	sensing	sense	VERB
alkej-602	31	14	platform	platform	NOUN
alkej-602	31	15	for	for	ADP
alkej-602	31	16	anthropomorphic	anthropomorphic	ADJ
alkej-602	31	17	manipulation	manipulation	NOUN
alkej-602	31	18	through	through	ADP
alkej-602	31	19	the	the	DET
alkej-602	31	20	fabrication	fabrication	NOUN
alkej-602	31	21	and	and	CCONJ
alkej-602	31	22	simple	simple	ADJ
alkej-602	31	23	control	control	NOUN
alkej-602	31	24	of	of	ADP
alkej-602	31	25	a	a	DET
alkej-602	31	26	planar	planar	ADJ
alkej-602	31	27	2	2	NUM
alkej-602	31	28	-	-	PUNCT
alkej-602	31	29	dof	dof	ADJ
alkej-602	31	30	robotic	robotic	ADJ
alkej-602	31	31	finger	finger	NOUN
alkej-602	31	32	inspired	inspire	VERB
alkej-602	31	33	by	by	ADP
alkej-602	31	34	anatomic	anatomic	ADJ
alkej-602	31	35	consistency	consistency	NOUN
alkej-602	31	36	,	,	PUNCT
alkej-602	31	37	self	self	NOUN
alkej-602	31	38	-	-	PUNCT
alkej-602	31	39	containment	containment	NOUN
alkej-602	31	40	,	,	PUNCT
alkej-602	31	41	and	and	CCONJ
alkej-602	31	42	adaptability	adaptability	NOUN
alkej-602	31	43	.	.	PUNCT
alkej-602	32	1	the	the	DET
alkej-602	32	2	robot	robot	NOUN
alkej-602	32	3	was	be	AUX
alkej-602	32	4	equipped	equip	VERB
alkej-602	32	5	with	with	ADP
alkej-602	32	6	a	a	DET
alkej-602	32	7	tactile	tactile	ADJ
alkej-602	32	8	sensor	sensor	NOUN
alkej-602	32	9	array	array	NOUN
alkej-602	32	10	based	base	VERB
alkej-602	32	11	on	on	ADP
alkej-602	32	12	optical	optical	ADJ
alkej-602	32	13	transducer	transducer	NOUN
alkej-602	32	14	technology	technology	NOUN
alkej-602	32	15	whereby	whereby	SCONJ
alkej-602	32	16	localized	localized	ADJ
alkej-602	32	17	changes	change	NOUN
alkej-602	32	18	in	in	ADP
alkej-602	32	19	light	light	ADJ
alkej-602	32	20	intensity	intensity	NOUN
alkej-602	32	21	within	within	ADP
alkej-602	32	22	an	an	DET
alkej-602	32	23	illuminated	illuminated	ADJ
alkej-602	32	24	foam	foam	NOUN
alkej-602	32	25	substrate	substrate	NOUN
alkej-602	32	26	corresponds	correspond	VERB
alkej-602	32	27	to	to	ADP
alkej-602	32	28	the	the	DET
alkej-602	32	29	distribution	distribution	NOUN
alkej-602	32	30	and	and	CCONJ
alkej-602	32	31	magnitude	magnitude	NOUN
alkej-602	32	32	of	of	ADP
alkej-602	32	33	forces	force	NOUN
alkej-602	32	34	applied	apply	VERB
alkej-602	32	35	to	to	ADP
alkej-602	32	36	the	the	DET
alkej-602	32	37	sensor	sensor	NOUN
alkej-602	32	38	surface	surface	NOUN
alkej-602	32	39	plane	plane	NOUN
alkej-602	32	40	.	.	PUNCT
alkej-602	33	1	the	the	DET
alkej-602	33	2	integration	integration	NOUN
alkej-602	33	3	of	of	ADP
alkej-602	33	4	tactile	tactile	ADJ
alkej-602	33	5	perception	perception	NOUN
alkej-602	33	6	was	be	AUX
alkej-602	33	7	a	a	DET
alkej-602	33	8	key	key	ADJ
alkej-602	33	9	component	component	NOUN
alkej-602	33	10	in	in	ADP
alkej-602	33	11	realizing	realize	VERB
alkej-602	33	12	robotic	robotic	ADJ
alkej-602	33	13	systems	system	NOUN
alkej-602	33	14	which	which	PRON
alkej-602	33	15	organically	organically	ADV
alkej-602	33	16	interact	interact	VERB
alkej-602	33	17	with	with	ADP
alkej-602	33	18	the	the	DET
alkej-602	33	19	world	world	NOUN
alkej-602	33	20	.	.	PUNCT
alkej-602	34	1	such	such	ADJ
alkej-602	34	2	natural	natural	ADJ
alkej-602	34	3	behavior	behavior	NOUN
alkej-602	34	4	was	be	AUX
alkej-602	34	5	characterized	characterize	VERB
alkej-602	34	6	by	by	ADP
alkej-602	34	7	compliant	compliant	ADJ
alkej-602	34	8	performance	performance	NOUN
alkej-602	34	9	that	that	PRON
alkej-602	34	10	could	could	AUX
alkej-602	34	11	start	start	VERB
alkej-602	34	12	internal	internal	ADJ
alkej-602	34	13	,	,	PUNCT
alkej-602	34	14	and	and	CCONJ
alkej-602	34	15	respond	respond	VERB
alkej-602	34	16	to	to	ADP
alkej-602	34	17	external	external	ADJ
alkej-602	34	18	,	,	PUNCT
alkej-602	34	19	force	force	NOUN
alkej-602	34	20	application	application	NOUN
alkej-602	34	21	in	in	ADP
alkej-602	34	22	a	a	DET
alkej-602	34	23	dynamic	dynamic	ADJ
alkej-602	34	24	environment	environment	NOUN
alkej-602	34	25	.	.	PUNCT
alkej-602	35	1	however	however	ADV
alkej-602	35	2	,	,	PUNCT
alkej-602	35	3	most	most	ADJ
alkej-602	35	4	of	of	ADP
alkej-602	35	5	the	the	DET
alkej-602	35	6	current	current	ADJ
alkej-602	35	7	manipulators	manipulator	NOUN
alkej-602	35	8	that	that	PRON
alkej-602	35	9	support	support	VERB
alkej-602	35	10	some	some	DET
alkej-602	35	11	form	form	NOUN
alkej-602	35	12	of	of	ADP
alkej-602	35	13	hap	hap	ADJ
alkej-602	35	14	tic	tic	ADJ
alkej-602	35	15	feedback	feedback	NOUN
alkej-602	35	16	either	either	CCONJ
alkej-602	35	17	solely	solely	ADV
alkej-602	35	18	derive	derive	ADJ
alkej-602	35	19	proprioceptive	proprioceptive	ADJ
alkej-602	35	20	sensation	sensation	NOUN
alkej-602	35	21	or	or	CCONJ
alkej-602	35	22	only	only	ADV
alkej-602	35	23	limit	limit	VERB
alkej-602	35	24	tactile	tactile	ADJ
alkej-602	35	25	sensors	sensor	NOUN
alkej-602	35	26	to	to	ADP
alkej-602	35	27	the	the	DET
alkej-602	35	28	mechanical	mechanical	ADJ
alkej-602	35	29	fingertips	fingertip	NOUN
alkej-602	35	30	.	.	PUNCT
alkej-602	36	1	peter	peter	PROPN
alkej-602	36	2	scarfe	scarfe	PROPN
alkej-602	36	3	and	and	CCONJ
alkej-602	36	4	euan	euan	PROPN
alkej-602	36	5	lindsay	lindsay	PROPN
alkej-602	37	1	[	[	X
alkej-602	37	2	3	3	X
alkej-602	37	3	]	]	PUNCT
alkej-602	37	4	presented	present	VERB
alkej-602	37	5	the	the	DET
alkej-602	37	6	design	design	NOUN
alkej-602	37	7	and	and	CCONJ
alkej-602	37	8	implementation	implementation	NOUN
alkej-602	37	9	of	of	ADP
alkej-602	37	10	a	a	DET
alkej-602	37	11	low	low	ADJ
alkej-602	37	12	-	-	PUNCT
alkej-602	37	13	cost	cost	NOUN
alkej-602	37	14	air	air	NOUN
alkej-602	37	15	muscle	muscle	NOUN
alkej-602	37	16	actuated	actuate	VERB
alkej-602	37	17	humanoid	humanoid	NOUN
alkej-602	37	18	hand	hand	NOUN
alkej-602	37	19	as	as	SCONJ
alkej-602	37	20	shown	show	VERB
alkej-602	37	21	in	in	ADP
alkej-602	37	22	figure	figure	NOUN
alkej-602	37	23	[	[	X
alkej-602	37	24	1	1	NUM
alkej-602	37	25	]	]	PUNCT
alkej-602	37	26	.	.	PUNCT
alkej-602	38	1	it	it	PRON
alkej-602	38	2	is	be	AUX
alkej-602	38	3	developed	develop	VERB
alkej-602	38	4	at	at	ADP
alkej-602	38	5	curtin	curtin	PROPN
alkej-602	38	6	university	university	PROPN
alkej-602	38	7	of	of	ADP
alkej-602	38	8	technology	technology	NOUN
alkej-602	38	9	.	.	PUNCT
alkej-602	39	1	this	this	DET
alkej-602	39	2	hand	hand	NOUN
alkej-602	39	3	offers	offer	VERB
alkej-602	39	4	10	10	NUM
alkej-602	39	5	individually	individually	ADV
alkej-602	39	6	controllable	controllable	ADJ
alkej-602	39	7	degrees	degree	NOUN
alkej-602	39	8	of	of	ADP
alkej-602	39	9	freedom	freedom	NOUN
alkej-602	39	10	ranging	range	VERB
alkej-602	39	11	from	from	ADP
alkej-602	39	12	the	the	DET
alkej-602	39	13	elbow	elbow	NOUN
alkej-602	39	14	to	to	ADP
alkej-602	39	15	the	the	DET
alkej-602	39	16	fingers	finger	NOUN
alkej-602	39	17	,	,	PUNCT
alkej-602	39	18	with	with	ADP
alkej-602	39	19	overall	overall	ADJ
alkej-602	39	20	control	control	NOUN
alkej-602	39	21	handled	handle	VERB
alkej-602	39	22	through	through	ADP
alkej-602	39	23	a	a	DET
alkej-602	39	24	computer	computer	NOUN
alkej-602	39	25	gui	gui	NOUN
alkej-602	39	26	.	.	PUNCT
alkej-602	40	1	the	the	DET
alkej-602	40	2	hand	hand	NOUN
alkej-602	40	3	was	be	AUX
alkej-602	40	4	actuated	actuate	VERB
alkej-602	40	5	through	through	ADP
alkej-602	40	6	20	20	NUM
alkej-602	40	7	mckibben	mckibben	NOUN
alkej-602	40	8	-	-	PUNCT
alkej-602	40	9	style	style	NOUN
alkej-602	40	10	air	air	NOUN
alkej-602	40	11	muscles	muscle	NOUN
alkej-602	40	12	,	,	PUNCT
alkej-602	40	13	each	each	PRON
alkej-602	40	14	supplied	supply	VERB
alkej-602	40	15	by	by	ADP
alkej-602	40	16	a	a	DET
alkej-602	40	17	pneumatic	pneumatic	ADJ
alkej-602	40	18	pressure	pressure	NOUN
alkej-602	40	19	-	-	PUNCT
alkej-602	40	20	balancing	balance	VERB
alkej-602	40	21	valve	valve	NOUN
alkej-602	40	22	that	that	PRON
alkej-602	40	23	allows	allow	VERB
alkej-602	40	24	for	for	SCONJ
alkej-602	40	25	proportional	proportional	ADJ
alkej-602	40	26	control	control	NOUN
alkej-602	40	27	to	to	PART
alkej-602	40	28	be	be	AUX
alkej-602	40	29	achieved	achieve	VERB
alkej-602	40	30	with	with	ADP
alkej-602	40	31	simple	simple	ADJ
alkej-602	40	32	and	and	CCONJ
alkej-602	40	33	inexpensive	inexpensive	ADJ
alkej-602	40	34	components	component	NOUN
alkej-602	40	35	.	.	PUNCT
alkej-602	41	1	the	the	DET
alkej-602	41	2	hand	hand	NOUN
alkej-602	41	3	was	be	AUX
alkej-602	41	4	successfully	successfully	ADV
alkej-602	41	5	able	able	ADJ
alkej-602	41	6	to	to	PART
alkej-602	41	7	perform	perform	VERB
alkej-602	41	8	several	several	ADJ
alkej-602	41	9	humanequivalent	humanequivalent	NOUN
alkej-602	41	10	tasks	task	NOUN
alkej-602	41	11	,	,	PUNCT
alkej-602	41	12	such	such	ADJ
alkej-602	41	13	as	as	ADP
alkej-602	41	14	grasping	grasp	VERB
alkej-602	41	15	and	and	CCONJ
alkej-602	41	16	relocating	relocate	VERB
alkej-602	41	17	objects	object	NOUN
alkej-602	41	18	.	.	PUNCT
alkej-602	42	1	fig	fig	NOUN
alkej-602	42	2	.	.	PUNCT
alkej-602	43	1	1	1	X
alkej-602	43	2	.	.	X
alkej-602	43	3	the	the	DET
alkej-602	43	4	physical	physical	ADJ
alkej-602	43	5	hand	hand	NOUN
alkej-602	43	6	and	and	CCONJ
alkej-602	43	7	arm	arm	NOUN
alkej-602	43	8	comprises	comprise	VERB
alkej-602	43	9	4	4	NUM
alkej-602	43	10	fingers	finger	NOUN
alkej-602	43	11	.	.	PUNCT
alkej-602	44	1	touch	touch	NOUN
alkej-602	44	2	bionics	bionic	NOUN
alkej-602	44	3	[	[	X
alkej-602	44	4	4	4	X
alkej-602	44	5	]	]	PUNCT
alkej-602	44	6	developed	develop	VERB
alkej-602	44	7	the	the	DET
alkej-602	44	8	i	i	PROPN
alkej-602	44	9	-	-	PUNCT
alkej-602	44	10	limb	limb	NOUN
alkej-602	44	11	hand	hand	NOUN
alkej-602	44	12	as	as	SCONJ
alkej-602	44	13	shown	show	VERB
alkej-602	44	14	in	in	ADP
alkej-602	44	15	figure[2	figure[2	PROPN
alkej-602	44	16	]	]	PUNCT
alkej-602	44	17	;	;	PUNCT
alkej-602	44	18	it	it	PRON
alkej-602	44	19	was	be	AUX
alkej-602	44	20	a	a	DET
alkej-602	44	21	prosthetic	prosthetic	ADJ
alkej-602	44	22	upper	upper	ADJ
alkej-602	44	23	limb	limb	NOUN
alkej-602	44	24	device	device	NOUN
alkej-602	44	25	with	with	ADP
alkej-602	44	26	five	five	NUM
alkej-602	44	27	individually	individually	ADV
alkej-602	44	28	powered	power	VERB
alkej-602	44	29	digits	digit	NOUN
alkej-602	44	30	.	.	PUNCT
alkej-602	45	1	this	this	DET
alkej-602	45	2	replacement	replacement	NOUN
alkej-602	45	3	hand	hand	NOUN
alkej-602	45	4	looks	look	VERB
alkej-602	45	5	and	and	CCONJ
alkej-602	45	6	acts	act	VERB
alkej-602	45	7	like	like	ADP
alkej-602	45	8	a	a	DET
alkej-602	45	9	real	real	ADJ
alkej-602	45	10	human	human	ADJ
alkej-602	45	11	hand	hand	NOUN
alkej-602	45	12	and	and	CCONJ
alkej-602	45	13	represents	represent	VERB
alkej-602	45	14	a	a	DET
alkej-602	45	15	generational	generational	ADJ
alkej-602	45	16	advance	advance	NOUN
alkej-602	45	17	in	in	ADP
alkej-602	45	18	both	both	DET
alkej-602	45	19	bionics	bionic	NOUN
alkej-602	45	20	and	and	CCONJ
alkej-602	45	21	patient	patient	ADJ
alkej-602	45	22	care	care	NOUN
alkej-602	45	23	.	.	PUNCT
alkej-602	46	1	the	the	DET
alkej-602	46	2	touch	touch	NOUN
alkej-602	46	3	bionics	bionic	NOUN
alkej-602	46	4	i	i	NOUN
alkej-602	46	5	-	-	PUNCT
alkej-602	46	6	limb	limb	NOUN
alkej-602	46	7	hand	hand	NOUN
alkej-602	46	8	was	be	AUX
alkej-602	46	9	developed	develop	VERB
alkej-602	46	10	using	use	VERB
alkej-602	46	11	leading	leading	ADJ
alkej-602	46	12	-	-	PUNCT
alkej-602	46	13	edge	edge	NOUN
alkej-602	46	14	mechanical	mechanical	ADJ
alkej-602	46	15	engineering	engineering	NOUN
alkej-602	46	16	techniques	technique	NOUN
alkej-602	46	17	and	and	CCONJ
alkej-602	46	18	is	be	AUX
alkej-602	46	19	manufactured	manufacture	VERB
alkej-602	46	20	using	use	VERB
alkej-602	46	21	high	high	ADJ
alkej-602	46	22	-	-	PUNCT
alkej-602	46	23	strength	strength	NOUN
alkej-602	46	24	plastics	plastic	NOUN
alkej-602	46	25	.	.	PUNCT
alkej-602	47	1	the	the	DET
alkej-602	47	2	result	result	NOUN
alkej-602	47	3	was	be	AUX
alkej-602	47	4	a	a	DET
alkej-602	47	5	nextgeneration	nextgeneration	NOUN
alkej-602	47	6	prosthetic	prosthetic	ADJ
alkej-602	47	7	device	device	NOUN
alkej-602	47	8	that	that	PRON
alkej-602	47	9	is	be	AUX
alkej-602	47	10	lightweight	lightweight	ADJ
alkej-602	47	11	,	,	PUNCT
alkej-602	47	12	robust	robust	ADJ
alkej-602	47	13	and	and	CCONJ
alkej-602	47	14	highly	highly	ADV
alkej-602	47	15	appealing	appealing	ADJ
alkej-602	47	16	to	to	ADP
alkej-602	47	17	both	both	DET
alkej-602	47	18	patients	patient	NOUN
alkej-602	47	19	and	and	CCONJ
alkej-602	47	20	healthcare	healthcare	PROPN
alkej-602	47	21	professionals	professional	NOUN
alkej-602	47	22	.	.	PUNCT
alkej-602	48	1	fig	fig	NOUN
alkej-602	48	2	.	.	PUNCT
alkej-602	49	1	2	2	X
alkej-602	49	2	.	.	X
alkej-602	49	3	i	i	NOUN
alkej-602	49	4	-	-	PUNCT
alkej-602	49	5	limb	limb	NOUN
alkej-602	49	6	hand	hand	NOUN
alkej-602	49	7	lillian	lillian	PROPN
alkej-602	49	8	y.	y.	PROPN
alkej-602	49	9	chang	chang	PROPN
alkej-602	49	10	and	and	CCONJ
alkej-602	49	11	yoky	yoky	PROPN
alkej-602	49	12	matsuoka	matsuoka	VERB
alkej-602	49	13	[	[	X
alkej-602	49	14	5	5	NUM
alkej-602	49	15	]	]	PUNCT
alkej-602	49	16	,	,	PUNCT
alkej-602	49	17	presented	present	VERB
alkej-602	49	18	act	act	VERB
alkej-602	49	19	thumb	thumb	NOUN
alkej-602	49	20	kinematics	kinematic	NOUN
alkej-602	49	21	model	model	NOUN
alkej-602	49	22	that	that	PRON
alkej-602	49	23	unifies	unify	VERB
alkej-602	49	24	several	several	ADJ
alkej-602	49	25	studies	study	NOUN
alkej-602	49	26	from	from	ADP
alkej-602	49	27	biomechanical	biomechanical	ADJ
alkej-602	49	28	literature	literature	NOUN
alkej-602	49	29	.	.	PUNCT
alkej-602	50	1	they	they	PRON
alkej-602	50	2	also	also	ADV
alkej-602	50	3	validated	validate	VERB
alkej-602	50	4	the	the	DET
alkej-602	50	5	functional	functional	ADJ
alkej-602	50	6	consistency	consistency	NOUN
alkej-602	50	7	(	(	PUNCT
alkej-602	50	8	i.e.	i.e.	X
alkej-602	50	9	the	the	DET
alkej-602	50	10	nonlinear	nonlinear	ADJ
alkej-602	50	11	moment	moment	NOUN
alkej-602	50	12	arm	arm	NOUN
alkej-602	50	13	values	value	NOUN
alkej-602	50	14	)	)	PUNCT
alkej-602	50	15	between	between	ADP
alkej-602	50	16	the	the	DET
alkej-602	50	17	cadaveric	cadaveric	ADJ
alkej-602	50	18	data	datum	NOUN
alkej-602	50	19	and	and	CCONJ
alkej-602	50	20	the	the	DET
alkej-602	50	21	act	act	NOUN
alkej-602	50	22	thumb	thumb	NOUN
alkej-602	50	23	.	.	PUNCT
alkej-602	51	1	this	this	DET
alkej-602	51	2	functional	functional	ADJ
alkej-602	51	3	consistency	consistency	NOUN
alkej-602	51	4	preserves	preserve	VERB
alkej-602	51	5	the	the	DET
alkej-602	51	6	geometric	geometric	ADJ
alkej-602	51	7	relationship	relationship	NOUN
alkej-602	51	8	between	between	ADP
alkej-602	51	9	muscle	muscle	NOUN
alkej-602	51	10	length	length	NOUN
alkej-602	51	11	and	and	CCONJ
alkej-602	51	12	joint	joint	ADJ
alkej-602	51	13	angles	angle	NOUN
alkej-602	51	14	,	,	PUNCT
alkej-602	51	15	which	which	PRON
alkej-602	51	16	allows	allow	VERB
alkej-602	51	17	robotic	robotic	ADJ
alkej-602	51	18	actuators	actuator	NOUN
alkej-602	51	19	to	to	PART
alkej-602	51	20	imitate	imitate	VERB
alkej-602	51	21	human	human	ADJ
alkej-602	51	22	muscle	muscle	NOUN
alkej-602	51	23	functionality	functionality	NOUN
alkej-602	51	24	.	.	PUNCT
alkej-602	52	1	tetsuya	tetsuya	PROPN
alkej-602	52	2	mouri	mouri	PROPN
alkej-602	52	3	,	,	PUNCT
alkej-602	52	4	etal	etal	VERB
alkej-602	52	5	[	[	X
alkej-602	52	6	6	6	NUM
alkej-602	52	7	]	]	PUNCT
alkej-602	52	8	,	,	PUNCT
alkej-602	52	9	presented	present	VERB
alkej-602	52	10	a	a	DET
alkej-602	52	11	newly	newly	ADV
alkej-602	52	12	developed	develop	VERB
alkej-602	52	13	anthropomorphic	anthropomorphic	ADJ
alkej-602	52	14	robot	robot	NOUN
alkej-602	52	15	hand	hand	NOUN
alkej-602	52	16	called	call	VERB
alkej-602	52	17	kh	kh	PROPN
alkej-602	52	18	hand	hand	NOUN
alkej-602	52	19	type	type	NOUN
alkej-602	52	20	s	s	PROPN
alkej-602	52	21	,	,	PUNCT
alkej-602	52	22	which	which	PRON
alkej-602	52	23	has	have	VERB
alkej-602	52	24	a	a	DET
alkej-602	52	25	high	high	ADJ
alkej-602	52	26	potential	potential	NOUN
alkej-602	52	27	of	of	ADP
alkej-602	52	28	dexterous	dexterous	ADJ
alkej-602	52	29	manipulation	manipulation	NOUN
alkej-602	52	30	and	and	CCONJ
alkej-602	52	31	displaying	display	VERB
alkej-602	52	32	hand	hand	NOUN
alkej-602	52	33	shape	shape	NOUN
alkej-602	52	34	,	,	PUNCT
alkej-602	52	35	and	and	CCONJ
alkej-602	52	36	its	its	PRON
alkej-602	52	37	master	master	NOUN
alkej-602	52	38	slave	slave	NOUN
alkej-602	52	39	system	system	NOUN
alkej-602	52	40	using	use	VERB
alkej-602	52	41	the	the	DET
alkej-602	52	42	bilateral	bilateral	ADJ
alkej-602	52	43	controller	controller	NOUN
alkej-602	52	44	for	for	ADP
alkej-602	52	45	five	five	NUM
alkej-602	52	46	-	-	PUNCT
alkej-602	52	47	fingers	finger	NOUN
alkej-602	52	48	robot	robot	NOUN
alkej-602	52	49	hand	hand	NOUN
alkej-602	52	50	.	.	PUNCT
alkej-602	53	1	the	the	DET
alkej-602	53	2	robot	robot	NOUN
alkej-602	53	3	hand	hand	NOUN
alkej-602	53	4	was	be	AUX
alkej-602	53	5	improved	improve	VERB
alkej-602	53	6	by	by	ADP
alkej-602	53	7	reducing	reduce	VERB
alkej-602	53	8	the	the	DET
alkej-602	53	9	weight	weight	NOUN
alkej-602	53	10	,	,	PUNCT
alkej-602	53	11	the	the	DET
alkej-602	53	12	backlash	backlash	NOUN
alkej-602	53	13	of	of	ADP
alkej-602	53	14	transmission	transmission	NOUN
alkej-602	53	15	,	,	PUNCT
alkej-602	53	16	and	and	CCONJ
alkej-602	53	17	the	the	DET
alkej-602	53	18	friction	friction	NOUN
alkej-602	53	19	between	between	ADP
alkej-602	53	20	gears	gear	NOUN
alkej-602	53	21	by	by	ADP
alkej-602	53	22	using	use	VERB
alkej-602	53	23	elastic	elastic	ADJ
alkej-602	53	24	body	body	NOUN
alkej-602	53	25	.	.	PUNCT
alkej-602	54	1	a.	a.	PROPN
alkej-602	54	2	h.	h.	PROPN
alkej-602	54	3	arieta1	arieta1	PROPN
alkej-602	54	4	,	,	PUNCT
alkej-602	54	5	et	et	PROPN
alkej-602	54	6	al	al	PROPN
alkej-602	54	7	.	.	PROPN
alkej-602	54	8	,	,	PUNCT
alkej-602	55	1	[	[	X
alkej-602	55	2	7	7	NUM
alkej-602	55	3	]	]	PUNCT
alkej-602	55	4	,	,	PUNCT
alkej-602	55	5	described	describe	VERB
alkej-602	55	6	an	an	DET
alkej-602	55	7	electrically	electrically	ADV
alkej-602	55	8	powered	power	VERB
alkej-602	55	9	prosthetic	prosthetic	ADJ
alkej-602	55	10	system	system	NOUN
alkej-602	55	11	controlled	control	VERB
alkej-602	55	12	by	by	ADP
alkej-602	55	13	electromyography	electromyography	NOUN
alkej-602	55	14	(	(	PUNCT
alkej-602	55	15	emg	emg	NOUN
alkej-602	55	16	)	)	PUNCT
alkej-602	55	17	signal	signal	NOUN
alkej-602	55	18	detected	detect	VERB
alkej-602	55	19	from	from	ADP
alkej-602	55	20	the	the	DET
alkej-602	55	21	skin	skin	NOUN
alkej-602	55	22	surface	surface	NOUN
alkej-602	55	23	of	of	ADP
alkej-602	55	24	the	the	DET
alkej-602	55	25	human	human	ADJ
alkej-602	55	26	body	body	NOUN
alkej-602	55	27	.	.	PUNCT
alkej-602	56	1	the	the	DET
alkej-602	56	2	research	research	NOUN
alkej-602	56	3	of	of	ADP
alkej-602	56	4	electrically	electrically	ADV
alkej-602	56	5	powered	power	VERB
alkej-602	56	6	prosthetic	prosthetic	ADJ
alkej-602	56	7	systems	system	NOUN
alkej-602	56	8	is	be	AUX
alkej-602	56	9	divided	divide	VERB
alkej-602	56	10	into	into	ADP
alkej-602	56	11	two	two	NUM
alkej-602	56	12	main	main	ADJ
alkej-602	56	13	subjects	subject	NOUN
alkej-602	56	14	.	.	PUNCT
alkej-602	57	1	one	one	NUM
alkej-602	57	2	is	be	AUX
alkej-602	57	3	the	the	DET
alkej-602	57	4	design	design	NOUN
alkej-602	57	5	of	of	ADP
alkej-602	57	6	the	the	DET
alkej-602	57	7	joint	joint	ADJ
alkej-602	57	8	mechanism	mechanism	NOUN
alkej-602	57	9	.	.	PUNCT
alkej-602	58	1	this	this	DET
alkej-602	58	2	mechanism	mechanism	NOUN
alkej-602	58	3	includes	include	VERB
alkej-602	58	4	mechanical	mechanical	ADJ
alkej-602	58	5	torque	torque	NOUN
alkej-602	58	6	-	-	PUNCT
alkej-602	58	7	velocity	velocity	NOUN
alkej-602	58	8	converters	converter	NOUN
alkej-602	58	9	and	and	CCONJ
alkej-602	58	10	a	a	DET
alkej-602	58	11	mechanism	mechanism	NOUN
alkej-602	58	12	to	to	PART
alkej-602	58	13	help	help	VERB
alkej-602	58	14	the	the	DET
alkej-602	58	15	proximal	proximal	ADJ
alkej-602	58	16	joint	joint	ADJ
alkej-602	58	17	torque	torque	NOUN
alkej-602	58	18	by	by	ADP
alkej-602	58	19	distal	distal	ADJ
alkej-602	58	20	actuators	actuator	NOUN
alkej-602	58	21	.	.	PUNCT
alkej-602	59	1	the	the	DET
alkej-602	59	2	other	other	ADJ
alkej-602	59	3	subject	subject	NOUN
alkej-602	59	4	is	be	AUX
alkej-602	59	5	the	the	DET
alkej-602	59	6	recognition	recognition	NOUN
alkej-602	59	7	of	of	ADP
alkej-602	59	8	the	the	DET
alkej-602	59	9	emg	emg	NOUN
alkej-602	59	10	signal	signal	NOUN
alkej-602	59	11	.	.	PUNCT
alkej-602	60	1	for	for	ADP
alkej-602	60	2	the	the	DET
alkej-602	60	3	discrimination	discrimination	NOUN
alkej-602	60	4	of	of	ADP
alkej-602	60	5	many	many	ADJ
alkej-602	60	6	patterns	pattern	NOUN
alkej-602	60	7	and	and	CCONJ
alkej-602	60	8	nonlinear	nonlinear	ADJ
alkej-602	60	9	a.	a.	NOUN
alkej-602	60	10	salam	salam	PROPN
alkej-602	60	11	al	al	PROPN
alkej-602	60	12	-	-	PROPN
alkej-602	60	13	ammri	ammri	PROPN
alkej-602	60	14	al	al	PROPN
alkej-602	60	15	-	-	PUNCT
alkej-602	60	16	khwarizmi	khwarizmi	PROPN
alkej-602	60	17	engineering	engineering	NOUN
alkej-602	60	18	journal	journal	PROPN
alkej-602	60	19	,	,	PUNCT
alkej-602	60	20	vol	vol	NOUN
alkej-602	60	21	.	.	PROPN
alkej-602	60	22	4	4	NUM
alkej-602	60	23	,	,	PUNCT
alkej-602	60	24	no	no	INTJ
alkej-602	60	25	.	.	NOUN
alkej-602	60	26	3	3	NUM
alkej-602	60	27	,	,	PUNCT
alkej-602	60	28	pp	pp	ADV
alkej-602	60	29	128	128	NUM
alkej-602	60	30	-	-	SYM
alkej-602	60	31	137	137	NUM
alkej-602	60	32	(	(	PUNCT
alkej-602	60	33	2008	2008	NUM
alkej-602	60	34	)	)	PUNCT
alkej-602	60	35	130	130	NUM
alkej-602	60	36	properties	property	NOUN
alkej-602	60	37	of	of	ADP
alkej-602	60	38	the	the	DET
alkej-602	60	39	emg	emg	NOUN
alkej-602	60	40	signal	signal	NOUN
alkej-602	60	41	,	,	PUNCT
alkej-602	60	42	they	they	PRON
alkej-602	60	43	propose	propose	VERB
alkej-602	60	44	a	a	DET
alkej-602	60	45	controller	controller	NOUN
alkej-602	60	46	based	base	VERB
alkej-602	60	47	on	on	ADP
alkej-602	60	48	a	a	DET
alkej-602	60	49	simple	simple	ADJ
alkej-602	60	50	pattern	pattern	NOUN
alkej-602	60	51	recognition	recognition	NOUN
alkej-602	60	52	information	information	NOUN
alkej-602	60	53	process	process	NOUN
alkej-602	60	54	.	.	PUNCT
alkej-602	61	1	the	the	DET
alkej-602	61	2	system	system	NOUN
alkej-602	61	3	also	also	ADV
alkej-602	61	4	drives	drive	VERB
alkej-602	61	5	12	12	NUM
alkej-602	61	6	servomotors	servomotor	NOUN
alkej-602	61	7	to	to	PART
alkej-602	61	8	move	move	VERB
alkej-602	61	9	the	the	DET
alkej-602	61	10	adaptive	adaptive	ADJ
alkej-602	61	11	joint	joint	ADJ
alkej-602	61	12	mechanism	mechanism	NOUN
alkej-602	61	13	.	.	PUNCT
alkej-602	62	1	kenji	kenji	PROPN
alkej-602	62	2	kaneko	kaneko	PROPN
alkej-602	62	3	,	,	PUNCT
alkej-602	62	4	et	et	PROPN
alkej-602	62	5	al	al	PROPN
alkej-602	62	6	.	.	PUNCT
alkej-602	63	1	[	[	X
alkej-602	63	2	8	8	NUM
alkej-602	63	3	]	]	PUNCT
alkej-602	63	4	,	,	PUNCT
alkej-602	63	5	presented	present	VERB
alkej-602	63	6	a	a	DET
alkej-602	63	7	development	development	NOUN
alkej-602	63	8	of	of	ADP
alkej-602	63	9	multi	multi	ADJ
alkej-602	63	10	-	-	ADJ
alkej-602	63	11	fingered	fingered	ADJ
alkej-602	63	12	hand	hand	NOUN
alkej-602	63	13	,	,	PUNCT
alkej-602	63	14	which	which	PRON
alkej-602	63	15	is	be	AUX
alkej-602	63	16	modularized	modularize	VERB
alkej-602	63	17	and	and	CCONJ
alkej-602	63	18	can	can	AUX
alkej-602	63	19	be	be	AUX
alkej-602	63	20	attached	attach	VERB
alkej-602	63	21	to	to	ADP
alkej-602	63	22	life	life	NOUN
alkej-602	63	23	-	-	PUNCT
alkej-602	63	24	size	size	NOUN
alkej-602	63	25	humanoid	humanoid	NOUN
alkej-602	63	26	robots	robot	NOUN
alkej-602	63	27	.	.	PUNCT
alkej-602	64	1	the	the	DET
alkej-602	64	2	developed	develop	VERB
alkej-602	64	3	hand	hand	NOUN
alkej-602	64	4	has	have	VERB
alkej-602	64	5	a	a	DET
alkej-602	64	6	four	four	NUM
alkej-602	64	7	fingers	finger	NOUN
alkej-602	64	8	with	with	ADP
alkej-602	64	9	17	17	NUM
alkej-602	64	10	joints	joint	NOUN
alkej-602	64	11	,	,	PUNCT
alkej-602	64	12	which	which	PRON
alkej-602	64	13	consist	consist	VERB
alkej-602	64	14	of	of	ADP
alkej-602	64	15	13	13	NUM
alkej-602	64	16	active	active	ADJ
alkej-602	64	17	joints	joint	NOUN
alkej-602	64	18	and	and	CCONJ
alkej-602	64	19	4	4	NUM
alkej-602	64	20	linked	link	VERB
alkej-602	64	21	joints	joint	NOUN
alkej-602	64	22	.	.	PUNCT
alkej-602	65	1	a	a	DET
alkej-602	65	2	miniaturized	miniaturize	VERB
alkej-602	65	3	6	6	NUM
alkej-602	65	4	-	-	PUNCT
alkej-602	65	5	axes	axis	NOUN
alkej-602	65	6	force	force	NOUN
alkej-602	65	7	sensor	sensor	NOUN
alkej-602	65	8	is	be	AUX
alkej-602	65	9	newly	newly	ADV
alkej-602	65	10	developed	develop	VERB
alkej-602	65	11	and	and	CCONJ
alkej-602	65	12	is	be	AUX
alkej-602	65	13	mounted	mount	VERB
alkej-602	65	14	on	on	ADP
alkej-602	65	15	each	each	DET
alkej-602	65	16	fingertip	fingertip	NOUN
alkej-602	65	17	for	for	ADP
alkej-602	65	18	improving	improve	VERB
alkej-602	65	19	the	the	DET
alkej-602	65	20	manipulability	manipulability	NOUN
alkej-602	65	21	.	.	PUNCT
alkej-602	66	1	a	a	DET
alkej-602	66	2	main	main	ADJ
alkej-602	66	3	node	node	ADJ
alkej-602	66	4	controller	controller	NOUN
alkej-602	66	5	with	with	ADP
alkej-602	66	6	i	i	PROPN
alkej-602	66	7	/	/	SYM
alkej-602	66	8	o	o	PROPN
alkej-602	66	9	,	,	PUNCT
alkej-602	66	10	motor	motor	NOUN
alkej-602	66	11	drivers	driver	NOUN
alkej-602	66	12	,	,	PUNCT
alkej-602	66	13	and	and	CCONJ
alkej-602	66	14	amplifiers	amplifier	NOUN
alkej-602	66	15	for	for	ADP
alkej-602	66	16	6	6	NUM
alkej-602	66	17	-	-	PUNCT
alkej-602	66	18	axes	axis	NOUN
alkej-602	66	19	force	force	NOUN
alkej-602	66	20	sensors	sensor	NOUN
alkej-602	66	21	are	be	AUX
alkej-602	66	22	also	also	ADV
alkej-602	66	23	newly	newly	ADV
alkej-602	66	24	developed	develop	VERB
alkej-602	66	25	.	.	PUNCT
alkej-602	67	1	these	these	DET
alkej-602	67	2	components	component	NOUN
alkej-602	67	3	are	be	AUX
alkej-602	67	4	equipped	equip	VERB
alkej-602	67	5	in	in	ADP
alkej-602	67	6	the	the	DET
alkej-602	67	7	hand	hand	NOUN
alkej-602	67	8	for	for	ADP
alkej-602	67	9	modularization	modularization	NOUN
alkej-602	67	10	.	.	PUNCT
alkej-602	68	1	the	the	DET
alkej-602	68	2	developed	develop	VERB
alkej-602	68	3	hand	hand	NOUN
alkej-602	68	4	is	be	AUX
alkej-602	68	5	designed	design	VERB
alkej-602	68	6	so	so	ADV
alkej-602	68	7	about	about	AUX
alkej-602	68	8	realize	realize	VERB
alkej-602	68	9	about	about	ADV
alkej-602	68	10	8	8	NUM
alkej-602	68	11	[	[	SYM
alkej-602	68	12	n	n	CCONJ
alkej-602	68	13	]	]	X
alkej-602	68	14	forces	force	NOUN
alkej-602	68	15	on	on	ADP
alkej-602	68	16	the	the	DET
alkej-602	68	17	pad	pad	NOUN
alkej-602	68	18	point	point	NOUN
alkej-602	68	19	of	of	ADP
alkej-602	68	20	stretched	stretched	ADJ
alkej-602	68	21	finger	finger	NOUN
alkej-602	68	22	,	,	PUNCT
alkej-602	68	23	supposing	suppose	VERB
alkej-602	68	24	transmission	transmission	NOUN
alkej-602	68	25	efficiency	efficiency	NOUN
alkej-602	68	26	of	of	ADP
alkej-602	68	27	drive	drive	ADJ
alkej-602	68	28	system	system	NOUN
alkej-602	68	29	is	be	AUX
alkej-602	68	30	55	55	NUM
alkej-602	69	1	[	[	X
alkej-602	69	2	%	%	X
alkej-602	69	3	]	]	X
alkej-602	69	4	.	.	PUNCT
alkej-602	70	1	in	in	ADP
alkej-602	70	2	this	this	DET
alkej-602	70	3	study	study	NOUN
alkej-602	70	4	,	,	PUNCT
alkej-602	70	5	the	the	DET
alkej-602	70	6	mechanisms	mechanism	NOUN
alkej-602	70	7	of	of	ADP
alkej-602	70	8	hand	hand	NOUN
alkej-602	70	9	module	module	NOUN
alkej-602	70	10	,	,	PUNCT
alkej-602	70	11	its	its	PRON
alkej-602	70	12	specifications	specification	NOUN
alkej-602	70	13	,	,	PUNCT
alkej-602	70	14	and	and	CCONJ
alkej-602	70	15	electrical	electrical	ADJ
alkej-602	70	16	system	system	NOUN
alkej-602	70	17	is	be	AUX
alkej-602	70	18	also	also	ADV
alkej-602	70	19	introduced	introduce	VERB
alkej-602	70	20	.	.	PUNCT
alkej-602	71	1	2prostheses	2prostheses	NUM
alkej-602	71	2	for	for	ADP
alkej-602	71	3	partial	partial	ADJ
alkej-602	71	4	hands	hand	NOUN
alkej-602	71	5	the	the	DET
alkej-602	71	6	fundamental	fundamental	ADJ
alkej-602	71	7	difference	difference	NOUN
alkej-602	71	8	between	between	ADP
alkej-602	71	9	a	a	DET
alkej-602	71	10	reconstructed	reconstructed	ADJ
alkej-602	71	11	hand	hand	NOUN
alkej-602	71	12	and	and	CCONJ
alkej-602	71	13	any	any	DET
alkej-602	71	14	present	present	ADJ
alkej-602	71	15	-	-	PUNCT
alkej-602	71	16	day	day	NOUN
alkej-602	71	17	hand	hand	NOUN
alkej-602	71	18	prosthesis	prosthesis	NOUN
alkej-602	71	19	lies	lie	VERB
alkej-602	71	20	without	without	ADP
alkej-602	71	21	direct	direct	ADJ
alkej-602	71	22	sensation	sensation	NOUN
alkej-602	71	23	in	in	ADP
alkej-602	71	24	the	the	DET
alkej-602	71	25	latter	latter	ADJ
alkej-602	71	26	.	.	PUNCT
alkej-602	72	1	although	although	SCONJ
alkej-602	72	2	the	the	DET
alkej-602	72	3	wearer	wearer	NOUN
alkej-602	72	4	of	of	ADP
alkej-602	72	5	a	a	DET
alkej-602	72	6	modern	modern	ADJ
alkej-602	72	7	hook	hook	NOUN
alkej-602	72	8	or	or	CCONJ
alkej-602	72	9	artificial	artificial	ADJ
alkej-602	72	10	hand	hand	NOUN
alkej-602	72	11	may	may	AUX
alkej-602	72	12	receive	receive	VERB
alkej-602	72	13	indirect	indirect	ADJ
alkej-602	72	14	sensory	sensory	ADJ
alkej-602	72	15	impulses	impulse	NOUN
alkej-602	72	16	through	through	ADP
alkej-602	72	17	shoulder	shoulder	NOUN
alkej-602	72	18	harness	harness	NOUN
alkej-602	72	19	or	or	CCONJ
alkej-602	72	20	cine	cine	NOUN
alkej-602	72	21	plastics	plastic	NOUN
alkej-602	72	22	muscle	muscle	NOUN
alkej-602	72	23	pin	pin	NOUN
alkej-602	72	24	,	,	PUNCT
alkej-602	72	25	the	the	DET
alkej-602	72	26	conventional	conventional	ADJ
alkej-602	72	27	arrangement	arrangement	NOUN
alkej-602	72	28	constitutes	constitute	VERB
alkej-602	72	29	only	only	ADV
alkej-602	72	30	a	a	DET
alkej-602	72	31	crude	crude	ADJ
alkej-602	72	32	and	and	CCONJ
alkej-602	72	33	inefficient	inefficient	ADJ
alkej-602	72	34	signal	signal	NOUN
alkej-602	72	35	system	system	NOUN
alkej-602	72	36	which	which	PRON
alkej-602	72	37	must	must	AUX
alkej-602	72	38	be	be	AUX
alkej-602	72	39	supplemented	supplement	VERB
alkej-602	72	40	and	and	CCONJ
alkej-602	72	41	directed	direct	VERB
alkej-602	72	42	by	by	ADP
alkej-602	72	43	sight	sight	NOUN
alkej-602	72	44	.	.	PUNCT
alkej-602	73	1	a	a	DET
alkej-602	73	2	hand	hand	NOUN
alkej-602	73	3	prosthesis	prosthesis	NOUN
alkej-602	73	4	is	be	AUX
alkej-602	73	5	of	of	ADP
alkej-602	73	6	little	little	ADJ
alkej-602	73	7	use	use	NOUN
alkej-602	73	8	in	in	ADP
alkej-602	73	9	the	the	DET
alkej-602	73	10	dark	dark	NOUN
alkej-602	73	11	.	.	PUNCT
alkej-602	74	1	in	in	ADP
alkej-602	74	2	contrast	contrast	NOUN
alkej-602	74	3	,	,	PUNCT
alkej-602	74	4	there	there	PRON
alkej-602	74	5	is	be	VERB
alkej-602	74	6	the	the	DET
alkej-602	74	7	exquisite	exquisite	ADJ
alkej-602	74	8	appreciation	appreciation	NOUN
alkej-602	74	9	we	we	PRON
alkej-602	74	10	receive	receive	VERB
alkej-602	74	11	from	from	ADP
alkej-602	74	12	the	the	DET
alkej-602	74	13	normal	normal	ADJ
alkej-602	74	14	hand	hand	NOUN
alkej-602	74	15	by	by	ADP
alkej-602	74	16	feeling	feeling	NOUN
alkej-602	74	17	.	.	PUNCT
alkej-602	75	1	by	by	ADP
alkej-602	75	2	light	light	ADJ
alkej-602	75	3	touch	touch	NOUN
alkej-602	75	4	,	,	PUNCT
alkej-602	75	5	coarse	coarse	ADJ
alkej-602	75	6	touch	touch	NOUN
alkej-602	75	7	,	,	PUNCT
alkej-602	75	8	response	response	NOUN
alkej-602	75	9	to	to	PART
alkej-602	75	10	heat	heat	VERB
alkej-602	75	11	or	or	CCONJ
alkej-602	75	12	cold	cold	ADJ
alkej-602	75	13	and	and	CCONJ
alkej-602	75	14	compass	compass	ADJ
alkej-602	75	15	-	-	PUNCT
alkej-602	75	16	point	point	NOUN
alkej-602	75	17	discrimination	discrimination	NOUN
alkej-602	75	18	,	,	PUNCT
alkej-602	75	19	we	we	PRON
alkej-602	75	20	appreciate	appreciate	VERB
alkej-602	75	21	texture	texture	NOUN
alkej-602	75	22	,	,	PUNCT
alkej-602	75	23	and	and	CCONJ
alkej-602	75	24	by	by	ADP
alkej-602	75	25	muscle	muscle	NOUN
alkej-602	75	26	,	,	PUNCT
alkej-602	75	27	joint	joint	NOUN
alkej-602	75	28	,	,	PUNCT
alkej-602	75	29	and	and	CCONJ
alkej-602	75	30	tendon	tendon	NOUN
alkej-602	75	31	sense	sense	NOUN
alkej-602	75	32	we	we	PRON
alkej-602	75	33	appreciate	appreciate	VERB
alkej-602	75	34	size	size	NOUN
alkej-602	75	35	and	and	CCONJ
alkej-602	75	36	shape	shape	NOUN
alkej-602	75	37	.	.	PUNCT
alkej-602	76	1	by	by	ADP
alkej-602	76	2	combining	combine	VERB
alkej-602	76	3	these	these	DET
alkej-602	76	4	sense	sense	NOUN
alkej-602	76	5	impressions	impression	NOUN
alkej-602	76	6	in	in	ADP
alkej-602	76	7	our	our	PRON
alkej-602	76	8	cerebral	cerebral	ADJ
alkej-602	76	9	cortex	cortex	NOUN
alkej-602	76	10	in	in	ADP
alkej-602	76	11	the	the	DET
alkej-602	76	12	opposite	opposite	ADJ
alkej-602	76	13	parietal	parietal	ADJ
alkej-602	76	14	lobe	lobe	NOUN
alkej-602	76	15	,	,	PUNCT
alkej-602	76	16	we	we	PRON
alkej-602	76	17	can	can	AUX
alkej-602	76	18	identify	identify	VERB
alkej-602	76	19	from	from	ADP
alkej-602	76	20	memory	memory	NOUN
alkej-602	76	21	an	an	DET
alkej-602	76	22	object	object	NOUN
alkej-602	76	23	held	hold	VERB
alkej-602	76	24	in	in	ADP
alkej-602	76	25	the	the	DET
alkej-602	76	26	hand	hand	NOUN
alkej-602	76	27	.	.	PUNCT
alkej-602	77	1	this	this	PRON
alkej-602	77	2	is	be	AUX
alkej-602	77	3	stereo	stereo	NOUN
alkej-602	77	4	gnosis	gnosis	NOUN
alkej-602	77	5	,	,	PUNCT
alkej-602	77	6	a	a	DET
alkej-602	77	7	phenomena	phenomenon	NOUN
alkej-602	77	8	replaced	replace	VERB
alkej-602	77	9	by	by	ADP
alkej-602	77	10	no	no	DET
alkej-602	77	11	artificial	artificial	ADJ
alkej-602	77	12	hand	hand	NOUN
alkej-602	77	13	now	now	ADV
alkej-602	77	14	available	available	ADJ
alkej-602	77	15	.	.	PUNCT
alkej-602	78	1	figure[3	figure[3	X
alkej-602	78	2	]	]	PUNCT
alkej-602	78	3	gives	give	VERB
alkej-602	78	4	some	some	DET
alkej-602	78	5	prostheses	prosthesis	NOUN
alkej-602	78	6	for	for	ADP
alkej-602	78	7	the	the	DET
alkej-602	78	8	partial	partial	ADJ
alkej-602	78	9	hand	hand	NOUN
alkej-602	78	10	fig	fig	NOUN
alkej-602	78	11	.	.	PUNCT
alkej-602	79	1	3	3	X
alkej-602	79	2	.	.	X
alkej-602	79	3	the	the	DET
alkej-602	79	4	management	management	NOUN
alkej-602	79	5	of	of	ADP
alkej-602	79	6	the	the	DET
alkej-602	79	7	nonfunctional	nonfunctional	ADJ
alkej-602	79	8	hand	hand	NOUN
alkej-602	79	9	-	-	PUNCT
alkej-602	79	10	reconstruction	reconstruction	NOUN
alkej-602	79	11	vs.	vs.	ADP
alkej-602	79	12	prosthesis	prosthesis	NOUN
alkej-602	79	13	[	[	X
alkej-602	79	14	9	9	NUM
alkej-602	79	15	]	]	PUNCT
alkej-602	79	16	.	.	PUNCT
alkej-602	80	1	a.	a.	PROPN
alkej-602	80	2	salam	salam	PROPN
alkej-602	80	3	al	al	PROPN
alkej-602	80	4	-	-	PUNCT
alkej-602	80	5	ammri	ammri	PROPN
alkej-602	80	6	al	al	PROPN
alkej-602	80	7	-	-	PUNCT
alkej-602	80	8	khwarizmi	khwarizmi	PROPN
alkej-602	80	9	engineering	engineering	NOUN
alkej-602	80	10	journal	journal	PROPN
alkej-602	80	11	,	,	PUNCT
alkej-602	80	12	vol	vol	NOUN
alkej-602	80	13	.	.	PROPN
alkej-602	80	14	4	4	NUM
alkej-602	80	15	,	,	PUNCT
alkej-602	80	16	no	no	INTJ
alkej-602	80	17	.	.	NOUN
alkej-602	80	18	3	3	NUM
alkej-602	80	19	,	,	PUNCT
alkej-602	80	20	pp	pp	ADV
alkej-602	80	21	128	128	NUM
alkej-602	80	22	-	-	SYM
alkej-602	80	23	137	137	NUM
alkej-602	80	24	(	(	PUNCT
alkej-602	80	25	2008	2008	NUM
alkej-602	80	26	)	)	PUNCT
alkej-602	80	27	131	131	NUM
alkej-602	80	28	3experimental	3experimental	NUM
alkej-602	80	29	work	work	NOUN
alkej-602	80	30	:	:	PUNCT
alkej-602	80	31	the	the	DET
alkej-602	80	32	mechanism	mechanism	NOUN
alkej-602	80	33	could	could	AUX
alkej-602	80	34	be	be	AUX
alkej-602	80	35	divided	divide	VERB
alkej-602	80	36	into	into	ADP
alkej-602	80	37	two	two	NUM
alkej-602	80	38	parts	part	NOUN
alkej-602	80	39	,	,	PUNCT
alkej-602	80	40	the	the	DET
alkej-602	80	41	mechanical	mechanical	ADJ
alkej-602	80	42	and	and	CCONJ
alkej-602	80	43	the	the	DET
alkej-602	80	44	electrical	electrical	ADJ
alkej-602	80	45	part	part	NOUN
alkej-602	80	46	.	.	PUNCT
alkej-602	81	1	a.	a.	PROPN
alkej-602	81	2	mechanical	mechanical	ADJ
alkej-602	81	3	part	part	NOUN
alkej-602	81	4	:	:	PUNCT
alkej-602	81	5	the	the	DET
alkej-602	81	6	process	process	NOUN
alkej-602	81	7	of	of	ADP
alkej-602	81	8	constructing	construct	VERB
alkej-602	81	9	the	the	DET
alkej-602	81	10	hand	hand	NOUN
alkej-602	81	11	from	from	ADP
alkej-602	81	12	mechanical	mechanical	ADJ
alkej-602	81	13	view	view	NOUN
alkej-602	81	14	is	be	AUX
alkej-602	81	15	developed	develop	VERB
alkej-602	81	16	from	from	ADP
alkej-602	81	17	simple	simple	ADJ
alkej-602	81	18	one	one	NUM
alkej-602	81	19	to	to	ADP
alkej-602	81	20	respectively	respectively	ADV
alkej-602	81	21	complex	complex	ADJ
alkej-602	81	22	one	one	NUM
alkej-602	81	23	as	as	SCONJ
alkej-602	81	24	shown	show	VERB
alkej-602	81	25	in	in	ADP
alkej-602	81	26	figure	figure	NOUN
alkej-602	81	27	[	[	X
alkej-602	81	28	4	4	X
alkej-602	81	29	]	]	PUNCT
alkej-602	81	30	where	where	SCONJ
alkej-602	81	31	they	they	PRON
alkej-602	81	32	are	be	AUX
alkej-602	81	33	designed	design	VERB
alkej-602	81	34	experimentally	experimentally	ADV
alkej-602	81	35	depending	depend	VERB
alkej-602	81	36	on	on	ADP
alkej-602	81	37	the	the	DET
alkej-602	81	38	trail	trail	NOUN
alkej-602	81	39	and	and	CCONJ
alkej-602	81	40	error	error	NOUN
alkej-602	81	41	.	.	PUNCT
alkej-602	82	1	figure	figure	NOUN
alkej-602	83	1	[	[	PUNCT
alkej-602	83	2	4	4	NUM
alkej-602	83	3	-	-	SYM
alkej-602	83	4	a	a	NOUN
alkej-602	83	5	]	]	X
alkej-602	83	6	,	,	PUNCT
alkej-602	83	7	demonstrates	demonstrate	VERB
alkej-602	83	8	the	the	DET
alkej-602	83	9	first	first	ADJ
alkej-602	83	10	proposed	propose	VERB
alkej-602	83	11	simple	simple	ADJ
alkej-602	83	12	gripper	gripper	NOUN
alkej-602	83	13	,	,	PUNCT
alkej-602	83	14	which	which	PRON
alkej-602	83	15	consists	consist	VERB
alkej-602	83	16	from	from	ADP
alkej-602	83	17	two	two	NUM
alkej-602	83	18	fingers	finger	NOUN
alkej-602	83	19	,	,	PUNCT
alkej-602	83	20	each	each	PRON
alkej-602	83	21	with	with	ADP
alkej-602	83	22	two	two	NUM
alkej-602	83	23	phalanxes	phalanx	NOUN
alkej-602	83	24	.	.	PUNCT
alkej-602	84	1	the	the	DET
alkej-602	84	2	phalanxes	phalanx	NOUN
alkej-602	84	3	connected	connect	VERB
alkej-602	84	4	together	together	ADV
alkej-602	84	5	through	through	ADP
alkej-602	84	6	nails	nail	NOUN
alkej-602	84	7	.	.	PUNCT
alkej-602	85	1	each	each	DET
alkej-602	85	2	phalanx	phalanx	NOUN
alkej-602	85	3	made	make	VERB
alkej-602	85	4	of	of	ADP
alkej-602	85	5	simple	simple	ADJ
alkej-602	85	6	wood	wood	NOUN
alkej-602	85	7	.	.	PUNCT
alkej-602	86	1	the	the	DET
alkej-602	86	2	motion	motion	NOUN
alkej-602	86	3	of	of	ADP
alkej-602	86	4	each	each	DET
alkej-602	86	5	finger	finger	NOUN
alkej-602	86	6	is	be	AUX
alkej-602	86	7	accomplished	accomplish	VERB
alkej-602	86	8	by	by	ADP
alkej-602	86	9	one	one	NUM
alkej-602	86	10	muscle	muscle	NOUN
alkej-602	86	11	wire	wire	NOUN
alkej-602	86	12	(	(	PUNCT
alkej-602	86	13	actuator	actuator	NOUN
alkej-602	86	14	)	)	PUNCT
alkej-602	86	15	and	and	CCONJ
alkej-602	86	16	one	one	NUM
alkej-602	86	17	elastic	elastic	ADJ
alkej-602	86	18	spring	spring	NOUN
alkej-602	86	19	to	to	PART
alkej-602	86	20	return	return	VERB
alkej-602	86	21	the	the	DET
alkej-602	86	22	moved	move	VERB
alkej-602	86	23	phalanx	phalanx	NOUN
alkej-602	86	24	back	back	ADP
alkej-602	86	25	.	.	PUNCT
alkej-602	87	1	with	with	ADP
alkej-602	87	2	this	this	DET
alkej-602	87	3	configuration	configuration	NOUN
alkej-602	87	4	of	of	ADP
alkej-602	87	5	the	the	DET
alkej-602	87	6	gripper	gripper	NOUN
alkej-602	87	7	,	,	PUNCT
alkej-602	87	8	a	a	DET
alkej-602	87	9	problem	problem	NOUN
alkej-602	87	10	is	be	AUX
alkej-602	87	11	appeared	appear	VERB
alkej-602	87	12	,	,	PUNCT
alkej-602	87	13	that	that	PRON
alkej-602	87	14	is	be	AUX
alkej-602	87	15	since	since	SCONJ
alkej-602	87	16	each	each	DET
alkej-602	87	17	finger	finger	NOUN
alkej-602	87	18	has	have	VERB
alkej-602	87	19	the	the	DET
alkej-602	87	20	two	two	NUM
alkej-602	87	21	movable	movable	ADJ
alkej-602	87	22	phalanxes	phalanx	NOUN
alkej-602	87	23	,	,	PUNCT
alkej-602	87	24	and	and	CCONJ
alkej-602	87	25	the	the	DET
alkej-602	87	26	friction	friction	NOUN
alkej-602	87	27	between	between	ADP
alkej-602	87	28	phalanx	phalanx	NOUN
alkej-602	87	29	and	and	CCONJ
alkej-602	87	30	nail	nail	NOUN
alkej-602	87	31	are	be	AUX
alkej-602	87	32	respectively	respectively	ADV
alkej-602	87	33	high	high	ADJ
alkej-602	87	34	,	,	PUNCT
alkej-602	87	35	therefore	therefore	ADV
alkej-602	87	36	the	the	DET
alkej-602	87	37	motion	motion	NOUN
alkej-602	87	38	is	be	AUX
alkej-602	87	39	inaccurate	inaccurate	ADJ
alkej-602	87	40	and	and	CCONJ
alkej-602	87	41	inhomogeneous	inhomogeneous	ADJ
alkej-602	87	42	.	.	PUNCT
alkej-602	88	1	also	also	ADV
alkej-602	88	2	finger	finger	NOUN
alkej-602	88	3	is	be	AUX
alkej-602	88	4	endurable	endurable	ADJ
alkej-602	88	5	.	.	PUNCT
alkej-602	89	1	figure	figure	NOUN
alkej-602	90	1	[	[	PUNCT
alkej-602	90	2	4	4	NUM
alkej-602	90	3	-	-	SYM
alkej-602	90	4	b	b	NOUN
alkej-602	90	5	]	]	PUNCT
alkej-602	90	6	.	.	PUNCT
alkej-602	91	1	a	a	DET
alkej-602	91	2	developed	develop	VERB
alkej-602	91	3	form	form	NOUN
alkej-602	91	4	of	of	ADP
alkej-602	91	5	the	the	DET
alkej-602	91	6	gripper	gripper	NOUN
alkej-602	91	7	,	,	PUNCT
alkej-602	91	8	where	where	SCONJ
alkej-602	91	9	it	it	PRON
alkej-602	91	10	consists	consist	VERB
alkej-602	91	11	of	of	ADP
alkej-602	91	12	two	two	NUM
alkej-602	91	13	fingers	finger	NOUN
alkej-602	91	14	.	.	PUNCT
alkej-602	92	1	each	each	PRON
alkej-602	92	2	of	of	ADP
alkej-602	92	3	them	they	PRON
alkej-602	92	4	composed	compose	VERB
alkej-602	92	5	of	of	ADP
alkej-602	92	6	three	three	NUM
alkej-602	92	7	phalanxes	phalanx	NOUN
alkej-602	92	8	.	.	PUNCT
alkej-602	93	1	the	the	DET
alkej-602	93	2	fingers	finger	NOUN
alkej-602	93	3	constructed	construct	VERB
alkej-602	93	4	of	of	ADP
alkej-602	93	5	chain	chain	NOUN
alkej-602	93	6	covered	cover	VERB
alkej-602	93	7	by	by	ADP
alkej-602	93	8	plastic	plastic	ADJ
alkej-602	93	9	shield	shield	NOUN
alkej-602	93	10	where	where	SCONJ
alkej-602	93	11	the	the	DET
alkej-602	93	12	shield	shield	NOUN
alkej-602	93	13	is	be	AUX
alkej-602	93	14	cut	cut	VERB
alkej-602	93	15	into	into	ADP
alkej-602	93	16	three	three	NUM
alkej-602	93	17	parts	part	NOUN
alkej-602	93	18	to	to	PART
alkej-602	93	19	separate	separate	VERB
alkej-602	93	20	three	three	NUM
alkej-602	93	21	phalanxes	phalanx	NOUN
alkej-602	93	22	to	to	PART
alkej-602	93	23	generate	generate	VERB
alkej-602	93	24	a	a	DET
alkej-602	93	25	motion	motion	NOUN
alkej-602	93	26	as	as	ADV
alkej-602	93	27	far	far	ADV
alkej-602	93	28	as	as	ADP
alkej-602	93	29	similar	similar	ADJ
alkej-602	93	30	to	to	ADP
alkej-602	93	31	human	human	ADJ
alkej-602	93	32	finger	finger	NOUN
alkej-602	93	33	motion	motion	NOUN
alkej-602	93	34	.	.	PUNCT
alkej-602	94	1	it	it	PRON
alkej-602	94	2	is	be	AUX
alkej-602	94	3	required	require	VERB
alkej-602	94	4	to	to	PART
alkej-602	94	5	move	move	VERB
alkej-602	94	6	each	each	DET
alkej-602	94	7	phalanx	phalanx	NOUN
alkej-602	94	8	independently	independently	ADV
alkej-602	94	9	,	,	PUNCT
alkej-602	94	10	and	and	CCONJ
alkej-602	94	11	that	that	PRON
alkej-602	94	12	may	may	AUX
alkej-602	94	13	be	be	AUX
alkej-602	94	14	through	through	ADP
alkej-602	94	15	connecting	connect	VERB
alkej-602	94	16	each	each	DET
alkej-602	94	17	phalanx	phalanx	NOUN
alkej-602	94	18	with	with	ADP
alkej-602	94	19	independent	independent	ADJ
alkej-602	94	20	mw	mw	PROPN
alkej-602	94	21	.	.	PROPN
alkej-602	94	22	mw	mw	PROPN
alkej-602	94	23	connected	connect	VERB
alkej-602	94	24	to	to	ADP
alkej-602	94	25	a	a	DET
alkej-602	94	26	corpus	corpus	NOUN
alkej-602	94	27	of	of	ADP
alkej-602	94	28	t	t	PROPN
alkej-602	94	29	-	-	PUNCT
alkej-602	94	30	square	square	NOUN
alkej-602	94	31	as	as	SCONJ
alkej-602	94	32	shown	show	VERB
alkej-602	94	33	from	from	ADP
alkej-602	94	34	the	the	DET
alkej-602	94	35	figure	figure	NOUN
alkej-602	94	36	.	.	PUNCT
alkej-602	95	1	t	t	PROPN
alkej-602	95	2	-	-	PUNCT
alkej-602	95	3	square	square	NOUN
alkej-602	95	4	used	use	VERB
alkej-602	95	5	to	to	PART
alkej-602	95	6	observe	observe	VERB
alkej-602	95	7	the	the	DET
alkej-602	95	8	amount	amount	NOUN
alkej-602	95	9	of	of	ADP
alkej-602	95	10	motion	motion	NOUN
alkej-602	95	11	or	or	CCONJ
alkej-602	95	12	extraction	extraction	NOUN
alkej-602	95	13	of	of	ADP
alkej-602	95	14	the	the	DET
alkej-602	95	15	mws	mws	NOUN
alkej-602	95	16	.	.	PUNCT
alkej-602	96	1	also	also	ADV
alkej-602	96	2	each	each	DET
alkej-602	96	3	phalanx	phalanx	NOUN
alkej-602	96	4	is	be	AUX
alkej-602	96	5	connected	connect	VERB
alkej-602	96	6	to	to	ADP
alkej-602	96	7	plastic	plastic	ADJ
alkej-602	96	8	spring	spring	NOUN
alkej-602	96	9	and	and	CCONJ
alkej-602	96	10	the	the	DET
alkej-602	96	11	spring	spring	NOUN
alkej-602	96	12	connected	connect	VERB
alkej-602	96	13	to	to	ADP
alkej-602	96	14	the	the	DET
alkej-602	96	15	tsquare	tsquare	NOUN
alkej-602	96	16	.	.	PUNCT
alkej-602	97	1	the	the	DET
alkej-602	97	2	springs	spring	NOUN
alkej-602	97	3	are	be	AUX
alkej-602	97	4	guided	guide	VERB
alkej-602	97	5	through	through	ADP
alkej-602	97	6	eye	eye	NOUN
alkej-602	97	7	-	-	PUNCT
alkej-602	97	8	bolts	bolt	NOUN
alkej-602	97	9	riveted	rivet	VERB
alkej-602	97	10	to	to	ADP
alkej-602	97	11	the	the	DET
alkej-602	97	12	plastic	plastic	ADJ
alkej-602	97	13	shield	shield	NOUN
alkej-602	97	14	.	.	PUNCT
alkej-602	98	1	one	one	NUM
alkej-602	98	2	problem	problem	NOUN
alkej-602	98	3	developed	develop	VERB
alkej-602	98	4	here	here	ADV
alkej-602	98	5	is	be	AUX
alkej-602	98	6	that	that	SCONJ
alkej-602	98	7	the	the	DET
alkej-602	98	8	independency	independency	NOUN
alkej-602	98	9	of	of	ADP
alkej-602	98	10	phalanxes	phalanx	NOUN
alkej-602	98	11	is	be	AUX
alkej-602	98	12	unapproved	unapprove	VERB
alkej-602	98	13	,	,	PUNCT
alkej-602	98	14	that	that	PRON
alkej-602	98	15	is	be	AUX
alkej-602	98	16	because	because	SCONJ
alkej-602	98	17	there	there	PRON
alkej-602	98	18	is	be	VERB
alkej-602	98	19	a	a	DET
alkej-602	98	20	leakage	leakage	NOUN
alkej-602	98	21	developed	develop	VERB
alkej-602	98	22	between	between	ADP
alkej-602	98	23	the	the	DET
alkej-602	98	24	chain	chain	NOUN
alkej-602	98	25	and	and	CCONJ
alkej-602	98	26	plastic	plastic	NOUN
alkej-602	98	27	shield	shield	NOUN
alkej-602	98	28	,	,	PUNCT
alkej-602	98	29	and	and	CCONJ
alkej-602	98	30	because	because	SCONJ
alkej-602	98	31	of	of	ADP
alkej-602	98	32	the	the	DET
alkej-602	98	33	incorrect	incorrect	ADJ
alkej-602	98	34	connection	connection	NOUN
alkej-602	98	35	of	of	ADP
alkej-602	98	36	plastic	plastic	ADJ
alkej-602	98	37	springs	spring	NOUN
alkej-602	98	38	to	to	ADP
alkej-602	98	39	the	the	DET
alkej-602	98	40	t	t	PROPN
alkej-602	98	41	-	-	PUNCT
alkej-602	98	42	square	square	NOUN
alkej-602	98	43	.	.	PUNCT
alkej-602	99	1	from	from	ADP
alkej-602	99	2	the	the	DET
alkej-602	99	3	above	above	ADJ
alkej-602	99	4	discussion	discussion	NOUN
alkej-602	99	5	the	the	DET
alkej-602	99	6	problem	problem	NOUN
alkej-602	99	7	appeared	appear	VERB
alkej-602	99	8	need	need	VERB
alkej-602	99	9	solutions	solution	NOUN
alkej-602	99	10	.	.	PUNCT
alkej-602	100	1	the	the	DET
alkej-602	100	2	solution	solution	NOUN
alkej-602	100	3	is	be	AUX
alkej-602	100	4	developed	develop	VERB
alkej-602	100	5	by	by	ADP
alkej-602	100	6	building	build	VERB
alkej-602	100	7	the	the	DET
alkej-602	100	8	two	two	NUM
alkej-602	100	9	fingers	finger	NOUN
alkej-602	100	10	with	with	ADP
alkej-602	100	11	three	three	NUM
alkej-602	100	12	independent	independent	ADJ
alkej-602	100	13	phalanxes	phalanx	NOUN
alkej-602	100	14	for	for	ADP
alkej-602	100	15	each	each	PRON
alkej-602	100	16	as	as	ADV
alkej-602	100	17	shown	show	VERB
alkej-602	100	18	in	in	ADP
alkej-602	100	19	figure	figure	NOUN
alkej-602	100	20	[	[	X
alkej-602	100	21	4	4	NUM
alkej-602	100	22	-	-	SYM
alkej-602	100	23	c	c	NOUN
alkej-602	100	24	]	]	PUNCT
alkej-602	100	25	.	.	PUNCT
alkej-602	101	1	(	(	PUNCT
alkej-602	101	2	a	a	X
alkej-602	101	3	)	)	PUNCT
alkej-602	101	4	(	(	PUNCT
alkej-602	101	5	b	b	X
alkej-602	101	6	)	)	PUNCT
alkej-602	101	7	(	(	PUNCT
alkej-602	101	8	c	c	X
alkej-602	101	9	)	)	PUNCT
alkej-602	101	10	fig	fig	NOUN
alkej-602	101	11	.	.	PUNCT
alkej-602	102	1	4	4	X
alkej-602	102	2	.	.	X
alkej-602	102	3	the	the	DET
alkej-602	102	4	proposed	propose	VERB
alkej-602	102	5	mechanical	mechanical	ADJ
alkej-602	102	6	hands	hand	NOUN
alkej-602	102	7	.	.	PUNCT
alkej-602	103	1	it	it	PRON
alkej-602	103	2	is	be	AUX
alkej-602	103	3	aimed	aim	VERB
alkej-602	103	4	to	to	PART
alkej-602	103	5	have	have	VERB
alkej-602	103	6	a	a	DET
alkej-602	103	7	humanlike	humanlike	ADJ
alkej-602	103	8	hand	hand	NOUN
alkej-602	103	9	,	,	PUNCT
alkej-602	103	10	and	and	CCONJ
alkej-602	103	11	this	this	PRON
alkej-602	103	12	of	of	ADP
alkej-602	103	13	-	-	PUNCT
alkej-602	103	14	course	course	NOUN
alkej-602	103	15	is	be	AUX
alkej-602	103	16	very	very	ADV
alkej-602	103	17	difficult	difficult	ADJ
alkej-602	103	18	because	because	SCONJ
alkej-602	103	19	the	the	DET
alkej-602	103	20	mechanism	mechanism	NOUN
alkej-602	103	21	of	of	ADP
alkej-602	103	22	human	human	ADJ
alkej-602	103	23	hand	hand	NOUN
alkej-602	103	24	work	work	NOUN
alkej-602	103	25	the	the	DET
alkej-602	103	26	complex	complex	ADJ
alkej-602	103	27	one	one	NUM
alkej-602	103	28	from	from	ADP
alkej-602	103	29	other	other	ADJ
alkej-602	103	30	mechanical	mechanical	ADJ
alkej-602	103	31	parts	part	NOUN
alkej-602	103	32	of	of	ADP
alkej-602	103	33	the	the	DET
alkej-602	103	34	human	human	ADJ
alkej-602	103	35	body	body	NOUN
alkej-602	103	36	.the	.the	PRON
alkej-602	103	37	human	human	ADJ
alkej-602	103	38	hand	hand	NOUN
alkej-602	103	39	consists	consist	VERB
alkej-602	103	40	of	of	ADP
alkej-602	103	41	fingers	finger	NOUN
alkej-602	103	42	and	and	CCONJ
alkej-602	103	43	each	each	DET
alkej-602	103	44	one	one	NOUN
alkej-602	103	45	is	be	AUX
alkej-602	103	46	of	of	ADP
alkej-602	103	47	three	three	NUM
alkej-602	103	48	phalanxes	phalanx	NOUN
alkej-602	103	49	,	,	PUNCT
alkej-602	103	50	and	and	CCONJ
alkej-602	103	51	each	each	DET
alkej-602	103	52	phalanx	phalanx	NOUN
alkej-602	103	53	may	may	AUX
alkej-602	103	54	be	be	AUX
alkej-602	103	55	work	work	NOUN
alkej-602	103	56	independently	independently	ADV
alkej-602	103	57	.	.	PUNCT
alkej-602	104	1	something	something	PRON
alkej-602	104	2	like	like	ADP
alkej-602	104	3	this	this	DET
alkej-602	104	4	mechanism	mechanism	NOUN
alkej-602	104	5	is	be	AUX
alkej-602	104	6	ought	ought	AUX
alkej-602	104	7	to	to	PART
alkej-602	104	8	get	get	VERB
alkej-602	104	9	,	,	PUNCT
alkej-602	104	10	at	at	ADP
alkej-602	104	11	least	least	ADJ
alkej-602	104	12	for	for	ADP
alkej-602	104	13	one	one	NUM
alkej-602	104	14	or	or	CCONJ
alkej-602	104	15	two	two	NUM
alkej-602	104	16	fingers.each	fingers.each	ADV
alkej-602	104	17	phalanx	phalanx	NOUN
alkej-602	104	18	connected	connect	VERB
alkej-602	104	19	to	to	ADP
alkej-602	104	20	independent	independent	ADJ
alkej-602	104	21	tendon	tendon	NOUN
alkej-602	104	22	that	that	PRON
alkej-602	104	23	will	will	AUX
alkej-602	104	24	be	be	AUX
alkej-602	104	25	connected	connect	VERB
alkej-602	104	26	to	to	ADP
alkej-602	104	27	the	the	DET
alkej-602	104	28	muscle	muscle	NOUN
alkej-602	104	29	wire	wire	NOUN
alkej-602	104	30	needed	need	VERB
alkej-602	104	31	to	to	PART
alkej-602	104	32	activate	activate	VERB
alkej-602	104	33	it	it	PRON
alkej-602	104	34	.	.	PUNCT
alkej-602	105	1	so	so	ADV
alkej-602	105	2	there	there	PRON
alkej-602	105	3	will	will	AUX
alkej-602	105	4	be	be	AUX
alkej-602	105	5	three	three	NUM
alkej-602	105	6	mws	mws	NOUN
alkej-602	105	7	for	for	ADP
alkej-602	105	8	each	each	DET
alkej-602	105	9	finger	finger	NOUN
alkej-602	105	10	alone	alone	ADV
alkej-602	105	11	to	to	PART
alkej-602	105	12	have	have	VERB
alkej-602	105	13	a	a	DET
alkej-602	105	14	good	good	ADJ
alkej-602	105	15	catching	catching	NOUN
alkej-602	105	16	,	,	PUNCT
alkej-602	105	17	these	these	DET
alkej-602	105	18	fingers	finger	NOUN
alkej-602	105	19	must	must	AUX
alkej-602	105	20	be	be	AUX
alkej-602	105	21	durable	durable	ADJ
alkej-602	105	22	and	and	CCONJ
alkej-602	105	23	reliable	reliable	ADJ
alkej-602	105	24	,	,	PUNCT
alkej-602	105	25	therefore	therefore	ADV
alkej-602	105	26	each	each	DET
alkej-602	105	27	finger	finger	NOUN
alkej-602	105	28	constructed	construct	VERB
alkej-602	105	29	from	from	ADP
alkej-602	105	30	the	the	DET
alkej-602	105	31	components	component	NOUN
alkej-602	105	32	shown	show	VERB
alkej-602	105	33	in	in	ADP
alkej-602	105	34	figure	figure	NOUN
alkej-602	105	35	[	[	X
alkej-602	105	36	5	5	NUM
alkej-602	105	37	]	]	PUNCT
alkej-602	105	38	.	.	PUNCT
alkej-602	106	1	a.	a.	PROPN
alkej-602	106	2	salam	salam	PROPN
alkej-602	106	3	al	al	PROPN
alkej-602	106	4	-	-	PUNCT
alkej-602	106	5	ammri	ammri	PROPN
alkej-602	106	6	al	al	PROPN
alkej-602	106	7	-	-	PUNCT
alkej-602	106	8	khwarizmi	khwarizmi	PROPN
alkej-602	106	9	engineering	engineering	NOUN
alkej-602	106	10	journal	journal	PROPN
alkej-602	106	11	,	,	PUNCT
alkej-602	106	12	vol	vol	NOUN
alkej-602	106	13	.	.	PROPN
alkej-602	106	14	4	4	NUM
alkej-602	106	15	,	,	PUNCT
alkej-602	106	16	no	no	INTJ
alkej-602	106	17	.	.	NOUN
alkej-602	106	18	3	3	NUM
alkej-602	106	19	,	,	PUNCT
alkej-602	106	20	pp	pp	ADV
alkej-602	106	21	128	128	NUM
alkej-602	106	22	-	-	SYM
alkej-602	106	23	137	137	NUM
alkej-602	106	24	(	(	PUNCT
alkej-602	106	25	2008	2008	NUM
alkej-602	106	26	)	)	PUNCT
alkej-602	106	27	132	132	NUM
alkej-602	106	28	figure	figure	NOUN
alkej-602	106	29	[	[	X
alkej-602	106	30	5	5	NUM
alkej-602	106	31	]	]	PUNCT
alkej-602	106	32	,	,	PUNCT
alkej-602	106	33	shows	show	VERB
alkej-602	106	34	the	the	DET
alkej-602	106	35	components	component	NOUN
alkej-602	106	36	:	:	PUNCT
alkej-602	106	37	chain	chain	NOUN
alkej-602	106	38	,	,	PUNCT
alkej-602	106	39	needles	needle	NOUN
alkej-602	106	40	,	,	PUNCT
alkej-602	106	41	elastic	elastic	ADJ
alkej-602	106	42	springs	spring	NOUN
alkej-602	106	43	,	,	PUNCT
alkej-602	106	44	and	and	CCONJ
alkej-602	106	45	tough	tough	ADJ
alkej-602	106	46	plastic	plastic	ADJ
alkej-602	106	47	tendon	tendon	NOUN
alkej-602	106	48	.	.	PUNCT
alkej-602	107	1	the	the	DET
alkej-602	107	2	chain	chain	NOUN
alkej-602	107	3	mechanism	mechanism	NOUN
alkej-602	107	4	is	be	AUX
alkej-602	107	5	like	like	ADP
alkej-602	107	6	bon	bon	NOUN
alkej-602	107	7	mechanism	mechanism	NOUN
alkej-602	107	8	in	in	ADP
alkej-602	107	9	human	human	ADJ
alkej-602	107	10	hand	hand	NOUN
alkej-602	107	11	,	,	PUNCT
alkej-602	107	12	and	and	CCONJ
alkej-602	107	13	the	the	DET
alkej-602	107	14	needles	needle	NOUN
alkej-602	107	15	work	work	VERB
alkej-602	107	16	as	as	ADP
alkej-602	107	17	stops	stop	NOUN
alkej-602	107	18	to	to	PART
alkej-602	107	19	prevent	prevent	VERB
alkej-602	107	20	excessive	excessive	ADJ
alkej-602	107	21	backward	backward	ADJ
alkej-602	107	22	motion	motion	NOUN
alkej-602	107	23	,	,	PUNCT
alkej-602	107	24	the	the	DET
alkej-602	107	25	elastic	elastic	ADJ
alkej-602	107	26	springs	spring	NOUN
alkej-602	107	27	are	be	AUX
alkej-602	107	28	needed	need	VERB
alkej-602	107	29	to	to	PART
alkej-602	107	30	retrieval	retrieval	VERB
alkej-602	107	31	phalanxes	phalanx	NOUN
alkej-602	107	32	to	to	ADP
alkej-602	107	33	their	their	PRON
alkej-602	107	34	original	original	ADJ
alkej-602	107	35	positions	position	NOUN
alkej-602	107	36	after	after	ADP
alkej-602	107	37	removing	remove	VERB
alkej-602	107	38	the	the	DET
alkej-602	107	39	muscle	muscle	NOUN
alkej-602	107	40	wire	wire	NOUN
alkej-602	107	41	activation	activation	NOUN
alkej-602	107	42	.	.	PUNCT
alkej-602	108	1	finally	finally	ADV
alkej-602	108	2	the	the	DET
alkej-602	108	3	elastic	elastic	ADJ
alkej-602	108	4	tendons	tendon	NOUN
alkej-602	108	5	are	be	AUX
alkej-602	108	6	used	use	VERB
alkej-602	108	7	as	as	ADP
alkej-602	108	8	the	the	DET
alkej-602	108	9	same	same	ADJ
alkej-602	108	10	one	one	NUM
alkej-602	108	11	in	in	ADP
alkej-602	108	12	human	human	ADJ
alkej-602	108	13	hand	hand	NOUN
alkej-602	108	14	.	.	PUNCT
alkej-602	109	1	the	the	DET
alkej-602	109	2	constructed	construct	VERB
alkej-602	109	3	finger	finger	NOUN
alkej-602	109	4	is	be	AUX
alkej-602	109	5	shown	show	VERB
alkej-602	109	6	in	in	ADP
alkej-602	109	7	figure	figure	NOUN
alkej-602	109	8	[	[	X
alkej-602	109	9	6	6	NUM
alkej-602	109	10	]	]	PUNCT
alkej-602	109	11	.	.	PUNCT
alkej-602	110	1	fig	fig	NOUN
alkej-602	110	2	.	.	PUNCT
alkej-602	111	1	5	5	X
alkej-602	111	2	.	.	PUNCT
alkej-602	112	1	the	the	DET
alkej-602	112	2	components	component	NOUN
alkej-602	112	3	of	of	ADP
alkej-602	112	4	a	a	DET
alkej-602	112	5	single	single	ADJ
alkej-602	112	6	finger	finger	NOUN
alkej-602	112	7	.	.	PUNCT
alkej-602	113	1	fig	fig	NOUN
alkej-602	113	2	.	.	PUNCT
alkej-602	114	1	6	6	NUM
alkej-602	114	2	.	.	PUNCT
alkej-602	114	3	the	the	DET
alkej-602	114	4	constructed	construct	VERB
alkej-602	114	5	finger	finger	NOUN
alkej-602	114	6	design	design	NOUN
alkej-602	114	7	.	.	PUNCT
alkej-602	115	1	in	in	ADP
alkej-602	115	2	this	this	DET
alkej-602	115	3	research	research	NOUN
alkej-602	115	4	,	,	PUNCT
alkej-602	115	5	it	it	PRON
alkej-602	115	6	is	be	AUX
alkej-602	115	7	also	also	ADV
alkej-602	115	8	used	use	VERB
alkej-602	115	9	other	other	ADJ
alkej-602	115	10	different	different	ADJ
alkej-602	115	11	parts	part	NOUN
alkej-602	115	12	which	which	PRON
alkej-602	115	13	are	be	AUX
alkej-602	115	14	simpler	simple	ADJ
alkej-602	115	15	than	than	ADP
alkej-602	115	16	the	the	DET
alkej-602	115	17	previous	previous	ADJ
alkej-602	115	18	one	one	NOUN
alkej-602	115	19	,	,	PUNCT
alkej-602	115	20	they	they	PRON
alkej-602	115	21	are	be	AUX
alkej-602	115	22	shown	show	VERB
alkej-602	115	23	clearly	clearly	ADV
alkej-602	115	24	in	in	ADP
alkej-602	115	25	figure	figure	NOUN
alkej-602	115	26	[	[	X
alkej-602	115	27	7	7	NUM
alkej-602	115	28	]	]	PUNCT
alkej-602	115	29	,	,	PUNCT
alkej-602	115	30	which	which	PRON
alkej-602	115	31	are	be	AUX
alkej-602	115	32	available	available	ADJ
alkej-602	115	33	in	in	ADP
alkej-602	115	34	the	the	DET
alkej-602	115	35	markets	market	NOUN
alkej-602	115	36	.	.	PUNCT
alkej-602	116	1	they	they	PRON
alkej-602	116	2	are	be	AUX
alkej-602	116	3	used	use	VERB
alkej-602	116	4	to	to	PART
alkej-602	116	5	show	show	VERB
alkej-602	116	6	the	the	DET
alkej-602	116	7	control	control	NOUN
alkej-602	116	8	strategy	strategy	NOUN
alkej-602	116	9	of	of	ADP
alkej-602	116	10	activation	activation	NOUN
alkej-602	116	11	the	the	DET
alkej-602	116	12	smart	smart	ADJ
alkej-602	116	13	hand	hand	NOUN
alkej-602	116	14	using	use	VERB
alkej-602	116	15	the	the	DET
alkej-602	116	16	muscle	muscle	NOUN
alkej-602	116	17	wires	wire	NOUN
alkej-602	116	18	.	.	PUNCT
alkej-602	117	1	(	(	PUNCT
alkej-602	117	2	a	a	X
alkej-602	117	3	)	)	PUNCT
alkej-602	117	4	(	(	PUNCT
alkej-602	117	5	b	b	X
alkej-602	117	6	)	)	PUNCT
alkej-602	117	7	fig	fig	NOUN
alkej-602	117	8	.	.	PUNCT
alkej-602	118	1	7	7	X
alkej-602	118	2	.	.	X
alkej-602	118	3	ready	ready	ADJ
alkej-602	118	4	hand	hand	NOUN
alkej-602	118	5	parts	part	NOUN
alkej-602	118	6	.	.	PUNCT
alkej-602	119	1	from	from	ADP
alkej-602	119	2	figure[7	figure[7	DET
alkej-602	119	3	a	a	DET
alkej-602	119	4	and	and	CCONJ
alkej-602	119	5	b	b	NOUN
alkej-602	119	6	]	]	X
alkej-602	119	7	,	,	PUNCT
alkej-602	119	8	two	two	NUM
alkej-602	119	9	types	type	NOUN
alkej-602	119	10	of	of	ADP
alkej-602	119	11	ready	ready	ADJ
alkej-602	119	12	grippers	gripper	NOUN
alkej-602	119	13	used	use	VERB
alkej-602	119	14	and	and	CCONJ
alkej-602	119	15	they	they	PRON
alkej-602	119	16	are	be	AUX
alkej-602	119	17	different	different	ADJ
alkej-602	119	18	from	from	ADP
alkej-602	119	19	the	the	DET
alkej-602	119	20	direction	direction	NOUN
alkej-602	119	21	of	of	ADP
alkej-602	119	22	motion	motion	NOUN
alkej-602	119	23	viewpoint	viewpoint	NOUN
alkej-602	119	24	,	,	PUNCT
alkej-602	119	25	to	to	PART
alkej-602	119	26	show	show	VERB
alkej-602	119	27	clearly	clearly	ADV
alkej-602	119	28	the	the	DET
alkej-602	119	29	advantages	advantage	NOUN
alkej-602	119	30	and	and	CCONJ
alkej-602	119	31	disadvantages	disadvantage	NOUN
alkej-602	119	32	of	of	ADP
alkej-602	119	33	using	use	VERB
alkej-602	119	34	the	the	DET
alkej-602	119	35	mw	mw	NOUN
alkej-602	119	36	to	to	PART
alkej-602	119	37	open	open	VERB
alkej-602	119	38	the	the	DET
alkej-602	119	39	gripper	gripper	NOUN
alkej-602	119	40	or	or	CCONJ
alkej-602	119	41	use	use	VERB
alkej-602	119	42	it	it	PRON
alkej-602	119	43	to	to	PART
alkej-602	119	44	close(catch	close(catch	PROPN
alkej-602	119	45	)	)	PUNCT
alkej-602	119	46	the	the	DET
alkej-602	119	47	gripper	gripper	NOUN
alkej-602	119	48	.	.	PUNCT
alkej-602	120	1	belectronical	belectronical	ADJ
alkej-602	120	2	part	part	NOUN
alkej-602	120	3	:	:	PUNCT
alkej-602	120	4	the	the	DET
alkej-602	120	5	electronic	electronic	ADJ
alkej-602	120	6	part	part	NOUN
alkej-602	120	7	of	of	ADP
alkej-602	120	8	activation	activation	NOUN
alkej-602	120	9	the	the	DET
alkej-602	120	10	muscle	muscle	NOUN
alkej-602	120	11	wire	wire	NOUN
alkej-602	120	12	is	be	AUX
alkej-602	120	13	not	not	PART
alkej-602	120	14	very	very	ADV
alkej-602	120	15	difficult	difficult	ADJ
alkej-602	120	16	,	,	PUNCT
alkej-602	120	17	but	but	CCONJ
alkej-602	120	18	as	as	ADP
alkej-602	120	19	the	the	DET
alkej-602	120	20	number	number	NOUN
alkej-602	120	21	of	of	ADP
alkej-602	120	22	mws	mws	NOUN
alkej-602	120	23	used	use	VERB
alkej-602	120	24	increases	increase	NOUN
alkej-602	120	25	,	,	PUNCT
alkej-602	120	26	the	the	DET
alkej-602	120	27	complexity	complexity	NOUN
alkej-602	120	28	of	of	ADP
alkej-602	120	29	the	the	DET
alkej-602	120	30	electronic	electronic	ADJ
alkej-602	120	31	circuit	circuit	NOUN
alkej-602	120	32	will	will	AUX
alkej-602	120	33	increase	increase	VERB
alkej-602	120	34	,	,	PUNCT
alkej-602	120	35	and	and	CCONJ
alkej-602	120	36	so	so	ADV
alkej-602	120	37	on	on	ADV
alkej-602	120	38	.	.	PUNCT
alkej-602	121	1	muscle	muscle	NOUN
alkej-602	121	2	wire	wire	NOUN
alkej-602	121	3	must	must	AUX
alkej-602	121	4	be	be	AUX
alkej-602	121	5	activated	activate	VERB
alkej-602	121	6	with	with	ADP
alkej-602	121	7	pulse	pulse	NOUN
alkej-602	121	8	-	-	PUNCT
alkej-602	121	9	widthmodulation	widthmodulation	NOUN
alkej-602	121	10	(	(	PUNCT
alkej-602	121	11	pwm	pwm	NOUN
alkej-602	121	12	)	)	PUNCT
alkej-602	121	13	signal	signal	NOUN
alkej-602	121	14	(	(	PUNCT
alkej-602	121	15	i.e.	i.e.	X
alkej-602	121	16	on	on	ADP
alkej-602	121	17	-	-	PUNCT
alkej-602	121	18	off	off	NOUN
alkej-602	121	19	)	)	PUNCT
alkej-602	121	20	to	to	PART
alkej-602	121	21	prevent	prevent	VERB
alkej-602	121	22	the	the	DET
alkej-602	121	23	overheating	overheating	ADJ
alkej-602	121	24	case	case	NOUN
alkej-602	121	25	of	of	ADP
alkej-602	121	26	the	the	DET
alkej-602	121	27	mw	mw	NOUN
alkej-602	121	28	.	.	PUNCT
alkej-602	122	1	in	in	ADP
alkej-602	122	2	other	other	ADJ
alkej-602	122	3	ward	ward	NOUN
alkej-602	122	4	,	,	PUNCT
alkej-602	122	5	mw	mw	VERB
alkej-602	122	6	under	under	ADP
alkej-602	122	7	activation	activation	NOUN
alkej-602	122	8	must	must	AUX
alkej-602	122	9	be	be	AUX
alkej-602	122	10	putting	put	VERB
alkej-602	122	11	under	under	ADP
alkej-602	122	12	cycling	cycling	NOUN
alkej-602	122	13	(	(	PUNCT
alkej-602	122	14	heating	heating	NOUN
alkej-602	122	15	and	and	CCONJ
alkej-602	122	16	cooling	cooling	NOUN
alkej-602	122	17	)	)	PUNCT
alkej-602	122	18	.	.	PUNCT
alkej-602	123	1	it	it	PRON
alkej-602	123	2	is	be	AUX
alkej-602	123	3	possible	possible	ADJ
alkej-602	123	4	to	to	PART
alkej-602	123	5	get	get	VERB
alkej-602	123	6	pwm	pwm	NOUN
alkej-602	123	7	signal	signal	NOUN
alkej-602	123	8	simply	simply	ADV
alkej-602	123	9	through	through	ADP
alkej-602	123	10	out	out	ADP
alkej-602	123	11	using	use	VERB
alkej-602	123	12	555	555	NUM
alkej-602	123	13	integrated	integrate	VERB
alkej-602	123	14	circuit	circuit	NOUN
alkej-602	123	15	.	.	PUNCT
alkej-602	124	1	a	a	DET
alkej-602	124	2	schematic	schematic	ADJ
alkej-602	124	3	of	of	ADP
alkej-602	124	4	activation	activation	NOUN
alkej-602	124	5	electronic	electronic	ADJ
alkej-602	124	6	circuit	circuit	NOUN
alkej-602	124	7	shown	show	VERB
alkej-602	124	8	in	in	ADP
alkej-602	124	9	figure	figure	NOUN
alkej-602	124	10	[	[	X
alkej-602	124	11	8	8	NUM
alkej-602	124	12	]	]	PUNCT
alkej-602	124	13	.	.	PUNCT
alkej-602	125	1	fig	fig	NOUN
alkej-602	125	2	.	.	PUNCT
alkej-602	126	1	8	8	NUM
alkej-602	126	2	.	.	PUNCT
alkej-602	127	1	a	a	DET
alkej-602	127	2	schematic	schematic	ADJ
alkej-602	127	3	of	of	ADP
alkej-602	127	4	the	the	DET
alkej-602	127	5	activation	activation	NOUN
alkej-602	127	6	circuit	circuit	NOUN
alkej-602	127	7	of	of	ADP
alkej-602	127	8	a	a	DET
alkej-602	127	9	single	single	ADJ
alkej-602	127	10	mw	mw	X
alkej-602	127	11	.	.	PUNCT
alkej-602	128	1	the	the	DET
alkej-602	128	2	555	555	NUM
alkej-602	128	3	integrated	integrate	VERB
alkej-602	128	4	circuit	circuit	NOUN
alkej-602	128	5	u1	u1	NOUN
alkej-602	128	6	,	,	PUNCT
alkej-602	128	7	is	be	AUX
alkej-602	128	8	a	a	DET
alkej-602	128	9	popular	popular	ADJ
alkej-602	128	10	chip	chip	NOUN
alkej-602	128	11	that	that	PRON
alkej-602	128	12	contains	contain	VERB
alkej-602	128	13	over	over	ADP
alkej-602	128	14	40	40	NUM
alkej-602	128	15	transistors	transistor	NOUN
alkej-602	128	16	,	,	PUNCT
alkej-602	128	17	resistors	resistor	NOUN
alkej-602	128	18	,	,	PUNCT
alkej-602	128	19	and	and	CCONJ
alkej-602	128	20	diodes	diode	NOUN
alkej-602	128	21	.	.	PUNCT
alkej-602	129	1	turning	turn	VERB
alkej-602	129	2	its	its	PRON
alkej-602	129	3	output	output	NOUN
alkej-602	129	4	(	(	PUNCT
alkej-602	129	5	pin3	pin3	PROPN
alkej-602	129	6	)	)	PUNCT
alkej-602	129	7	on	on	ADP
alkej-602	129	8	and	and	CCONJ
alkej-602	129	9	off	off	ADP
alkej-602	129	10	according	accord	VERB
alkej-602	129	11	to	to	ADP
alkej-602	129	12	the	the	DET
alkej-602	129	13	values	value	NOUN
alkej-602	129	14	of	of	ADP
alkej-602	129	15	r1	r1	NOUN
alkej-602	129	16	,	,	PUNCT
alkej-602	129	17	r2	r2	PROPN
alkej-602	129	18	,	,	PUNCT
alkej-602	129	19	and	and	CCONJ
alkej-602	129	20	c1	c1	PROPN
alkej-602	129	21	,	,	PUNCT
alkej-602	129	22	as	as	SCONJ
alkej-602	129	23	showed	show	VERB
alkej-602	129	24	by	by	ADP
alkej-602	129	25	the	the	DET
alkej-602	129	26	following	follow	VERB
alkej-602	129	27	equation	equation	NOUN
alkej-602	129	28	:	:	PUNCT
alkej-602	129	29	ton=0.69(r1+r2)c1	ton=0.69(r1+r2)c1	NOUN
alkej-602	129	30	toff=0.69r2c1	toff=0.69r2c1	ADP
alkej-602	129	31	the	the	DET
alkej-602	129	32	pwm	pwm	NOUN
alkej-602	129	33	signal	signal	NOUN
alkej-602	129	34	is	be	AUX
alkej-602	129	35	shown	show	VERB
alkej-602	129	36	in	in	ADP
alkej-602	129	37	figure	figure	NOUN
alkej-602	129	38	[	[	X
alkej-602	129	39	9	9	NUM
alkej-602	129	40	]	]	PUNCT
alkej-602	129	41	.	.	PUNCT
alkej-602	130	1	fig	fig	NOUN
alkej-602	130	2	.	.	PUNCT
alkej-602	131	1	9	9	X
alkej-602	131	2	.	.	X
alkej-602	131	3	pwm	pwm	NOUN
alkej-602	131	4	signal	signal	NOUN
alkej-602	131	5	.	.	PUNCT
alkej-602	132	1	in	in	ADP
alkej-602	132	2	this	this	DET
alkej-602	132	3	research	research	NOUN
alkej-602	132	4	a	a	DET
alkej-602	132	5	lot	lot	NOUN
alkej-602	132	6	of	of	ADP
alkej-602	132	7	mws	mws	NOUN
alkej-602	132	8	used	use	VERB
alkej-602	132	9	to	to	PART
alkej-602	132	10	perform	perform	VERB
alkej-602	132	11	the	the	DET
alkej-602	132	12	desired	desire	VERB
alkej-602	132	13	function	function	NOUN
alkej-602	132	14	,	,	PUNCT
alkej-602	132	15	and	and	CCONJ
alkej-602	132	16	since	since	SCONJ
alkej-602	132	17	each	each	DET
alkej-602	132	18	mw	mw	X
alkej-602	132	19	needs	need	VERB
alkej-602	132	20	respectively	respectively	ADV
alkej-602	132	21	large	large	ADJ
alkej-602	132	22	amount	amount	NOUN
alkej-602	132	23	of	of	ADP
alkej-602	132	24	current	current	ADJ
alkej-602	132	25	which	which	PRON
alkej-602	132	26	is	be	AUX
alkej-602	132	27	the	the	DET
alkej-602	132	28	recommended	recommend	VERB
alkej-602	132	29	current	current	NOUN
alkej-602	132	30	required	require	VERB
alkej-602	132	31	to	to	PART
alkej-602	132	32	activate	activate	VERB
alkej-602	132	33	the	the	DET
alkej-602	132	34	mw	mw	NOUN
alkej-602	132	35	(	(	PUNCT
alkej-602	132	36	sometimes	sometimes	ADV
alkej-602	132	37	current	current	ADJ
alkej-602	132	38	reaches	reach	VERB
alkej-602	132	39	1	1	NUM
alkej-602	132	40	amp	amp	NOUN
alkej-602	132	41	,	,	PUNCT
alkej-602	132	42	and/or	and/or	CCONJ
alkej-602	132	43	more	more	ADJ
alkej-602	132	44	depending	depend	VERB
alkej-602	132	45	on	on	ADP
alkej-602	132	46	the	the	DET
alkej-602	132	47	length	length	NOUN
alkej-602	132	48	and	and	CCONJ
alkej-602	132	49	cross	cross	ADJ
alkej-602	132	50	-	-	ADJ
alkej-602	132	51	section	section	ADJ
alkej-602	132	52	area	area	NOUN
alkej-602	132	53	of	of	ADP
alkej-602	132	54	a.	a.	PROPN
alkej-602	132	55	salam	salam	PROPN
alkej-602	132	56	al	al	PROPN
alkej-602	132	57	-	-	PROPN
alkej-602	132	58	ammri	ammri	PROPN
alkej-602	132	59	al	al	PROPN
alkej-602	132	60	-	-	PUNCT
alkej-602	132	61	khwarizmi	khwarizmi	PROPN
alkej-602	132	62	engineering	engineering	NOUN
alkej-602	132	63	journal	journal	PROPN
alkej-602	132	64	,	,	PUNCT
alkej-602	132	65	vol	vol	NOUN
alkej-602	132	66	.	.	PROPN
alkej-602	133	1	4	4	NUM
alkej-602	133	2	,	,	PUNCT
alkej-602	133	3	no	no	INTJ
alkej-602	133	4	.	.	NOUN
alkej-602	133	5	3	3	NUM
alkej-602	133	6	,	,	PUNCT
alkej-602	133	7	pp	pp	ADV
alkej-602	133	8	128	128	NUM
alkej-602	133	9	-	-	SYM
alkej-602	133	10	137	137	NUM
alkej-602	133	11	(	(	PUNCT
alkej-602	133	12	2008	2008	NUM
alkej-602	133	13	)	)	PUNCT
alkej-602	133	14	133	133	NUM
alkej-602	133	15	the	the	DET
alkej-602	133	16	mw	mw	NOUN
alkej-602	133	17	used	use	VERB
alkej-602	133	18	)	)	PUNCT
alkej-602	134	1	[	[	X
alkej-602	134	2	4	4	NUM
alkej-602	134	3	]	]	PUNCT
alkej-602	134	4	,	,	PUNCT
alkej-602	134	5	driver	driver	NOUN
alkej-602	134	6	used	use	VERB
alkej-602	134	7	to	to	PART
alkej-602	134	8	supply	supply	VERB
alkej-602	134	9	the	the	DET
alkej-602	134	10	mws	mws	NOUN
alkej-602	134	11	.	.	PUNCT
alkej-602	134	12	number	number	NOUN
alkej-602	134	13	of	of	ADP
alkej-602	134	14	power	power	NOUN
alkej-602	134	15	transistors	transistor	NOUN
alkej-602	134	16	may	may	AUX
alkej-602	134	17	be	be	AUX
alkej-602	134	18	a	a	DET
alkej-602	134	19	good	good	ADJ
alkej-602	134	20	choice	choice	NOUN
alkej-602	134	21	.	.	PUNCT
alkej-602	135	1	a	a	DET
alkej-602	135	2	microcontroller	microcontroller	NOUN
alkej-602	135	3	used	use	VERB
alkej-602	135	4	to	to	PART
alkej-602	135	5	select	select	VERB
alkej-602	135	6	the	the	DET
alkej-602	135	7	required	require	VERB
alkej-602	135	8	mw(s	mw(s	NOUN
alkej-602	135	9	)	)	PUNCT
alkej-602	135	10	depending	depend	VERB
alkej-602	135	11	on	on	ADP
alkej-602	135	12	the	the	DET
alkej-602	135	13	previous	previous	ADJ
alkej-602	135	14	condition	condition	NOUN
alkej-602	135	15	.	.	PUNCT
alkej-602	136	1	it	it	PRON
alkej-602	136	2	had	have	AUX
alkej-602	136	3	been	be	AUX
alkej-602	136	4	also	also	ADV
alkej-602	136	5	designed	design	VERB
alkej-602	136	6	the	the	DET
alkej-602	136	7	driving	drive	VERB
alkej-602	136	8	circuit	circuit	NOUN
alkej-602	136	9	that	that	SCONJ
alkej-602	136	10	containing	contain	VERB
alkej-602	136	11	the	the	DET
alkej-602	136	12	microcontroller	microcontroller	NOUN
alkej-602	136	13	which	which	PRON
alkej-602	136	14	is	be	AUX
alkej-602	136	15	at89c51	at89c51	PROPN
alkej-602	136	16	version	version	NOUN
alkej-602	136	17	and	and	CCONJ
alkej-602	136	18	shown	show	VERB
alkej-602	136	19	in	in	ADP
alkej-602	136	20	the	the	DET
alkej-602	136	21	overall	overall	ADJ
alkej-602	136	22	circuit	circuit	NOUN
alkej-602	136	23	in	in	ADP
alkej-602	136	24	figure	figure	NOUN
alkej-602	136	25	[	[	X
alkej-602	136	26	10	10	NUM
alkej-602	136	27	]	]	PUNCT
alkej-602	136	28	.	.	PUNCT
alkej-602	137	1	fig	fig	NOUN
alkej-602	137	2	.	.	PUNCT
alkej-602	138	1	10	10	NUM
alkej-602	138	2	.	.	PUNCT
alkej-602	138	3	control	control	PROPN
alkej-602	138	4	cct	cct	PROPN
alkej-602	138	5	of	of	ADP
alkej-602	138	6	activation	activation	NOUN
alkej-602	138	7	and	and	CCONJ
alkej-602	138	8	selection	selection	NOUN
alkej-602	138	9	of	of	ADP
alkej-602	138	10	mws	mws	PROPN
alkej-602	138	11	.	.	PUNCT
alkej-602	138	12	ccontrol	ccontrol	NOUN
alkej-602	138	13	strategy	strategy	NOUN
alkej-602	138	14	any	any	DET
alkej-602	138	15	muscle	muscle	NOUN
alkej-602	138	16	wire	wire	NOUN
alkej-602	138	17	with	with	ADP
alkej-602	138	18	a	a	DET
alkej-602	138	19	given	give	VERB
alkej-602	138	20	length	length	NOUN
alkej-602	138	21	has	have	VERB
alkej-602	138	22	a	a	DET
alkej-602	138	23	resistance	resistance	NOUN
alkej-602	138	24	that	that	PRON
alkej-602	138	25	changes	change	VERB
alkej-602	138	26	with	with	ADP
alkej-602	138	27	length	length	NOUN
alkej-602	138	28	(	(	PUNCT
alkej-602	138	29	i.e.	i.e.	X
alkej-602	138	30	the	the	DET
alkej-602	138	31	resistance	resistance	NOUN
alkej-602	138	32	of	of	ADP
alkej-602	138	33	the	the	DET
alkej-602	138	34	mw	mw	NOUN
alkej-602	138	35	is	be	AUX
alkej-602	138	36	a	a	DET
alkej-602	138	37	function	function	NOUN
alkej-602	138	38	of	of	ADP
alkej-602	138	39	its	its	PRON
alkej-602	138	40	length	length	NOUN
alkej-602	138	41	)	)	PUNCT
alkej-602	139	1	[	[	X
alkej-602	139	2	4	4	NUM
alkej-602	139	3	]	]	PUNCT
alkej-602	139	4	,	,	PUNCT
alkej-602	139	5	and	and	CCONJ
alkej-602	139	6	since	since	SCONJ
alkej-602	139	7	each	each	PRON
alkej-602	139	8	mw	mw	VERB
alkej-602	139	9	with	with	ADP
alkej-602	139	10	a	a	DET
alkej-602	139	11	specific	specific	ADJ
alkej-602	139	12	diameter	diameter	NOUN
alkej-602	139	13	needs	need	VERB
alkej-602	139	14	a	a	DET
alkej-602	139	15	recommended	recommend	VERB
alkej-602	139	16	current	current	NOUN
alkej-602	139	17	to	to	PART
alkej-602	139	18	be	be	AUX
alkej-602	139	19	activated	activate	VERB
alkej-602	139	20	,	,	PUNCT
alkej-602	139	21	the	the	DET
alkej-602	139	22	voltage	voltage	NOUN
alkej-602	139	23	required	require	VERB
alkej-602	139	24	changes	change	NOUN
alkej-602	139	25	with	with	ADP
alkej-602	139	26	mw	mw	ADJ
alkej-602	139	27	length	length	NOUN
alkej-602	139	28	also	also	ADV
alkej-602	139	29	.	.	PUNCT
alkej-602	140	1	that	that	PRON
alkej-602	140	2	means	mean	VERB
alkej-602	140	3	a	a	DET
alkej-602	140	4	mw	mw	NOUN
alkej-602	140	5	with	with	ADP
alkej-602	140	6	a	a	DET
alkej-602	140	7	given	give	VERB
alkej-602	140	8	length	length	NOUN
alkej-602	140	9	will	will	AUX
alkej-602	140	10	contracts	contract	NOUN
alkej-602	140	11	by	by	ADP
alkej-602	140	12	a	a	DET
alkej-602	140	13	constant	constant	ADJ
alkej-602	140	14	length	length	NOUN
alkej-602	140	15	(	(	PUNCT
alkej-602	140	16	max	max	PROPN
alkej-602	140	17	.	.	PROPN
alkej-602	140	18	8	8	NUM
alkej-602	140	19	%	%	NOUN
alkej-602	140	20	of	of	ADP
alkej-602	140	21	its	its	PRON
alkej-602	140	22	original	original	ADJ
alkej-602	140	23	length	length	NOUN
alkej-602	140	24	)	)	PUNCT
alkej-602	140	25	,	,	PUNCT
alkej-602	140	26	and	and	CCONJ
alkej-602	140	27	this	this	PRON
alkej-602	140	28	is	be	AUX
alkej-602	140	29	a	a	DET
alkej-602	140	30	problem	problem	NOUN
alkej-602	140	31	appearing	appear	VERB
alkej-602	140	32	in	in	ADP
alkej-602	140	33	the	the	DET
alkej-602	140	34	control	control	NOUN
alkej-602	140	35	system	system	NOUN
alkej-602	140	36	,	,	PUNCT
alkej-602	140	37	where	where	SCONJ
alkej-602	140	38	to	to	PART
alkej-602	140	39	control	control	VERB
alkej-602	140	40	the	the	DET
alkej-602	140	41	motion	motion	NOUN
alkej-602	140	42	of	of	ADP
alkej-602	140	43	the	the	DET
alkej-602	140	44	system	system	NOUN
alkej-602	140	45	,	,	PUNCT
alkej-602	140	46	the	the	DET
alkej-602	140	47	input	input	NOUN
alkej-602	140	48	to	to	ADP
alkej-602	140	49	the	the	DET
alkej-602	140	50	actuator	actuator	NOUN
alkej-602	140	51	(	(	PUNCT
alkej-602	140	52	here	here	ADV
alkej-602	140	53	mw	mw	VERB
alkej-602	140	54	)	)	PUNCT
alkej-602	140	55	must	must	AUX
alkej-602	140	56	be	be	AUX
alkej-602	140	57	as	as	ADP
alkej-602	140	58	a	a	DET
alkej-602	140	59	parameter	parameter	NOUN
alkej-602	140	60	,	,	PUNCT
alkej-602	140	61	whereas	whereas	SCONJ
alkej-602	140	62	here	here	ADV
alkej-602	140	63	the	the	DET
alkej-602	140	64	input	input	NOUN
alkej-602	140	65	to	to	ADP
alkej-602	140	66	the	the	DET
alkej-602	140	67	mw	mw	PROPN
alkej-602	140	68	is	be	AUX
alkej-602	140	69	a	a	DET
alkej-602	140	70	constant	constant	ADJ
alkej-602	140	71	voltage	voltage	NOUN
alkej-602	140	72	(	(	PUNCT
alkej-602	140	73	the	the	DET
alkej-602	140	74	recommended	recommend	VERB
alkej-602	140	75	one	one	NOUN
alkej-602	140	76	to	to	PART
alkej-602	140	77	activate	activate	VERB
alkej-602	140	78	the	the	DET
alkej-602	140	79	mw	mw	NOUN
alkej-602	140	80	)	)	PUNCT
alkej-602	140	81	.	.	PUNCT
alkej-602	141	1	one	one	NUM
alkej-602	141	2	of	of	ADP
alkej-602	141	3	the	the	DET
alkej-602	141	4	proposed	propose	VERB
alkej-602	141	5	solutions	solution	NOUN
alkej-602	141	6	to	to	ADP
alkej-602	141	7	this	this	DET
alkej-602	141	8	problem	problem	NOUN
alkej-602	141	9	in	in	ADP
alkej-602	141	10	this	this	DET
alkej-602	141	11	research	research	NOUN
alkej-602	141	12	is	be	AUX
alkej-602	141	13	to	to	PART
alkej-602	141	14	connect	connect	VERB
alkej-602	141	15	several	several	ADJ
alkej-602	141	16	mws	mws	NOUN
alkej-602	141	17	have	have	VERB
alkej-602	141	18	the	the	DET
alkej-602	141	19	same	same	ADJ
alkej-602	141	20	length	length	NOUN
alkej-602	141	21	in	in	ADP
alkej-602	141	22	a	a	DET
alkej-602	141	23	series	series	NOUN
alkej-602	141	24	sequence	sequence	NOUN
alkej-602	141	25	and	and	CCONJ
alkej-602	141	26	separated	separate	VERB
alkej-602	141	27	electrically	electrically	ADV
alkej-602	141	28	as	as	SCONJ
alkej-602	141	29	shown	show	VERB
alkej-602	141	30	in	in	ADP
alkej-602	141	31	figure	figure	NOUN
alkej-602	141	32	[	[	X
alkej-602	141	33	11	11	NUM
alkej-602	141	34	]	]	PUNCT
alkej-602	141	35	.	.	PUNCT
alkej-602	142	1	fig	fig	NOUN
alkej-602	142	2	.	.	PUNCT
alkej-602	143	1	11	11	NUM
alkej-602	143	2	.	.	PUNCT
alkej-602	144	1	schematic	schematic	ADJ
alkej-602	144	2	of	of	ADP
alkej-602	144	3	mws	mws	NOUN
alkej-602	144	4	connection	connection	NOUN
alkej-602	144	5	in	in	ADP
alkej-602	144	6	series	series	NOUN
alkej-602	144	7	.	.	PUNCT
alkej-602	145	1	as	as	SCONJ
alkej-602	145	2	shown	show	VERB
alkej-602	145	3	from	from	ADP
alkej-602	145	4	figure	figure	NOUN
alkej-602	145	5	[	[	X
alkej-602	145	6	11	11	NUM
alkej-602	145	7	]	]	PUNCT
alkej-602	145	8	,	,	PUNCT
alkej-602	145	9	the	the	DET
alkej-602	145	10	activation	activation	NOUN
alkej-602	145	11	of	of	ADP
alkej-602	145	12	one	one	NUM
alkej-602	145	13	mw	mw	NOUN
alkej-602	145	14	will	will	AUX
alkej-602	145	15	contact	contact	VERB
alkej-602	145	16	or	or	CCONJ
alkej-602	145	17	pull	pull	VERB
alkej-602	145	18	the	the	DET
alkej-602	145	19	hand	hand	NOUN
alkej-602	145	20	with	with	ADP
alkej-602	145	21	a	a	DET
alkej-602	145	22	specific	specific	ADJ
alkej-602	145	23	length	length	NOUN
alkej-602	145	24	(	(	PUNCT
alkej-602	145	25	5	5	NUM
alkej-602	145	26	%	%	NOUN
alkej-602	145	27	of	of	ADP
alkej-602	145	28	its	its	PRON
alkej-602	145	29	length	length	NOUN
alkej-602	145	30	which	which	PRON
alkej-602	145	31	is	be	AUX
alkej-602	145	32	the	the	DET
alkej-602	145	33	recommended	recommend	VERB
alkej-602	145	34	)	)	PUNCT
alkej-602	145	35	.	.	PUNCT
alkej-602	146	1	to	to	PART
alkej-602	146	2	duplicate	duplicate	VERB
alkej-602	146	3	contraction	contraction	NOUN
alkej-602	146	4	,	,	PUNCT
alkej-602	146	5	that	that	PRON
alkej-602	146	6	needs	need	VERB
alkej-602	146	7	activate	activate	VERB
alkej-602	146	8	two	two	NUM
alkej-602	146	9	mws	mws	NOUN
alkej-602	146	10	and	and	CCONJ
alkej-602	146	11	so	so	ADV
alkej-602	146	12	on	on	ADV
alkej-602	146	13	.	.	PUNCT
alkej-602	147	1	to	to	PART
alkej-602	147	2	increase	increase	VERB
alkej-602	147	3	the	the	DET
alkej-602	147	4	accuracy	accuracy	NOUN
alkej-602	147	5	and	and	CCONJ
alkej-602	147	6	smoothness	smoothness	NOUN
alkej-602	147	7	of	of	ADP
alkej-602	147	8	motion	motion	NOUN
alkej-602	147	9	,	,	PUNCT
alkej-602	147	10	large	large	ADJ
alkej-602	147	11	number	number	NOUN
alkej-602	147	12	of	of	ADP
alkej-602	147	13	mws	mws	NOUN
alkej-602	147	14	with	with	ADP
alkej-602	147	15	respectively	respectively	ADV
alkej-602	147	16	small	small	ADJ
alkej-602	147	17	length	length	NOUN
alkej-602	147	18	will	will	AUX
alkej-602	147	19	be	be	AUX
alkej-602	147	20	required	require	VERB
alkej-602	147	21	.	.	PUNCT
alkej-602	148	1	as	as	ADP
alkej-602	148	2	a	a	DET
alkej-602	148	3	case	case	NOUN
alkej-602	148	4	study	study	NOUN
alkej-602	148	5	,	,	PUNCT
alkej-602	148	6	four	four	NUM
alkej-602	148	7	mws	mws	NOUN
alkej-602	148	8	with	with	ADP
alkej-602	148	9	length	length	NOUN
alkej-602	148	10	20	20	NUM
alkej-602	148	11	cm	cm	NOUN
alkej-602	148	12	each	each	PRON
alkej-602	148	13	and	and	CCONJ
alkej-602	148	14	of	of	ADP
alkej-602	148	15	the	the	DET
alkej-602	148	16	same	same	ADJ
alkej-602	148	17	diameter	diameter	NOUN
alkej-602	148	18	(	(	PUNCT
alkej-602	148	19	100	100	NUM
alkej-602	148	20	micrometer	micrometer	NOUN
alkej-602	148	21	)	)	PUNCT
alkej-602	148	22	used	use	VERB
alkej-602	148	23	to	to	PART
alkej-602	148	24	control	control	VERB
alkej-602	148	25	the	the	DET
alkej-602	148	26	motion	motion	NOUN
alkej-602	148	27	of	of	ADP
alkej-602	148	28	the	the	DET
alkej-602	148	29	gripper	gripper	NOUN
alkej-602	148	30	showed	show	VERB
alkej-602	148	31	in	in	ADP
alkej-602	148	32	figure	figure	NOUN
alkej-602	148	33	[	[	X
alkej-602	148	34	12	12	NUM
alkej-602	148	35	]	]	PUNCT
alkej-602	148	36	.	.	PUNCT
alkej-602	149	1	fig	fig	NOUN
alkej-602	149	2	.	.	PUNCT
alkej-602	150	1	12	12	NUM
alkej-602	150	2	.	.	PUNCT
alkej-602	151	1	schematic	schematic	ADJ
alkej-602	151	2	of	of	ADP
alkej-602	151	3	gripper	gripper	NOUN
alkej-602	151	4	controlled	control	VERB
alkej-602	151	5	by	by	ADP
alkej-602	151	6	mws	mws	NOUN
alkej-602	151	7	actuators	actuator	NOUN
alkej-602	151	8	.	.	PUNCT
alkej-602	152	1	from	from	ADP
alkej-602	152	2	figure	figure	NOUN
alkej-602	152	3	[	[	X
alkej-602	152	4	12	12	NUM
alkej-602	152	5	]	]	PUNCT
alkej-602	152	6	the	the	DET
alkej-602	152	7	relationship	relationship	NOUN
alkej-602	152	8	between	between	ADP
alkej-602	152	9	the	the	DET
alkej-602	152	10	generated	generate	VERB
alkej-602	152	11	distance	distance	NOUN
alkej-602	152	12	(	(	PUNCT
alkej-602	152	13	d	d	NOUN
alkej-602	152	14	)	)	PUNCT
alkej-602	152	15	due	due	ADP
alkej-602	152	16	to	to	ADP
alkej-602	152	17	mws	mws	NOUN
alkej-602	152	18	activation	activation	NOUN
alkej-602	152	19	and	and	CCONJ
alkej-602	152	20	the	the	DET
alkej-602	152	21	gripper	gripper	NOUN
alkej-602	152	22	head	head	NOUN
alkej-602	152	23	(	(	PUNCT
alkej-602	152	24	h	h	NOUN
alkej-602	152	25	)	)	PUNCT
alkej-602	152	26	is	be	AUX
alkej-602	152	27	calculated	calculate	VERB
alkej-602	152	28	practically	practically	ADV
alkej-602	152	29	and	and	CCONJ
alkej-602	152	30	gives	give	VERB
alkej-602	152	31	the	the	DET
alkej-602	152	32	graphical	graphical	ADJ
alkej-602	152	33	relation	relation	NOUN
alkej-602	152	34	as	as	SCONJ
alkej-602	152	35	shown	show	VERB
alkej-602	152	36	in	in	ADP
alkej-602	152	37	figure	figure	NOUN
alkej-602	152	38	[	[	X
alkej-602	152	39	13	13	NUM
alkej-602	152	40	]	]	PUNCT
alkej-602	152	41	.	.	PUNCT
alkej-602	153	1	fig	fig	NOUN
alkej-602	153	2	.	.	PUNCT
alkej-602	154	1	13	13	NUM
alkej-602	154	2	.	.	PUNCT
alkej-602	154	3	graphical	graphical	ADJ
alkej-602	154	4	relationshp	relationshp	NOUN
alkej-602	154	5	between	between	ADP
alkej-602	154	6	d	d	PROPN
alkej-602	154	7	and	and	CCONJ
alkej-602	154	8	h	h	NOUN
alkej-602	154	9	of	of	ADP
alkej-602	154	10	fig	fig	NOUN
alkej-602	154	11	.	.	PUNCT
alkej-602	155	1	12	12	NUM
alkej-602	155	2	.	.	PUNCT
alkej-602	156	1	the	the	DET
alkej-602	156	2	relation	relation	NOUN
alkej-602	156	3	mathematically	mathematically	ADV
alkej-602	156	4	is	be	AUX
alkej-602	156	5	:	:	PUNCT
alkej-602	156	6	h=	h=	PROPN
alkej-602	156	7	124d	124d	NUM
alkej-602	156	8	...	...	PUNCT
alkej-602	156	9	(	(	PUNCT
alkej-602	156	10	1	1	X
alkej-602	156	11	)	)	PUNCT
alkej-602	156	12	the	the	DET
alkej-602	156	13	value	value	NOUN
alkej-602	156	14	of	of	ADP
alkej-602	156	15	(	(	PUNCT
alkej-602	156	16	d	d	NOUN
alkej-602	156	17	)	)	PUNCT
alkej-602	156	18	depends	depend	VERB
alkej-602	156	19	directly	directly	ADV
alkej-602	156	20	on	on	ADP
alkej-602	156	21	the	the	DET
alkej-602	156	22	number	number	NOUN
alkej-602	156	23	of	of	ADP
alkej-602	156	24	activated	activate	VERB
alkej-602	156	25	mws	mws	NOUN
alkej-602	156	26	,	,	PUNCT
alkej-602	156	27	where	where	SCONJ
alkej-602	156	28	activation	activation	NOUN
alkej-602	156	29	one	one	NUM
alkej-602	156	30	mw	mw	NOUN
alkej-602	156	31	of	of	ADP
alkej-602	156	32	20	20	NUM
alkej-602	156	33	cm	cm	NOUN
alkej-602	156	34	length	length	NOUN
alkej-602	156	35	will	will	AUX
alkej-602	156	36	generates	generate	VERB
alkej-602	156	37	distance	distance	NOUN
alkej-602	156	38	of	of	ADP
alkej-602	156	39	1	1	NUM
alkej-602	156	40	cm	cm	NOUN
alkej-602	156	41	(	(	PUNCT
alkej-602	156	42	5	5	NUM
alkej-602	156	43	%	%	NOUN
alkej-602	156	44	of	of	ADP
alkej-602	156	45	mw	mw	PROPN
alkej-602	156	46	length	length	NOUN
alkej-602	156	47	)	)	PUNCT
alkej-602	156	48	,	,	PUNCT
alkej-602	156	49	and	and	CCONJ
alkej-602	156	50	as	as	SCONJ
alkej-602	156	51	shown	show	VERB
alkej-602	156	52	in	in	ADP
alkej-602	156	53	figure	figure	NOUN
alkej-602	156	54	[	[	X
alkej-602	156	55	12	12	NUM
alkej-602	156	56	]	]	PUNCT
alkej-602	156	57	the	the	DET
alkej-602	156	58	gripper	gripper	NOUN
alkej-602	156	59	head	head	NOUN
alkej-602	156	60	will	will	AUX
alkej-602	156	61	reduces	reduce	VERB
alkej-602	156	62	to	to	ADP
alkej-602	156	63	8	8	NUM
alkej-602	156	64	cm	cm	NOUN
alkej-602	156	65	.	.	PUNCT
alkej-602	157	1	since	since	SCONJ
alkej-602	157	2	the	the	DET
alkej-602	157	3	motion	motion	NOUN
alkej-602	157	4	of	of	ADP
alkej-602	157	5	each	each	DET
alkej-602	157	6	mw	mw	NOUN
alkej-602	157	7	is	be	AUX
alkej-602	157	8	constant	constant	ADJ
alkej-602	157	9	,	,	PUNCT
alkej-602	157	10	then	then	ADV
alkej-602	157	11	the	the	DET
alkej-602	157	12	control	control	NOUN
alkej-602	157	13	strategy	strategy	NOUN
alkej-602	157	14	that	that	PRON
alkej-602	157	15	established	establish	VERB
alkej-602	157	16	here	here	ADV
alkej-602	157	17	is	be	AUX
alkej-602	157	18	by	by	ADP
alkej-602	157	19	using	use	VERB
alkej-602	157	20	on	on	ADP
alkej-602	157	21	-	-	PUNCT
alkej-602	157	22	off	off	ADP
alkej-602	157	23	algorithm	algorithm	NOUN
alkej-602	157	24	,	,	PUNCT
alkej-602	157	25	and	and	CCONJ
alkej-602	157	26	so	so	ADV
alkej-602	157	27	practical	practical	ADJ
alkej-602	157	28	&	&	CCONJ
alkej-602	157	29	theoretical	theoretical	ADJ
alkej-602	157	30	results	result	NOUN
alkej-602	157	31	took	take	VERB
alkej-602	157	32	to	to	ADP
alkej-602	157	33	this	this	DET
alkej-602	157	34	algorithm	algorithm	NOUN
alkej-602	157	35	which	which	PRON
alkej-602	157	36	is	be	AUX
alkej-602	157	37	explained	explain	VERB
alkej-602	157	38	in	in	ADP
alkej-602	157	39	table	table	NOUN
alkej-602	157	40	[	[	X
alkej-602	157	41	1	1	NUM
alkej-602	157	42	]	]	PUNCT
alkej-602	157	43	.	.	PUNCT
alkej-602	158	1	a.	a.	PROPN
alkej-602	158	2	salam	salam	PROPN
alkej-602	158	3	al	al	PROPN
alkej-602	158	4	-	-	PUNCT
alkej-602	158	5	ammri	ammri	PROPN
alkej-602	158	6	al	al	PROPN
alkej-602	158	7	-	-	PUNCT
alkej-602	158	8	khwarizmi	khwarizmi	PROPN
alkej-602	158	9	engineering	engineering	NOUN
alkej-602	158	10	journal	journal	PROPN
alkej-602	158	11	,	,	PUNCT
alkej-602	158	12	vol	vol	NOUN
alkej-602	158	13	.	.	PROPN
alkej-602	158	14	4	4	NUM
alkej-602	158	15	,	,	PUNCT
alkej-602	158	16	no	no	INTJ
alkej-602	158	17	.	.	NOUN
alkej-602	158	18	3	3	NUM
alkej-602	158	19	,	,	PUNCT
alkej-602	158	20	pp	pp	ADV
alkej-602	158	21	128	128	NUM
alkej-602	158	22	-	-	SYM
alkej-602	158	23	137	137	NUM
alkej-602	158	24	(	(	PUNCT
alkej-602	158	25	2008	2008	NUM
alkej-602	158	26	)	)	PUNCT
alkej-602	158	27	134	134	NUM
alkej-602	158	28	table	table	NOUN
alkej-602	158	29	1	1	NUM
alkej-602	158	30	practical	practical	ADJ
alkej-602	158	31	and	and	CCONJ
alkej-602	158	32	theoretical	theoretical	ADJ
alkej-602	158	33	results	result	NOUN
alkej-602	158	34	of	of	ADP
alkej-602	158	35	controlling	control	VERB
alkej-602	158	36	gripper	gripper	NOUN
alkej-602	158	37	catching	catching	NOUN
alkej-602	158	38	.	.	PUNCT
alkej-602	159	1	mws	mws	PROPN
alkej-602	159	2	theoretical	theoretical	ADJ
alkej-602	159	3	experimental	experimental	PROPN
alkej-602	159	4	d	d	PROPN
alkej-602	159	5	(	(	PUNCT
alkej-602	159	6	cm	cm	NOUN
alkej-602	159	7	)	)	PUNCT
alkej-602	159	8	h	h	NOUN
alkej-602	159	9	(	(	PUNCT
alkej-602	159	10	cm	cm	NOUN
alkej-602	159	11	)	)	PUNCT
alkej-602	159	12	d	d	NOUN
alkej-602	159	13	(	(	PUNCT
alkej-602	159	14	cm	cm	NOUN
alkej-602	159	15	)	)	PUNCT
alkej-602	159	16	h	h	NOUN
alkej-602	159	17	(	(	PUNCT
alkej-602	159	18	cm	cm	NOUN
alkej-602	159	19	)	)	PUNCT
alkej-602	159	20	all	all	DET
alkej-602	159	21	mws	mws	NOUN
alkej-602	159	22	=	=	NOUN
alkej-602	159	23	off	off	ADP
alkej-602	159	24	0	0	NUM
alkej-602	159	25	12	12	NUM
alkej-602	159	26	0	0	NUM
alkej-602	159	27	12	12	NUM
alkej-602	159	28	mw1	mw1	NOUN
alkej-602	159	29	=	=	SYM
alkej-602	159	30	on	on	ADP
alkej-602	159	31	,	,	PUNCT
alkej-602	159	32	others	other	NOUN
alkej-602	159	33	=	=	NOUN
alkej-602	159	34	off	off	ADP
alkej-602	159	35	1	1	NUM
alkej-602	159	36	8	8	NUM
alkej-602	159	37	0.5	0.5	NUM
alkej-602	159	38	10	10	NUM
alkej-602	159	39	mw1	mw1	NOUN
alkej-602	159	40	=	=	SYM
alkej-602	159	41	mw2	mw2	NOUN
alkej-602	159	42	=	=	NOUN
alkej-602	159	43	o	o	NOUN
alkej-602	159	44	n	n	NUM
alkej-602	159	45	2	2	NUM
alkej-602	159	46	4	4	NUM
alkej-602	159	47	1.75	1.75	NUM
alkej-602	159	48	5	5	NUM
alkej-602	159	49	mw1	mw1	NOUN
alkej-602	159	50	=	=	SYM
alkej-602	159	51	mw2	mw2	NOUN
alkej-602	159	52	=	=	PROPN
alkej-602	159	53	m	m	PROPN
alkej-602	159	54	w3	w3	NOUN
alkej-602	159	55	=	=	NOUN
alkej-602	159	56	on	on	ADP
alkej-602	159	57	3	3	NUM
alkej-602	159	58	0	0	NUM
alkej-602	159	59	2.75	2.75	NUM
alkej-602	159	60	1.08	1.08	NUM
alkej-602	159	61	all	all	DET
alkej-602	159	62	mws	mws	NOUN
alkej-602	159	63	=	=	PROPN
alkej-602	159	64	on	on	ADP
alkej-602	159	65	4	4	NUM
alkej-602	159	66	0	0	NUM
alkej-602	159	67	4	4	NUM
alkej-602	159	68	0	0	NUM
alkej-602	159	69	from	from	ADP
alkej-602	159	70	table	table	NOUN
alkej-602	159	71	[	[	X
alkej-602	159	72	1	1	NUM
alkej-602	159	73	]	]	PUNCT
alkej-602	159	74	,	,	PUNCT
alkej-602	159	75	it	it	PRON
alkej-602	159	76	is	be	AUX
alkej-602	159	77	clearly	clearly	ADV
alkej-602	159	78	seen	see	VERB
alkej-602	159	79	that	that	SCONJ
alkej-602	159	80	there	there	PRON
alkej-602	159	81	is	be	VERB
alkej-602	159	82	a	a	DET
alkej-602	159	83	difference	difference	NOUN
alkej-602	159	84	between	between	ADP
alkej-602	159	85	theoretical	theoretical	ADJ
alkej-602	159	86	and	and	CCONJ
alkej-602	159	87	practical	practical	ADJ
alkej-602	159	88	results	result	NOUN
alkej-602	159	89	,	,	PUNCT
alkej-602	159	90	and	and	CCONJ
alkej-602	159	91	that	that	DET
alkej-602	159	92	difference	difference	NOUN
alkej-602	159	93	starts	start	VERB
alkej-602	159	94	larger	large	ADJ
alkej-602	159	95	,	,	PUNCT
alkej-602	159	96	then	then	ADV
alkej-602	159	97	smaller	small	ADJ
alkej-602	159	98	and	and	CCONJ
alkej-602	159	99	finally	finally	ADV
alkej-602	159	100	die	die	VERB
alkej-602	159	101	out	out	ADP
alkej-602	159	102	.	.	PUNCT
alkej-602	160	1	this	this	PRON
alkej-602	160	2	because	because	SCONJ
alkej-602	160	3	the	the	DET
alkej-602	160	4	activation	activation	NOUN
alkej-602	160	5	of	of	ADP
alkej-602	160	6	one	one	NUM
alkej-602	160	7	mw	mw	NOUN
alkej-602	160	8	will	will	AUX
alkej-602	160	9	affect	affect	VERB
alkej-602	160	10	the	the	DET
alkej-602	160	11	lengths	length	NOUN
alkej-602	160	12	of	of	ADP
alkej-602	160	13	others	other	NOUN
alkej-602	160	14	not	not	PART
alkej-602	160	15	activated	activate	VERB
alkej-602	160	16	mws	mws	NOUN
alkej-602	160	17	,	,	PUNCT
alkej-602	160	18	and	and	CCONJ
alkej-602	160	19	the	the	DET
alkej-602	160	20	effect	effect	NOUN
alkej-602	160	21	reduced	reduce	VERB
alkej-602	160	22	each	each	DET
alkej-602	160	23	time	time	NOUN
alkej-602	160	24	increasing	increase	VERB
alkej-602	160	25	the	the	DET
alkej-602	160	26	number	number	NOUN
alkej-602	160	27	of	of	ADP
alkej-602	160	28	activated	activate	VERB
alkej-602	160	29	mws	mws	NOUN
alkej-602	160	30	.	.	PUNCT
alkej-602	161	1	note	note	VERB
alkej-602	161	2	that	that	SCONJ
alkej-602	161	3	this	this	DET
alkej-602	161	4	problem	problem	NOUN
alkej-602	161	5	may	may	AUX
alkej-602	161	6	be	be	AUX
alkej-602	161	7	possible	possible	ADJ
alkej-602	161	8	prevented	prevent	VERB
alkej-602	161	9	by	by	ADP
alkej-602	161	10	putting	put	VERB
alkej-602	161	11	stops	stop	NOUN
alkej-602	161	12	to	to	ADP
alkej-602	161	13	each	each	DET
alkej-602	161	14	mw	mw	NOUN
alkej-602	161	15	extreme	extreme	NOUN
alkej-602	161	16	that	that	PRON
alkej-602	161	17	is	be	AUX
alkej-602	161	18	nearer	near	ADJ
alkej-602	161	19	to	to	ADP
alkej-602	161	20	the	the	DET
alkej-602	161	21	gripper	gripper	NOUN
alkej-602	161	22	side	side	NOUN
alkej-602	161	23	.	.	PUNCT
alkej-602	162	1	there	there	PRON
alkej-602	162	2	are	be	VERB
alkej-602	162	3	other	other	ADJ
alkej-602	162	4	solutions	solution	NOUN
alkej-602	162	5	proposed	propose	VERB
alkej-602	162	6	and	and	CCONJ
alkej-602	162	7	may	may	AUX
alkej-602	162	8	be	be	AUX
alkej-602	162	9	used	use	VERB
alkej-602	162	10	,	,	PUNCT
alkej-602	162	11	like	like	ADP
alkej-602	162	12	arranging	arrange	VERB
alkej-602	162	13	all	all	DET
alkej-602	162	14	mws	mws	NOUN
alkej-602	162	15	in	in	ADP
alkej-602	162	16	parallel	parallel	ADJ
alkej-602	162	17	form	form	NOUN
alkej-602	162	18	with	with	ADP
alkej-602	162	19	different	different	ADJ
alkej-602	162	20	length	length	NOUN
alkej-602	162	21	or	or	CCONJ
alkej-602	162	22	arranging	arrange	VERB
alkej-602	162	23	them	they	PRON
alkej-602	162	24	in	in	ADP
alkej-602	162	25	different	different	ADJ
alkej-602	162	26	angles	angle	NOUN
alkej-602	162	27	with	with	ADP
alkej-602	162	28	same	same	ADJ
alkej-602	162	29	lengths	length	NOUN
alkej-602	162	30	and	and	CCONJ
alkej-602	162	31	other	other	ADJ
alkej-602	162	32	more	more	ADJ
alkej-602	162	33	depending	depend	VERB
alkej-602	162	34	on	on	ADP
alkej-602	162	35	the	the	DET
alkej-602	162	36	idea	idea	NOUN
alkej-602	162	37	researchers	researcher	NOUN
alkej-602	162	38	may	may	AUX
alkej-602	162	39	have	have	VERB
alkej-602	162	40	and	and	CCONJ
alkej-602	162	41	that	that	PRON
alkej-602	162	42	of	of	ADP
alkej-602	162	43	course	course	NOUN
alkej-602	162	44	depends	depend	VERB
alkej-602	162	45	on	on	ADP
alkej-602	162	46	the	the	DET
alkej-602	162	47	common	common	ADJ
alkej-602	162	48	sense	sense	NOUN
alkej-602	162	49	not	not	PART
alkej-602	162	50	a	a	DET
alkej-602	162	51	general	general	ADJ
alkej-602	162	52	way	way	NOUN
alkej-602	162	53	.	.	PUNCT
alkej-602	163	1	it	it	PRON
alkej-602	163	2	is	be	AUX
alkej-602	163	3	required	require	VERB
alkej-602	163	4	also	also	ADV
alkej-602	163	5	in	in	ADP
alkej-602	163	6	this	this	DET
alkej-602	163	7	research	research	NOUN
alkej-602	163	8	to	to	PART
alkej-602	163	9	make	make	VERB
alkej-602	163	10	the	the	DET
alkej-602	163	11	motion	motion	NOUN
alkej-602	163	12	of	of	ADP
alkej-602	163	13	the	the	DET
alkej-602	163	14	proposed	propose	VERB
alkej-602	163	15	hand	hand	NOUN
alkej-602	163	16	imitate	imitate	VERB
alkej-602	163	17	the	the	DET
alkej-602	163	18	motion	motion	NOUN
alkej-602	163	19	of	of	ADP
alkej-602	163	20	human	human	ADJ
alkej-602	163	21	hand	hand	NOUN
alkej-602	163	22	(	(	PUNCT
alkej-602	163	23	i.e.	i.e.	X
alkej-602	163	24	to	to	PART
alkej-602	163	25	be	be	AUX
alkej-602	163	26	what	what	PRON
alkej-602	163	27	attributed	attribute	VERB
alkej-602	163	28	{	{	PUNCT
alkej-602	163	29	smart	smart	ADJ
alkej-602	163	30	hand	hand	NOUN
alkej-602	163	31	}	}	PUNCT
alkej-602	163	32	is	be	AUX
alkej-602	163	33	)	)	PUNCT
alkej-602	163	34	,	,	PUNCT
alkej-602	163	35	and	and	CCONJ
alkej-602	163	36	this	this	PRON
alkej-602	163	37	is	be	AUX
alkej-602	163	38	possible	possible	ADJ
alkej-602	163	39	through	through	ADP
alkej-602	163	40	making	make	VERB
alkej-602	163	41	the	the	DET
alkej-602	163	42	following	follow	VERB
alkej-602	163	43	process	process	NOUN
alkej-602	163	44	,	,	PUNCT
alkej-602	163	45	which	which	PRON
alkej-602	163	46	had	have	AUX
alkej-602	163	47	been	be	AUX
alkej-602	163	48	done	do	VERB
alkej-602	163	49	in	in	ADP
alkej-602	163	50	this	this	DET
alkej-602	163	51	research	research	NOUN
alkej-602	163	52	:	:	PUNCT
alkej-602	163	53	1	1	X
alkej-602	163	54	.	.	X
alkej-602	163	55	taking	take	VERB
alkej-602	163	56	a	a	DET
alkej-602	163	57	variable	variable	ADJ
alkej-602	163	58	resistance	resistance	NOUN
alkej-602	163	59	(	(	PUNCT
alkej-602	163	60	or	or	CCONJ
alkej-602	163	61	pot	pot	NOUN
alkej-602	163	62	)	)	PUNCT
alkej-602	163	63	.	.	PUNCT
alkej-602	164	1	this	this	DET
alkej-602	164	2	potentiometer	potentiometer	NOUN
alkej-602	164	3	assembled	assemble	VERB
alkej-602	164	4	by	by	ADP
alkej-602	164	5	a	a	DET
alkej-602	164	6	specific	specific	ADJ
alkej-602	164	7	mean	mean	NOUN
alkej-602	164	8	with	with	ADP
alkej-602	164	9	human	human	ADJ
alkej-602	164	10	hand	hand	NOUN
alkej-602	164	11	as	as	SCONJ
alkej-602	164	12	shown	show	VERB
alkej-602	164	13	in	in	ADP
alkej-602	164	14	figure	figure	NOUN
alkej-602	164	15	[	[	X
alkej-602	164	16	14	14	NUM
alkej-602	164	17	]	]	SYM
alkej-602	164	18	.	.	PUNCT
alkej-602	165	1	2	2	X
alkej-602	165	2	.	.	X
alkej-602	165	3	the	the	DET
alkej-602	165	4	output	output	NOUN
alkej-602	165	5	voltage	voltage	NOUN
alkej-602	165	6	of	of	ADP
alkej-602	165	7	the	the	DET
alkej-602	165	8	pot	pot	NOUN
alkej-602	165	9	is	be	AUX
alkej-602	165	10	changed	change	VERB
alkej-602	165	11	with	with	ADP
alkej-602	165	12	human	human	ADJ
alkej-602	165	13	hand	hand	NOUN
alkej-602	165	14	motion	motion	NOUN
alkej-602	165	15	.	.	PUNCT
alkej-602	166	1	since	since	SCONJ
alkej-602	166	2	the	the	DET
alkej-602	166	3	experiment	experiment	NOUN
alkej-602	166	4	of	of	ADP
alkej-602	166	5	the	the	DET
alkej-602	166	6	mentioned	mention	VERB
alkej-602	166	7	study	study	NOUN
alkej-602	166	8	consists	consist	VERB
alkej-602	166	9	of	of	ADP
alkej-602	166	10	four	four	NUM
alkej-602	166	11	mws	mws	NOUN
alkej-602	166	12	of	of	ADP
alkej-602	166	13	20	20	NUM
alkej-602	166	14	cm	cm	NOUN
alkej-602	166	15	length	length	NOUN
alkej-602	166	16	each(i.e	each(i.e	PROPN
alkej-602	166	17	.	.	PUNCT
alkej-602	167	1	four	four	NUM
alkej-602	167	2	separated	separate	VERB
alkej-602	167	3	motions	motion	NOUN
alkej-602	167	4	)	)	PUNCT
alkej-602	167	5	,	,	PUNCT
alkej-602	167	6	therefore	therefore	ADV
alkej-602	167	7	four	four	NUM
alkej-602	167	8	values	value	NOUN
alkej-602	167	9	of	of	ADP
alkej-602	167	10	output	output	NOUN
alkej-602	167	11	voltage	voltage	NOUN
alkej-602	167	12	which	which	PRON
alkej-602	167	13	is	be	AUX
alkej-602	167	14	related	relate	VERB
alkej-602	167	15	to	to	ADP
alkej-602	167	16	four	four	NUM
alkej-602	167	17	constant	constant	ADJ
alkej-602	167	18	motions	motion	NOUN
alkej-602	167	19	of	of	ADP
alkej-602	167	20	human	human	ADJ
alkej-602	167	21	hand	hand	NOUN
alkej-602	167	22	must	must	AUX
alkej-602	167	23	be	be	AUX
alkej-602	167	24	considered	consider	VERB
alkej-602	167	25	here	here	ADV
alkej-602	167	26	.	.	PUNCT
alkej-602	168	1	another	another	DET
alkej-602	168	2	think	think	VERB
alkej-602	168	3	must	must	AUX
alkej-602	168	4	be	be	AUX
alkej-602	168	5	considered	consider	VERB
alkej-602	168	6	here	here	ADV
alkej-602	168	7	,	,	PUNCT
alkej-602	168	8	is	be	AUX
alkej-602	168	9	that	that	SCONJ
alkej-602	168	10	the	the	DET
alkej-602	168	11	imitation	imitation	NOUN
alkej-602	168	12	must	must	AUX
alkej-602	168	13	as	as	ADV
alkej-602	168	14	closed	close	VERB
alkej-602	168	15	to	to	ADP
alkej-602	168	16	human	human	ADJ
alkej-602	168	17	hand	hand	NOUN
alkej-602	168	18	as	as	ADP
alkej-602	168	19	possible	possible	ADJ
alkej-602	168	20	.	.	PUNCT
alkej-602	169	1	from	from	ADP
alkej-602	169	2	table	table	NOUN
alkej-602	169	3	[	[	X
alkej-602	169	4	1	1	NUM
alkej-602	169	5	]	]	PUNCT
alkej-602	169	6	,	,	PUNCT
alkej-602	169	7	since	since	SCONJ
alkej-602	169	8	practical	practical	ADJ
alkej-602	169	9	results	result	NOUN
alkej-602	169	10	of	of	ADP
alkej-602	169	11	gripper	gripper	NOUN
alkej-602	169	12	head	head	NOUN
alkej-602	169	13	is	be	AUX
alkej-602	169	14	different	different	ADJ
alkej-602	169	15	from	from	ADP
alkej-602	169	16	theoretical	theoretical	ADJ
alkej-602	169	17	;	;	PUNCT
alkej-602	169	18	therefore	therefore	ADV
alkej-602	169	19	the	the	DET
alkej-602	169	20	human	human	ADJ
alkej-602	169	21	hand	hand	NOUN
alkej-602	169	22	head	head	NOUN
alkej-602	169	23	must	must	AUX
alkej-602	169	24	be	be	AUX
alkej-602	169	25	similar	similar	ADJ
alkej-602	169	26	to	to	ADP
alkej-602	169	27	practical	practical	ADJ
alkej-602	169	28	values	value	NOUN
alkej-602	169	29	of	of	ADP
alkej-602	169	30	gripper	gripper	NOUN
alkej-602	169	31	head	head	NOUN
alkej-602	169	32	.	.	PUNCT
alkej-602	170	1	so	so	ADV
alkej-602	170	2	the	the	DET
alkej-602	170	3	values	value	NOUN
alkej-602	170	4	of	of	ADP
alkej-602	170	5	the	the	DET
alkej-602	170	6	potentiometer	potentiometer	NOUN
alkej-602	170	7	output	output	NOUN
alkej-602	170	8	selected	select	VERB
alkej-602	170	9	as	as	SCONJ
alkej-602	170	10	shown	show	VERB
alkej-602	170	11	in	in	ADP
alkej-602	170	12	table	table	NOUN
alkej-602	170	13	[	[	X
alkej-602	170	14	2	2	NUM
alkej-602	170	15	]	]	PUNCT
alkej-602	170	16	.	.	PUNCT
alkej-602	171	1	fig	fig	NOUN
alkej-602	171	2	.	.	PUNCT
alkej-602	172	1	14	14	NUM
alkej-602	172	2	.	.	PUNCT
alkej-602	173	1	a	a	DET
alkej-602	173	2	human	human	ADJ
alkej-602	173	3	hand	hand	NOUN
alkej-602	173	4	composed	compose	VERB
alkej-602	173	5	with	with	ADP
alkej-602	173	6	a	a	DET
alkej-602	173	7	potentiometer	potentiometer	NOUN
alkej-602	173	8	.	.	PUNCT
alkej-602	174	1	table	table	NOUN
alkej-602	174	2	2	2	NUM
alkej-602	174	3	selection	selection	NOUN
alkej-602	174	4	of	of	ADP
alkej-602	174	5	specific	specific	ADJ
alkej-602	174	6	values	value	NOUN
alkej-602	174	7	of	of	ADP
alkej-602	174	8	pot	pot	NOUN
alkej-602	174	9	o	o	NOUN
alkej-602	174	10	/	/	SYM
alkej-602	174	11	p	p	NOUN
alkej-602	174	12	in	in	ADP
alkej-602	174	13	hexadecimal	hexadecimal	ADJ
alkej-602	174	14	exp	exp	NOUN
alkej-602	174	15	gripper	gripper	NOUN
alkej-602	174	16	h	h	NOUN
alkej-602	174	17	(	(	PUNCT
alkej-602	174	18	cm	cm	NOUN
alkej-602	174	19	)	)	PUNCT
alkej-602	174	20	h	h	NOUN
alkej-602	174	21	of	of	ADP
alkej-602	174	22	human	human	ADJ
alkej-602	174	23	hand	hand	NOUN
alkej-602	174	24	potentiometer	potentiometer	NOUN
alkej-602	174	25	output	output	NOUN
alkej-602	174	26	voltage	voltage	NOUN
alkej-602	174	27	(	(	PUNCT
alkej-602	174	28	hexa	hexa	NOUN
alkej-602	174	29	)	)	PUNCT
alkej-602	174	30	12	12	NUM
alkej-602	175	1	12	12	NUM
alkej-602	175	2	00	00	NUM
alkej-602	175	3	10	10	NUM
alkej-602	175	4	10	10	NUM
alkej-602	175	5	07	07	NUM
alkej-602	175	6	5	5	NUM
alkej-602	175	7	5	5	NUM
alkej-602	175	8	1f	1f	NUM
alkej-602	175	9	1.08	1.08	NUM
alkej-602	175	10	1.08	1.08	NUM
alkej-602	175	11	3f	3f	PROPN
alkej-602	175	12	0	0	NUM
alkej-602	175	13	0	0	NUM
alkej-602	176	1	ff	ff	NOUN
alkej-602	176	2	from	from	ADP
alkej-602	176	3	table	table	NOUN
alkej-602	176	4	[	[	X
alkej-602	176	5	2	2	NUM
alkej-602	176	6	]	]	PUNCT
alkej-602	176	7	,	,	PUNCT
alkej-602	176	8	the	the	DET
alkej-602	176	9	values	value	NOUN
alkej-602	176	10	of	of	ADP
alkej-602	176	11	the	the	DET
alkej-602	176	12	potentiometer	potentiometer	NOUN
alkej-602	176	13	are	be	AUX
alkej-602	176	14	taken	take	VERB
alkej-602	176	15	in	in	ADP
alkej-602	176	16	hexadecimal	hexadecimal	ADJ
alkej-602	176	17	because	because	SCONJ
alkej-602	176	18	it	it	PRON
alkej-602	176	19	is	be	AUX
alkej-602	176	20	the	the	DET
alkej-602	176	21	values	value	NOUN
alkej-602	176	22	that	that	PRON
alkej-602	176	23	are	be	AUX
alkej-602	176	24	dealt	deal	VERB
alkej-602	176	25	here	here	ADV
alkej-602	176	26	when	when	SCONJ
alkej-602	176	27	talking	talk	VERB
alkej-602	176	28	about	about	ADP
alkej-602	176	29	control	control	NOUN
alkej-602	176	30	as	as	SCONJ
alkej-602	176	31	will	will	AUX
alkej-602	176	32	be	be	AUX
alkej-602	176	33	show	show	NOUN
alkej-602	176	34	.	.	PUNCT
alkej-602	177	1	and	and	CCONJ
alkej-602	177	2	this	this	DET
alkej-602	177	3	values	value	NOUN
alkej-602	177	4	are	be	AUX
alkej-602	177	5	took	take	VERB
alkej-602	177	6	with	with	ADP
alkej-602	177	7	respect	respect	NOUN
alkej-602	177	8	to	to	ADP
alkej-602	177	9	the	the	DET
alkej-602	177	10	human	human	ADJ
alkej-602	177	11	hand	hand	NOUN
alkej-602	177	12	head	head	NOUN
alkej-602	177	13	practically	practically	ADV
alkej-602	177	14	when	when	SCONJ
alkej-602	177	15	the	the	DET
alkej-602	177	16	output	output	NOUN
alkej-602	177	17	of	of	ADP
alkej-602	177	18	the	the	DET
alkej-602	177	19	pot	pot	NOUN
alkej-602	177	20	connected	connect	VERB
alkej-602	177	21	directly	directly	ADV
alkej-602	177	22	to	to	ADP
alkej-602	177	23	the	the	DET
alkej-602	177	24	adc0808	adc0808	NOUN
alkej-602	177	25	(	(	PUNCT
alkej-602	177	26	analog	analog	NOUN
alkej-602	177	27	-	-	PUNCT
alkej-602	177	28	to	to	ADP
alkej-602	177	29	-digital	-digital	ADJ
alkej-602	177	30	converter	converter	NOUN
alkej-602	177	31	)	)	PUNCT
alkej-602	177	32	,	,	PUNCT
alkej-602	177	33	which	which	PRON
alkej-602	177	34	has	have	VERB
alkej-602	177	35	the	the	DET
alkej-602	177	36	resolution	resolution	NOUN
alkej-602	177	37	of	of	ADP
alkej-602	177	38	8	8	NUM
alkej-602	177	39	-	-	PUNCT
alkej-602	177	40	bit	bit	NOUN
alkej-602	177	41	.	.	PUNCT
alkej-602	178	1	dcontroller	dcontroller	NOUN
alkej-602	178	2	table	table	NOUN
alkej-602	179	1	[	[	X
alkej-602	179	2	2	2	NUM
alkej-602	179	3	]	]	PUNCT
alkej-602	179	4	shows	show	VERB
alkej-602	179	5	that	that	SCONJ
alkej-602	179	6	the	the	DET
alkej-602	179	7	voltage	voltage	NOUN
alkej-602	179	8	of	of	ADP
alkej-602	179	9	pot(vo	pot(vo	NOUN
alkej-602	179	10	/	/	SYM
alkej-602	179	11	p	p	NOUN
alkej-602	179	12	)	)	PUNCT
alkej-602	179	13	is	be	AUX
alkej-602	179	14	less	less	ADJ
alkej-602	179	15	than	than	ADP
alkej-602	179	16	07h	07h	NUM
alkej-602	179	17	,	,	PUNCT
alkej-602	179	18	then	then	ADV
alkej-602	179	19	do	do	VERB
alkej-602	179	20	nothing	nothing	PRON
alkej-602	179	21	,	,	PUNCT
alkej-602	179	22	and	and	CCONJ
alkej-602	179	23	when	when	SCONJ
alkej-602	179	24	07h<=(vo	07h<=(vo	NUM
alkej-602	179	25	/	/	SYM
alkej-602	179	26	p	p	NOUN
alkej-602	179	27	)	)	PUNCT
alkej-602	179	28	<	<	X
alkej-602	180	1	=	=	X
alkej-602	180	2	1fh	1fh	NOUN
alkej-602	180	3	then	then	ADV
alkej-602	180	4	activate	activate	VERB
alkej-602	180	5	one	one	NUM
alkej-602	180	6	mw	mw	NOUN
alkej-602	180	7	as	as	ADP
alkej-602	180	8	following	follow	VERB
alkej-602	180	9	:	:	PUNCT
alkej-602	180	10	0	0	NUM
alkej-602	180	11	mws	mws	NOUN
alkej-602	180	12	00h<=(vo	00h<=(vo	NUM
alkej-602	180	13	/	/	SYM
alkej-602	180	14	p	p	NOUN
alkej-602	180	15	)	)	PUNCT
alkej-602	180	16	<	<	X
alkej-602	180	17	07h	07h	NOUN
alkej-602	180	18	1	1	NUM
alkej-602	180	19	mws	mws	NOUN
alkej-602	180	20	07h<=(vo	07h<=(vo	NUM
alkej-602	180	21	/	/	SYM
alkej-602	180	22	p	p	NOUN
alkej-602	180	23	)	)	PUNCT
alkej-602	180	24	<	<	X
alkej-602	180	25	1fh	1fh	ADJ
alkej-602	180	26	2	2	NUM
alkej-602	180	27	mws	mws	NOUN
alkej-602	180	28	1fh<=(vo	1fh<=(vo	NUM
alkej-602	180	29	/	/	SYM
alkej-602	180	30	p	p	NOUN
alkej-602	180	31	)	)	PUNCT
alkej-602	180	32	<	<	X
alkej-602	180	33	3fh	3fh	ADJ
alkej-602	180	34	number	number	NOUN
alkej-602	180	35	of	of	ADP
alkej-602	180	36	activated	activate	VERB
alkej-602	180	37	mws=	mws=	PROPN
alkej-602	180	38	3	3	NUM
alkej-602	180	39	mws	mws	NOUN
alkej-602	180	40	3fh<=(vo	3fh<=(vo	NUM
alkej-602	180	41	/	/	SYM
alkej-602	180	42	p	p	NOUN
alkej-602	180	43	)	)	PUNCT
alkej-602	180	44	<	<	X
alkej-602	180	45	ffh	ffh	PROPN
alkej-602	180	46	4	4	NUM
alkej-602	180	47	mws	mws	NOUN
alkej-602	180	48	(	(	PUNCT
alkej-602	180	49	vo	vo	NOUN
alkej-602	180	50	/	/	SYM
alkej-602	180	51	p	p	NOUN
alkej-602	180	52	)	)	PUNCT
alkej-602	180	53	<	<	X
alkej-602	180	54	=	=	X
alkej-602	180	55	1fh	1fh	ADJ
alkej-602	180	56	a.	a.	PROPN
alkej-602	180	57	salam	salam	PROPN
alkej-602	180	58	al	al	PROPN
alkej-602	180	59	-	-	PROPN
alkej-602	180	60	ammri	ammri	PROPN
alkej-602	180	61	al	al	PROPN
alkej-602	180	62	-	-	PUNCT
alkej-602	180	63	khwarizmi	khwarizmi	PROPN
alkej-602	180	64	engineering	engineering	NOUN
alkej-602	180	65	journal	journal	PROPN
alkej-602	180	66	,	,	PUNCT
alkej-602	180	67	vol	vol	NOUN
alkej-602	180	68	.	.	PROPN
alkej-602	180	69	4	4	NUM
alkej-602	180	70	,	,	PUNCT
alkej-602	180	71	no	no	INTJ
alkej-602	180	72	.	.	NOUN
alkej-602	180	73	3	3	NUM
alkej-602	180	74	,	,	PUNCT
alkej-602	180	75	pp	pp	ADV
alkej-602	180	76	128	128	NUM
alkej-602	180	77	-	-	SYM
alkej-602	180	78	137	137	NUM
alkej-602	180	79	(	(	PUNCT
alkej-602	180	80	2008	2008	NUM
alkej-602	180	81	)	)	PUNCT
alkej-602	180	82	135	135	NUM
alkej-602	180	83	the	the	DET
alkej-602	180	84	previous	previous	ADJ
alkej-602	180	85	conditions	condition	NOUN
alkej-602	180	86	must	must	AUX
alkej-602	180	87	be	be	AUX
alkej-602	180	88	controlled	control	VERB
alkej-602	180	89	accurately	accurately	ADV
alkej-602	180	90	and	and	CCONJ
alkej-602	180	91	that	that	PRON
alkej-602	180	92	is	be	AUX
alkej-602	180	93	possible	possible	ADJ
alkej-602	180	94	using	use	VERB
alkej-602	180	95	a	a	DET
alkej-602	180	96	control	control	NOUN
alkej-602	180	97	program	program	NOUN
alkej-602	180	98	.	.	PUNCT
alkej-602	181	1	e	e	X
alkej-602	181	2	-	-	NOUN
alkej-602	181	3	control	control	ADJ
alkej-602	181	4	program	program	NOUN
alkej-602	181	5	control	control	NOUN
alkej-602	181	6	program	program	NOUN
alkej-602	181	7	(	(	PUNCT
alkej-602	181	8	controller	controller	NOUN
alkej-602	181	9	)	)	PUNCT
alkej-602	181	10	is	be	AUX
alkej-602	181	11	built	build	VERB
alkej-602	181	12	in	in	ADP
alkej-602	181	13	a	a	DET
alkej-602	181	14	microcontroller	microcontroller	NOUN
alkej-602	181	15	ic	ic	NOUN
alkej-602	181	16	at89c51	at89c51	PROPN
alkej-602	181	17	version	version	NOUN
alkej-602	181	18	using	use	VERB
alkej-602	181	19	assembly	assembly	NOUN
alkej-602	181	20	language	language	NOUN
alkej-602	181	21	.	.	PUNCT
alkej-602	182	1	it	it	PRON
alkej-602	182	2	is	be	AUX
alkej-602	182	3	clearly	clearly	ADV
alkej-602	182	4	described	describe	VERB
alkej-602	182	5	in	in	ADP
alkej-602	182	6	the	the	DET
alkej-602	182	7	following	follow	VERB
alkej-602	182	8	flow	flow	NOUN
alkej-602	182	9	chart	chart	NOUN
alkej-602	182	10	shown	show	VERB
alkej-602	182	11	in	in	ADP
alkej-602	182	12	figure[15	figure[15	NOUN
alkej-602	182	13	]	]	NOUN
alkej-602	182	14	:	:	PUNCT
alkej-602	182	15	fig	fig	NOUN
alkej-602	182	16	.	.	PUNCT
alkej-602	183	1	15	15	NUM
alkej-602	183	2	.	.	PUNCT
alkej-602	184	1	the	the	DET
alkej-602	184	2	flow	flow	NOUN
alkej-602	184	3	chart	chart	NOUN
alkej-602	184	4	of	of	ADP
alkej-602	184	5	the	the	DET
alkej-602	184	6	control	control	NOUN
alkej-602	184	7	program	program	NOUN
alkej-602	184	8	.	.	PUNCT
alkej-602	185	1	the	the	DET
alkej-602	185	2	electronic	electronic	ADJ
alkej-602	185	3	circuit	circuit	NOUN
alkej-602	185	4	is	be	AUX
alkej-602	185	5	shown	show	VERB
alkej-602	185	6	in	in	ADP
alkej-602	185	7	figure	figure	NOUN
alkej-602	185	8	[	[	X
alkej-602	185	9	16	16	NUM
alkej-602	185	10	]	]	PUNCT
alkej-602	185	11	and	and	CCONJ
alkej-602	185	12	is	be	AUX
alkej-602	185	13	described	describe	VERB
alkej-602	185	14	clearly	clearly	ADV
alkej-602	185	15	in	in	ADP
alkej-602	185	16	a	a	DET
alkej-602	185	17	block	block	NOUN
alkej-602	185	18	diagram	diagram	NOUN
alkej-602	185	19	shown	show	VERB
alkej-602	185	20	in	in	ADP
alkej-602	185	21	figure	figure	NOUN
alkej-602	185	22	[	[	X
alkej-602	185	23	17	17	NUM
alkej-602	185	24	]	]	PUNCT
alkej-602	185	25	.	.	PUNCT
alkej-602	185	26	.	.	PUNCT
alkej-602	186	1	fig	fig	NOUN
alkej-602	186	2	.	.	PUNCT
alkej-602	187	1	16	16	NUM
alkej-602	187	2	.	.	PUNCT
alkej-602	188	1	control	control	PROPN
alkej-602	188	2	circuit	circuit	PROPN
alkej-602	188	3	.	.	PUNCT
alkej-602	189	1	fig	fig	NOUN
alkej-602	189	2	.	.	PUNCT
alkej-602	190	1	17	17	NUM
alkej-602	190	2	.	.	PUNCT
alkej-602	191	1	block	block	NOUN
alkej-602	191	2	diagram	diagram	NOUN
alkej-602	191	3	of	of	ADP
alkej-602	191	4	the	the	DET
alkej-602	191	5	control	control	NOUN
alkej-602	191	6	circuit	circuit	NOUN
alkej-602	191	7	.	.	PUNCT
alkej-602	192	1	to	to	PART
alkej-602	192	2	discuss	discuss	VERB
alkej-602	192	3	the	the	DET
alkej-602	192	4	force	force	NOUN
alkej-602	192	5	generated	generate	VERB
alkej-602	192	6	on	on	ADP
alkej-602	192	7	the	the	DET
alkej-602	192	8	proposed	propose	VERB
alkej-602	192	9	hand	hand	NOUN
alkej-602	192	10	,	,	PUNCT
alkej-602	192	11	it	it	PRON
alkej-602	192	12	must	must	AUX
alkej-602	192	13	first	first	ADV
alkej-602	192	14	to	to	PART
alkej-602	192	15	analyze	analyze	VERB
alkej-602	192	16	the	the	DET
alkej-602	192	17	force	force	NOUN
alkej-602	192	18	generated	generate	VERB
alkej-602	192	19	by	by	ADP
alkej-602	192	20	a	a	DET
alkej-602	192	21	single	single	ADJ
alkej-602	192	22	activated	activate	VERB
alkej-602	192	23	muscle	muscle	NOUN
alkej-602	192	24	wire	wire	NOUN
alkej-602	192	25	.	.	PUNCT
alkej-602	193	1	fortunately	fortunately	ADV
alkej-602	193	2	,	,	PUNCT
alkej-602	193	3	it	it	PRON
alkej-602	193	4	is	be	AUX
alkej-602	193	5	well	well	ADV
alkej-602	193	6	known	know	VERB
alkej-602	193	7	that	that	SCONJ
alkej-602	193	8	the	the	DET
alkej-602	193	9	recommended	recommend	VERB
alkej-602	193	10	recovery	recovery	NOUN
alkej-602	193	11	weight	weight	NOUN
alkej-602	193	12	for	for	ADP
alkej-602	193	13	a	a	DET
alkej-602	193	14	single	single	ADJ
alkej-602	193	15	mw	mw	NOUN
alkej-602	193	16	(	(	PUNCT
alkej-602	193	17	which	which	PRON
alkej-602	193	18	is	be	AUX
alkej-602	193	19	generated	generate	VERB
alkej-602	193	20	from	from	ADP
alkej-602	193	21	applying	apply	VERB
alkej-602	193	22	a	a	DET
alkej-602	193	23	recommended	recommend	VERB
alkej-602	193	24	current	current	NOUN
alkej-602	193	25	)	)	PUNCT
alkej-602	193	26	of	of	ADP
alkej-602	193	27	100	100	NUM
alkej-602	193	28	µm	µm	NUM
alkej-602	193	29	generated	generate	VERB
alkej-602	193	30	about	about	ADP
alkej-602	193	31	1500	1500	NUM
alkej-602	193	32	n	n	NOUN
alkej-602	193	33	when	when	SCONJ
alkej-602	193	34	activated	activate	VERB
alkej-602	193	35	.	.	PUNCT
alkej-602	194	1	since	since	SCONJ
alkej-602	194	2	the	the	DET
alkej-602	194	3	mws	mws	NOUN
alkej-602	194	4	of	of	ADP
alkej-602	194	5	the	the	DET
alkej-602	194	6	proposed	propose	VERB
alkej-602	194	7	hand	hand	NOUN
alkej-602	194	8	connected	connect	VERB
alkej-602	194	9	in	in	ADP
alkej-602	194	10	series	series	NOUN
alkej-602	194	11	,	,	PUNCT
alkej-602	194	12	the	the	DET
alkej-602	194	13	effort	effort	NOUN
alkej-602	194	14	(	(	PUNCT
alkej-602	194	15	force	force	NOUN
alkej-602	194	16	)	)	PUNCT
alkej-602	194	17	therefore	therefore	ADV
alkej-602	194	18	is	be	AUX
alkej-602	194	19	duplicated	duplicate	VERB
alkej-602	194	20	simply	simply	ADV
alkej-602	194	21	through	through	ADP
alkej-602	194	22	activation	activation	NOUN
alkej-602	194	23	more	more	ADJ
alkej-602	194	24	mws	mws	NOUN
alkej-602	194	25	as	as	SCONJ
alkej-602	194	26	shown	show	VERB
alkej-602	194	27	clearly	clearly	ADV
alkej-602	194	28	in	in	ADP
alkej-602	194	29	figure	figure	NOUN
alkej-602	194	30	[	[	X
alkej-602	194	31	18	18	NUM
alkej-602	194	32	]	]	PUNCT
alkej-602	194	33	.	.	PUNCT
alkej-602	195	1	fig	fig	NOUN
alkej-602	195	2	.	.	PUNCT
alkej-602	196	1	18	18	NUM
alkej-602	196	2	.	.	X
alkej-602	196	3	force	force	PROPN
alkej-602	196	4	generated	generate	VERB
alkej-602	196	5	as	as	ADP
alkej-602	196	6	a	a	DET
alkej-602	196	7	function	function	NOUN
alkej-602	196	8	of	of	ADP
alkej-602	196	9	no	no	NOUN
alkej-602	196	10	.	.	PUNCT
alkej-602	196	11	of	of	ADP
alkej-602	196	12	actived	actived	PROPN
alkej-602	196	13	mws	mws	PROPN
alkej-602	196	14	.	.	PROPN
alkej-602	196	15	4	4	NUM
alkej-602	196	16	-	-	PUNCT
alkej-602	196	17	conclousion	conclousion	NOUN
alkej-602	196	18	in	in	ADP
alkej-602	196	19	this	this	DET
alkej-602	196	20	study	study	NOUN
alkej-602	196	21	the	the	DET
alkej-602	196	22	design	design	NOUN
alkej-602	196	23	for	for	ADP
alkej-602	196	24	a	a	DET
alkej-602	196	25	two	two	NUM
alkej-602	196	26	fingered	finger	VERB
alkej-602	196	27	hand	hand	NOUN
alkej-602	196	28	actuated	actuate	VERB
alkej-602	196	29	by	by	ADP
alkej-602	196	30	electrical	electrical	ADJ
alkej-602	196	31	artificial	artificial	ADJ
alkej-602	196	32	muscles	muscle	NOUN
alkej-602	196	33	is	be	AUX
alkej-602	196	34	presented	present	VERB
alkej-602	196	35	.	.	PUNCT
alkej-602	197	1	four	four	NUM
alkej-602	197	2	experimental	experimental	ADJ
alkej-602	197	3	prototypes	prototype	NOUN
alkej-602	197	4	of	of	ADP
alkej-602	197	5	a	a	DET
alkej-602	197	6	hand	hand	NOUN
alkej-602	197	7	were	be	AUX
alkej-602	197	8	described	describe	VERB
alkej-602	197	9	and	and	CCONJ
alkej-602	197	10	used	use	VERB
alkej-602	197	11	to	to	PART
alkej-602	197	12	evaluate	evaluate	VERB
alkej-602	197	13	the	the	DET
alkej-602	197	14	design	design	NOUN
alkej-602	197	15	.	.	PUNCT
alkej-602	198	1	a	a	DET
alkej-602	198	2	modified	modified	ADJ
alkej-602	198	3	hand	hand	NOUN
alkej-602	198	4	with	with	ADP
alkej-602	198	5	direct	direct	ADJ
alkej-602	198	6	control	control	NOUN
alkej-602	198	7	has	have	AUX
alkej-602	198	8	been	be	AUX
alkej-602	198	9	designed	design	VERB
alkej-602	198	10	using	use	VERB
alkej-602	198	11	electrical	electrical	ADJ
alkej-602	198	12	muscle	muscle	NOUN
alkej-602	198	13	wires	wire	NOUN
alkej-602	198	14	that	that	PRON
alkej-602	198	15	receive	receive	VERB
alkej-602	198	16	direct	direct	ADJ
alkej-602	198	17	sensory	sensory	ADJ
alkej-602	198	18	impulses	impulse	NOUN
alkej-602	198	19	through	through	ADP
alkej-602	198	20	shoulder	shoulder	NOUN
alkej-602	198	21	harness	harness	NOUN
alkej-602	198	22	instead	instead	ADV
alkej-602	198	23	of	of	ADP
alkej-602	198	24	using	use	VERB
alkej-602	198	25	the	the	DET
alkej-602	198	26	mechanical	mechanical	ADJ
alkej-602	198	27	action	action	NOUN
alkej-602	198	28	to	to	PART
alkej-602	198	29	open	open	VERB
alkej-602	198	30	and	and	CCONJ
alkej-602	198	31	close	close	VERB
alkej-602	198	32	the	the	DET
alkej-602	198	33	hand	hand	NOUN
alkej-602	198	34	.	.	PUNCT
alkej-602	199	1	each	each	DET
alkej-602	199	2	finger	finger	NOUN
alkej-602	199	3	is	be	AUX
alkej-602	199	4	designed	design	VERB
alkej-602	199	5	as	as	ADP
alkej-602	199	6	a	a	DET
alkej-602	199	7	chain	chain	NOUN
alkej-602	199	8	and	and	CCONJ
alkej-602	199	9	its	its	PRON
alkej-602	199	10	movements	movement	NOUN
alkej-602	199	11	achieved	achieve	VERB
alkej-602	199	12	through	through	ADP
alkej-602	199	13	the	the	DET
alkej-602	199	14	conventional	conventional	ADJ
alkej-602	199	15	arrangement	arrangement	NOUN
alkej-602	199	16	control	control	NOUN
alkej-602	199	17	of	of	ADP
alkej-602	199	18	the	the	DET
alkej-602	199	19	electrical	electrical	ADJ
alkej-602	199	20	muscles	muscle	NOUN
alkej-602	199	21	wires	wire	NOUN
alkej-602	199	22	.	.	PUNCT
alkej-602	200	1	an	an	DET
alkej-602	200	2	important	important	ADJ
alkej-602	200	3	aspect	aspect	NOUN
alkej-602	200	4	of	of	ADP
alkej-602	200	5	the	the	DET
alkej-602	200	6	rapid	rapid	ADJ
alkej-602	200	7	prototype	prototype	NOUN
alkej-602	200	8	technique	technique	NOUN
alkej-602	200	9	was	be	AUX
alkej-602	200	10	used	use	VERB
alkej-602	200	11	that	that	SCONJ
alkej-602	200	12	this	this	DET
alkej-602	200	13	hand	hand	NOUN
alkej-602	200	14	will	will	AUX
alkej-602	200	15	be	be	AUX
alkej-602	200	16	fabricated	fabricate	VERB
alkej-602	200	17	in	in	ADP
alkej-602	200	18	one	one	NUM
alkej-602	200	19	step	step	NOUN
alkej-602	200	20	,	,	PUNCT
alkej-602	200	21	without	without	ADP
alkej-602	200	22	requiring	require	VERB
alkej-602	200	23	assembly	assembly	NOUN
alkej-602	200	24	,	,	PUNCT
alkej-602	200	25	while	while	SCONJ
alkej-602	200	26	maintaining	maintain	VERB
alkej-602	200	27	its	its	PRON
alkej-602	200	28	desired	desire	VERB
alkej-602	200	29	mobility	mobility	NOUN
alkej-602	200	30	.	.	PUNCT
alkej-602	201	1	the	the	DET
alkej-602	201	2	use	use	NOUN
alkej-602	201	3	of	of	ADP
alkej-602	201	4	muscle	muscle	NOUN
alkej-602	201	5	wires	wire	NOUN
alkej-602	201	6	actuators	actuator	NOUN
alkej-602	201	7	combined	combine	VERB
alkej-602	201	8	with	with	ADP
alkej-602	201	9	the	the	DET
alkej-602	201	10	rapid	rapid	ADJ
alkej-602	201	11	fabrication	fabrication	NOUN
alkej-602	201	12	of	of	ADP
alkej-602	201	13	the	the	DET
alkej-602	201	14	non	non	ADJ
alkej-602	201	15	-	-	ADJ
alkej-602	201	16	assembly	assembly	ADJ
alkej-602	201	17	type	type	NOUN
alkej-602	201	18	a.	a.	PROPN
alkej-602	201	19	salam	salam	PROPN
alkej-602	201	20	al	al	PROPN
alkej-602	201	21	-	-	PROPN
alkej-602	201	22	ammri	ammri	PROPN
alkej-602	201	23	al	al	PROPN
alkej-602	201	24	-	-	PUNCT
alkej-602	201	25	khwarizmi	khwarizmi	PROPN
alkej-602	201	26	engineering	engineering	NOUN
alkej-602	201	27	journal	journal	PROPN
alkej-602	201	28	,	,	PUNCT
alkej-602	201	29	vol	vol	NOUN
alkej-602	201	30	.	.	PROPN
alkej-602	201	31	4	4	NUM
alkej-602	201	32	,	,	PUNCT
alkej-602	201	33	no	no	INTJ
alkej-602	201	34	.	.	NOUN
alkej-602	201	35	3	3	NUM
alkej-602	201	36	,	,	PUNCT
alkej-602	201	37	pp	pp	ADV
alkej-602	201	38	128	128	NUM
alkej-602	201	39	-	-	SYM
alkej-602	201	40	137	137	NUM
alkej-602	201	41	(	(	PUNCT
alkej-602	201	42	2008	2008	NUM
alkej-602	201	43	)	)	PUNCT
alkej-602	201	44	136	136	NUM
alkej-602	201	45	hand	hand	NOUN
alkej-602	201	46	;	;	PUNCT
alkej-602	201	47	reduce	reduce	VERB
alkej-602	201	48	considerably	considerably	ADV
alkej-602	201	49	its	its	PRON
alkej-602	201	50	weight	weight	NOUN
alkej-602	201	51	and	and	CCONJ
alkej-602	201	52	fabrication	fabrication	NOUN
alkej-602	201	53	time	time	NOUN
alkej-602	201	54	.	.	PUNCT
alkej-602	202	1	this	this	PRON
alkej-602	202	2	will	will	AUX
alkej-602	202	3	make	make	VERB
alkej-602	202	4	it	it	PRON
alkej-602	202	5	very	very	ADV
alkej-602	202	6	useful	useful	ADJ
alkej-602	202	7	to	to	PART
alkej-602	202	8	be	be	AUX
alkej-602	202	9	used	use	VERB
alkej-602	202	10	for	for	ADP
alkej-602	202	11	applications	application	NOUN
alkej-602	202	12	requiring	require	VERB
alkej-602	202	13	low	low	ADJ
alkej-602	202	14	weight	weight	NOUN
alkej-602	202	15	5references	5references	NUM
alkej-602	203	1	[	[	X
alkej-602	203	2	1	1	NUM
alkej-602	203	3	]	]	X
alkej-602	203	4	ikuo	ikuo	PROPN
alkej-602	203	5	ya”o	ya”o	PROPN
alkej-602	203	6	*	*	PROPN
alkej-602	203	7	,	,	PUNCT
alkej-602	203	8	kenjiro	kenjiro	NOUN
alkej-602	203	9	takemura	takemura	PROPN
alkej-602	203	10	and	and	CCONJ
alkej-602	203	11	takashi	takashi	PROPN
alkej-602	203	12	maenof	maenof	PROPN
alkej-602	203	13	"	"	PUNCT
alkej-602	203	14	development	development	NOUN
alkej-602	203	15	of	of	ADP
alkej-602	203	16	a	a	DET
alkej-602	203	17	robot	robot	NOUN
alkej-602	203	18	finger	finger	NOUN
alkej-602	203	19	for	for	ADP
alkej-602	203	20	five	five	NUM
alkej-602	203	21	-	-	PUNCT
alkej-602	203	22	fingered	finger	VERB
alkej-602	203	23	hand	hand	NOUN
alkej-602	203	24	using	use	VERB
alkej-602	203	25	ultrasonic	ultrasonic	ADJ
alkej-602	203	26	motors	motor	NOUN
alkej-602	203	27	"	"	PUNCT
alkej-602	203	28	,	,	PUNCT
alkej-602	203	29	proceedings	proceeding	NOUN
alkej-602	203	30	of	of	ADP
alkej-602	203	31	the	the	DET
alkej-602	203	32	2003	2003	NUM
alkej-602	203	33	ieeursj	ieeursj	PROPN
alkej-602	203	34	intl	intl	PROPN
alkej-602	203	35	.	.	PUNCT
alkej-602	204	1	conference	conference	NOUN
alkej-602	204	2	on	on	ADP
alkej-602	204	3	intelligent	intelligent	ADJ
alkej-602	204	4	robots	robot	NOUN
alkej-602	204	5	and	and	CCONJ
alkej-602	204	6	systems	system	NOUN
alkej-602	204	7	las	las	PROPN
alkej-602	204	8	vegas	vegas	PROPN
alkej-602	204	9	,	,	PUNCT
alkej-602	204	10	nevada	nevada	PROPN
alkej-602	204	11	.	.	PROPN
alkej-602	204	12	october	october	PROPN
alkej-602	204	13	2003	2003	NUM
alkej-602	204	14	.	.	PUNCT
alkej-602	205	1	[	[	X
alkej-602	205	2	2	2	X
alkej-602	205	3	]	]	X
alkej-602	205	4	jessica	jessica	PROPN
alkej-602	205	5	lauren	lauren	PROPN
alkej-602	205	6	banks	banks	PROPN
alkej-602	205	7	"	"	PUNCT
alkej-602	205	8	design	design	NOUN
alkej-602	205	9	and	and	CCONJ
alkej-602	205	10	control	control	NOUN
alkej-602	205	11	of	of	ADP
alkej-602	205	12	an	an	DET
alkej-602	205	13	anthropomorphic	anthropomorphic	ADJ
alkej-602	205	14	robotic	robotic	ADJ
alkej-602	205	15	finger	finger	NOUN
alkej-602	205	16	with	with	ADP
alkej-602	205	17	multi	multi	ADJ
alkej-602	205	18	-	-	ADJ
alkej-602	205	19	point	point	ADJ
alkej-602	205	20	tactile	tactile	ADJ
alkej-602	205	21	sensation	sensation	NOUN
alkej-602	205	22	"	"	PUNCT
alkej-602	205	23	m.sc	m.sc	PROPN
alkej-602	205	24	thesis	thesis	PROPN
alkej-602	205	25	department	department	NOUN
alkej-602	205	26	of	of	ADP
alkej-602	205	27	electrical	electrical	ADJ
alkej-602	205	28	engineering	engineering	NOUN
alkej-602	205	29	and	and	CCONJ
alkej-602	205	30	computer	computer	NOUN
alkej-602	205	31	science	science	NOUN
alkej-602	205	32	on	on	ADP
alkej-602	205	33	may	may	PROPN
alkej-602	205	34	11	11	NUM
alkej-602	205	35	,	,	PUNCT
alkej-602	205	36	2000	2000	NUM
alkej-602	205	37	,	,	PUNCT
alkej-602	205	38	.	.	PUNCT
alkej-602	206	1	[	[	X
alkej-602	206	2	3	3	X
alkej-602	206	3	]	]	X
alkej-602	206	4	peter	peter	PROPN
alkej-602	206	5	scarfe	scarfe	PROPN
alkej-602	206	6	and	and	CCONJ
alkej-602	206	7	euan	euan	PROPN
alkej-602	206	8	lindsay	lindsay	PROPN
alkej-602	206	9	"	"	PUNCT
alkej-602	206	10	air	air	NOUN
alkej-602	206	11	muscle	muscle	NOUN
alkej-602	206	12	actuated	actuate	VERB
alkej-602	206	13	low	low	ADJ
alkej-602	206	14	cost	cost	NOUN
alkej-602	206	15	humanoid	humanoid	NOUN
alkej-602	206	16	hand	hand	NOUN
alkej-602	206	17	"	"	PUNCT
alkej-602	206	18	,	,	PUNCT
alkej-602	206	19	curtin	curtin	PROPN
alkej-602	206	20	university	university	PROPN
alkej-602	206	21	of	of	ADP
alkej-602	206	22	technology	technology	NOUN
alkej-602	206	23	,	,	PUNCT
alkej-602	206	24	mechanical	mechanical	ADJ
alkej-602	206	25	engineering	engineering	NOUN
alkej-602	206	26	,	,	PUNCT
alkej-602	206	27	perth	perth	PROPN
alkej-602	206	28	,	,	PUNCT
alkej-602	206	29	australia	australia	PROPN
alkej-602	206	30	,	,	PUNCT
alkej-602	206	31	[	[	X
alkej-602	206	32	4	4	NUM
alkej-602	206	33	]	]	PUNCT
alkej-602	206	34	touch	touch	NOUN
alkej-602	206	35	bionics	bionic	NOUN
alkej-602	206	36	,	,	PUNCT
alkej-602	206	37	"	"	PUNCT
alkej-602	206	38	the	the	DET
alkej-602	206	39	i	i	PROPN
alkej-602	206	40	-	-	PUNCT
alkej-602	206	41	limb	limb	NOUN
alkej-602	206	42	hand	hand	NOUN
alkej-602	206	43	"	"	PUNCT
alkej-602	206	44	,	,	PUNCT
alkej-602	206	45	www.touchbionics.com	www.touchbionics.com	PROPN
alkej-602	206	46	ction	ction	NOUN
alkej-602	206	47	vs.	vs.	ADP
alkej-602	206	48	prosthesis	prosthesis	NOUN
alkej-602	206	49	.	.	PUNCT
alkej-602	207	1	[	[	X
alkej-602	207	2	5	5	NUM
alkej-602	207	3	]	]	X
alkej-602	207	4	lillian	lillian	PROPN
alkej-602	207	5	y.	y.	PROPN
alkej-602	207	6	chang	chang	PROPN
alkej-602	207	7	and	and	CCONJ
alkej-602	207	8	yoky	yoky	PROPN
alkej-602	207	9	matsuoka	matsuoka	PROPN
alkej-602	207	10	,	,	PUNCT
alkej-602	207	11	"	"	PUNCT
alkej-602	207	12	a	a	DET
alkej-602	207	13	kinematics	kinematics	NOUN
alkej-602	207	14	thumb	thumb	NOUN
alkej-602	207	15	model	model	NOUN
alkej-602	207	16	for	for	ADP
alkej-602	207	17	the	the	DET
alkej-602	207	18	act	act	NOUN
alkej-602	207	19	hand	hand	NOUN
alkej-602	207	20	"	"	PUNCT
alkej-602	207	21	,	,	PUNCT
alkej-602	207	22	proceedings	proceeding	NOUN
alkej-602	207	23	of	of	ADP
alkej-602	207	24	the	the	DET
alkej-602	207	25	2006	2006	NUM
alkej-602	207	26	ieee	ieee	PROPN
alkej-602	207	27	international	international	ADJ
alkej-602	207	28	conference	conference	NOUN
alkej-602	207	29	on	on	ADP
alkej-602	207	30	robotics	robotic	NOUN
alkej-602	207	31	and	and	CCONJ
alkej-602	207	32	automation	automation	NOUN
alkej-602	207	33	,	,	PUNCT
alkej-602	207	34	orlando	orlando	PROPN
alkej-602	207	35	,	,	PUNCT
alkej-602	207	36	florida	florida	PROPN
alkej-602	207	37	,	,	PUNCT
alkej-602	207	38	may	may	AUX
alkej-602	207	39	2006	2006	NUM
alkej-602	207	40	[	[	X
alkej-602	207	41	6	6	NUM
alkej-602	207	42	]	]	X
alkej-602	207	43	tetsuya	tetsuya	PROPN
alkej-602	207	44	mouri	mouri	PROPN
alkej-602	207	45	*	*	PROPN
alkej-602	207	46	,	,	PUNCT
alkej-602	207	47	haruhisa	haruhisa	NOUN
alkej-602	207	48	kawasaki	kawasaki	PROPN
alkej-602	207	49	*	*	PROPN
alkej-602	207	50	*	*	PROPN
alkej-602	207	51	,	,	PUNCT
alkej-602	207	52	and	and	CCONJ
alkej-602	207	53	katsuya	katsuya	PROPN
alkej-602	207	54	umebayashi	umebayashi	PROPN
alkej-602	207	55	"	"	PUNCT
alkej-602	207	56	developments	development	NOUN
alkej-602	207	57	of	of	ADP
alkej-602	207	58	new	new	ADJ
alkej-602	207	59	anthropomorphic	anthropomorphic	ADJ
alkej-602	207	60	robot	robot	NOUN
alkej-602	207	61	hand	hand	NOUN
alkej-602	207	62	and	and	CCONJ
alkej-602	207	63	its	its	PRON
alkej-602	207	64	master	master	NOUN
alkej-602	207	65	slave	slave	NOUN
alkej-602	207	66	system	system	NOUN
alkej-602	207	67	"	"	PUNCT
alkej-602	207	68	,	,	PUNCT
alkej-602	207	69	ieee	ieee	NOUN
alkej-602	207	70	/	/	SYM
alkej-602	207	71	rsj	rsj	NOUN
alkej-602	207	72	international	international	ADJ
alkej-602	207	73	conference	conference	NOUN
alkej-602	207	74	on	on	ADP
alkej-602	207	75	intelligent	intelligent	ADJ
alkej-602	207	76	robots	robot	NOUN
alkej-602	207	77	and	and	CCONJ
alkej-602	207	78	systems	system	NOUN
alkej-602	207	79	2005	2005	NUM
alkej-602	207	80	.	.	PUNCT
alkej-602	208	1	[	[	X
alkej-602	208	2	7	7	NUM
alkej-602	208	3	]	]	PUNCT
alkej-602	208	4	a.	a.	NOUN
alkej-602	208	5	h.	h.	PROPN
alkej-602	208	6	arieta1	arieta1	PROPN
alkej-602	208	7	,	,	PUNCT
alkej-602	208	8	r.	r.	PROPN
alkej-602	208	9	katoh1	katoh1	PROPN
alkej-602	208	10	,	,	PUNCT
alkej-602	208	11	h.	h.	PROPN
alkej-602	208	12	yokoi1	yokoi1	PROPN
alkej-602	208	13	and	and	CCONJ
alkej-602	208	14	y.	y.	PROPN
alkej-602	208	15	wenwei2,""development	wenwei2,""development	PROPN
alkej-602	208	16	of	of	ADP
alkej-602	208	17	a	a	DET
alkej-602	208	18	multi	multi	ADJ
alkej-602	208	19	-	-	ADJ
alkej-602	208	20	dof	dof	ADJ
alkej-602	208	21	electromyography	electromyography	NOUN
alkej-602	208	22	prosthetic	prosthetic	NOUN
alkej-602	208	23	system	system	NOUN
alkej-602	208	24	using	use	VERB
alkej-602	208	25	the	the	DET
alkej-602	208	26	adaptive	adaptive	ADJ
alkej-602	208	27	joint	joint	ADJ
alkej-602	208	28	mechanism	mechanism	NOUN
alkej-602	208	29	"	"	PUNCT
alkej-602	208	30	,	,	PUNCT
alkej-602	208	31	precision	precision	NOUN
alkej-602	208	32	engineering	engineering	NOUN
alkej-602	208	33	laboratory	laboratory	NOUN
alkej-602	208	34	,	,	PUNCT
alkej-602	208	35	university	university	NOUN
alkej-602	208	36	of	of	ADP
alkej-602	208	37	tokyo	tokyo	PROPN
alkej-602	208	38	,	,	PUNCT
alkej-602	208	39	tokyo	tokyo	PROPN
alkej-602	208	40	,	,	PUNCT
alkej-602	208	41	japan	japan	PROPN
alkej-602	208	42	,	,	PUNCT
alkej-602	208	43	june	june	PROPN
alkej-602	208	44	20	20	NUM
alkej-602	208	45	,	,	PUNCT
alkej-602	208	46	2006	2006	NUM
alkej-602	208	47	[	[	X
alkej-602	208	48	8	8	NUM
alkej-602	208	49	]	]	PUNCT
alkej-602	208	50	kenji	kenji	PROPN
alkej-602	208	51	kaneko	kaneko	PROPN
alkej-602	208	52	,	,	PUNCT
alkej-602	208	53	kensuke	kensuke	PROPN
alkej-602	208	54	harada	harada	PROPN
alkej-602	208	55	,	,	PUNCT
alkej-602	208	56	and	and	CCONJ
alkej-602	208	57	fumio	fumio	ADJ
alkej-602	208	58	kanehiro	kanehiro	NOUN
alkej-602	209	1	[	[	X
alkej-602	209	2	9	9	NUM
alkej-602	209	3	]	]	PUNCT
alkej-602	209	4	"	"	PUNCT
alkej-602	209	5	development	development	NOUN
alkej-602	209	6	of	of	ADP
alkej-602	209	7	multi	multi	ADJ
alkej-602	209	8	-	-	ADJ
alkej-602	209	9	fingered	finger	VERB
alkej-602	209	10	hand	hand	NOUN
alkej-602	209	11	for	for	ADP
alkej-602	209	12	life	life	NOUN
alkej-602	209	13	-	-	PUNCT
alkej-602	209	14	size	size	NOUN
alkej-602	209	15	humanoid	humanoid	NOUN
alkej-602	209	16	robots	robot	NOUN
alkej-602	209	17	"	"	PUNCT
alkej-602	209	18	,	,	PUNCT
alkej-602	209	19	ieee	ieee	PROPN
alkej-602	209	20	international	international	ADJ
alkej-602	209	21	conference	conference	NOUN
alkej-602	209	22	on	on	ADP
alkej-602	209	23	robotics	robotic	NOUN
alkej-602	209	24	and	and	CCONJ
alkej-602	209	25	automation	automation	NOUN
alkej-602	209	26	roma	roma	PROPN
alkej-602	209	27	,	,	PUNCT
alkej-602	209	28	italy	italy	PROPN
alkej-602	209	29	,	,	PUNCT
alkej-602	209	30	april	april	PROPN
alkej-602	209	31	2007	2007	NUM
alkej-602	209	32	.	.	PUNCT
alkej-602	210	1	[	[	X
alkej-602	210	2	10	10	NUM
alkej-602	210	3	]	]	X
alkej-602	210	4	sterling	sterling	PROPN
alkej-602	210	5	bunnell	bunnell	PROPN
alkej-602	210	6	,	,	PUNCT
alkej-602	210	7	m.d	m.d	PROPN
alkej-602	210	8	.	.	PUNCT
alkej-602	211	1	"	"	PUNCT
alkej-602	211	2	the	the	DET
alkej-602	211	3	management	management	NOUN
alkej-602	211	4	of	of	ADP
alkej-602	211	5	the	the	DET
alkej-602	211	6	nonfunctional	nonfunctional	ADJ
alkej-602	211	7	handreconstruction	handreconstruction	NOUN
alkej-602	211	8	vs.	vs.	ADP
alkej-602	211	9	prosthesis	prosthesis	NOUN
alkej-602	211	10	"	"	PUNCT
alkej-602	211	11	,	,	PUNCT
alkej-602	211	12	elsevier	elsevier	PROPN
alkej-602	211	13	science	science	PROPN
alkej-602	211	14	ltd.2003	ltd.2003	PROPN
alkej-602	211	15	.	.	PUNCT
alkej-602	211	16	http://www.touchbionics.com/	http://www.touchbionics.com/	PROPN
alkej-602	211	17	a.	a.	PROPN
alkej-602	211	18	salam	salam	PROPN
alkej-602	211	19	al	al	PROPN
alkej-602	211	20	-	-	PROPN
alkej-602	211	21	ammri	ammri	PROPN
alkej-602	211	22	al	al	PROPN
alkej-602	211	23	-	-	PUNCT
alkej-602	211	24	khwarizmi	khwarizmi	PROPN
alkej-602	211	25	engineering	engineering	NOUN
alkej-602	211	26	journal	journal	PROPN
alkej-602	211	27	,	,	PUNCT
alkej-602	211	28	vol	vol	NOUN
alkej-602	211	29	.	.	PROPN
alkej-602	211	30	4	4	NUM
alkej-602	211	31	,	,	PUNCT
alkej-602	211	32	no	no	INTJ
alkej-602	211	33	.	.	NOUN
alkej-602	211	34	3	3	NUM
alkej-602	211	35	,	,	PUNCT
alkej-602	211	36	pp	pp	ADV
alkej-602	211	37	128	128	NUM
alkej-602	211	38	-	-	SYM
alkej-602	211	39	137	137	NUM
alkej-602	211	40	(	(	PUNCT
alkej-602	211	41	2008	2008	NUM
alkej-602	211	42	)	)	PUNCT
alkej-602	211	43	137	137	NUM
alkej-602	211	44	يذ	يذ	NUM
alkej-602	211	45	انساى	انساى	ADJ
alkej-602	211	46	آلي	آلي	PROPN
alkej-602	211	47	صغيرة	صغيرة	ADP
alkej-602	211	48	ثنائيت	ثنائيت	VERB
alkej-602	211	49	األصابع	األصابع	PROPN
alkej-602	211	50	تقاد	تقاد	PROPN
alkej-602	211	51	بواسطت	بواسطت	PROPN
alkej-602	211	52	هشغالث	هشغالث	PROPN
alkej-602	211	53	األسالك	األسالك	PROPN
alkej-602	212	1	العضليت	العضليت	PROPN
alkej-602	212	2	يعرب	يعرب	PROPN
alkej-602	212	3	عورناجي	عورناجي	NOUN
alkej-602	212	4	,	,	PUNCT
alkej-602	212	5	بهاء	بهاء	VERB
alkej-602	212	6	ابراهين	ابراهين	PROPN
alkej-602	212	7	كاظن	كاظن	PROPN
alkej-602	212	8	,	,	PUNCT
alkej-602	212	9	عبذ	عبذ	NOUN
alkej-602	212	10	السالم	السالم	VERB
alkej-602	212	11	العاهري	العاهري	NOUN
alkej-602	212	12	جايعت	جايعت	ADJ
alkej-602	212	13	بغذاد	بغذاد	PROPN
alkej-602	212	14	/	/	SYM
alkej-602	212	15	كهٍت	كهٍت	PROPN
alkej-602	212	16	ىنذست	ىنذست	ADJ
alkej-602	212	17	انخٌارسيً/	انخٌارسيً/	PROPN
alkej-602	212	18	قسى	قسى	PROPN
alkej-602	212	19	ىنذست	ىنذست	PROPN
alkej-602	212	20	انًٍكاحزًنكس	انًٍكاحزًنكس	VERB
alkej-602	212	21	الخالصت	الخالصت	PROPN
alkej-602	212	22	فً	فً	PUNCT
alkej-602	212	23	ىذا	ىذا	VERB
alkej-602	212	24	انبحث	انبحث	PROPN
alkej-602	212	25	حى	حى	PROPN
alkej-602	212	26	حصًٍى	حصًٍى	PROPN
alkej-602	212	27	ٌذ	ٌذ	PUNCT
alkej-602	212	28	اصطناعٍت	اصطناعٍت	PROPN
alkej-602	212	29	ٌخى	ٌخى	PROPN
alkej-602	212	30	انخحكى	انخحكى	ADJ
alkej-602	212	31	بيا	بيا	NOUN
alkej-602	212	32	بشكم	بشكم	VERB
alkej-602	212	33	يباشز	يباشز	ADJ
alkej-602	212	34	عن	عن	ADP
alkej-602	212	35	طزٌق	طزٌق	ADP
alkej-602	212	36	أسالك	أسالك	PROPN
alkej-602	212	37	عضهٍت	عضهٍت	PROPN
alkej-602	212	38	اصطناعٍت	اصطناعٍت	PROPN
alkej-602	212	39	كيزبائٍت	كيزبائٍت	PROPN
alkej-602	212	40	حأخذ	حأخذ	PROPN
alkej-602	212	41	إشارة	إشارة	NOUN
alkej-602	212	42	حفعٍهيا	حفعٍهيا	PROPN
alkej-602	212	43	كم	كم	NOUN
alkej-602	212	44	إصبع	إصبع	NOUN
alkej-602	212	45	يصًى	يصًى	PROPN
alkej-602	212	46	ين	ين	INTJ
alkej-602	212	47	سهسهت	سهسهت	NOUN
alkej-602	212	48	يٍكانٍكٍت	يٍكانٍكٍت	ADP
alkej-602	212	49	ٌخى	ٌخى	PROPN
alkej-602	212	50	ححزٌكيا	ححزٌكيا	PUNCT
alkej-602	212	51	ين	ين	INTJ
alkej-602	212	52	.	.	PUNCT
alkej-602	213	1	يباشزحا	يباشزحا	PROPN
alkej-602	213	2	ين	ين	PROPN
alkej-602	213	3	انٍذ	انٍذ	PROPN
alkej-602	213	4	انبشزٌت	انبشزٌت	PROPN
alkej-602	213	5	بذال	بذال	NOUN
alkej-602	213	6	ين	ين	PROPN
alkej-602	213	7	فعم	فعم	PROPN
alkej-602	213	8	يٍكانٍكً	يٍكانٍكً	NOUN
alkej-602	213	9	ألجم	ألجم	NOUN
alkej-602	213	10	فخح	فخح	NOUN
alkej-602	213	11	ً	ً	NOUN
alkej-602	213	12	غهق	غهق	PROPN
alkej-602	213	13	ىذه	ىذه	NOUN
alkej-602	213	14	انٍذ	انٍذ	PROPN
alkej-602	213	15	االصطناعٍت	االصطناعٍت	PROPN
alkej-602	213	16	نقذ	نقذ	PROPN
alkej-602	213	17	ًضحج	ًضحج	PROPN
alkej-602	213	18	اننخائج	اننخائج	PROPN
alkej-602	213	19	انعًهٍت	انعًهٍت	PROPN
alkej-602	213	20	ً	ً	PROPN
alkej-602	213	21	اننظزٌت	اننظزٌت	PROPN
alkej-602	213	22	انو	انو	NOUN
alkej-602	213	23	ين	ين	PROPN
alkej-602	213	24	انًًكن	انًًكن	PROPN
alkej-602	213	25	حصًٍى	حصًٍى	NOUN
alkej-602	213	26	ٌذ	ٌذ	PUNCT
alkej-602	213	27	اصطناعٍت	اصطناعٍت	PROPN
alkej-602	213	28	.خالل	.خالل	ADV
alkej-602	213	29	حزحٍب	حزحٍب	NOUN
alkej-602	214	1	حقهٍذي	حقهٍذي	PROPN
alkej-602	214	2	نهسٍطزة	نهسٍطزة	PROPN
alkej-602	214	3	عهى	عهى	NUM
alkej-602	214	4	انعضالث	انعضالث	NOUN
alkej-602	214	5	االصطناعٍت	االصطناعٍت	PROPN
alkej-602	214	6	انكيزبائٍت	انكيزبائٍت	PROPN
alkej-602	214	7	.	.	PUNCT
alkej-602	215	1	ٌخى	ٌخى	PROPN
alkej-602	215	2	انخحكى	انخحكى	ADJ
alkej-602	215	3	بيا	بيا	PROPN
alkej-602	215	4	باسخخذاو	باسخخذاو	PROPN
alkej-602	215	5	أسالك	أسالك	PROPN
alkej-602	215	6	عضهٍت	عضهٍت	PROPN
alkej-602	215	7	اصطناعٍت	اصطناعٍت	PROPN
alkej-602	215	8	كيزبائٍت	كيزبائٍت	PROPN
alkej-602	215	9	ً	ً	NOUN
alkej-602	215	10	بذقت	بذقت	NOUN
alkej-602	215	11	عانٍت	عانٍت	PROPN