id	sid	tid	token	lemma	pos
alkej-68	1	1	يعرب	يعرب	PROPN
alkej-68	1	2	عمر	عمر	NOUN
alkej-68	1	3	ناجي18	ناجي18	PROPN
alkej-68	1	4	-	-	PUNCT
alkej-68	1	5	13	13	NUM
alkej-68	1	6	al	al	PROPN
alkej-68	1	7	-	-	PUNCT
alkej-68	1	8	khwarizmi	khwarizmi	PROPN
alkej-68	1	9	engineering	engineering	PROPN
alkej-68	1	10	journal	journal	PROPN
alkej-68	1	11	al	al	PROPN
alkej-68	1	12	-	-	PUNCT
alkej-68	1	13	khwarizmi	khwarizmi	PROPN
alkej-68	1	14	engineering	engineering	NOUN
alkej-68	1	15	journal	journal	PROPN
alkej-68	1	16	,	,	PUNCT
alkej-68	1	17	vol	vol	NOUN
alkej-68	1	18	.	.	PROPN
alkej-68	1	19	7	7	NUM
alkej-68	1	20	,	,	PUNCT
alkej-68	1	21	no	no	INTJ
alkej-68	1	22	.	.	NOUN
alkej-68	1	23	3	3	NUM
alkej-68	1	24	,	,	PUNCT
alkej-68	1	25	pp	pp	ADV
alkej-68	1	26	13	13	NUM
alkej-68	1	27	18	18	NUM
alkej-68	1	28	(	(	PUNCT
alkej-68	1	29	2011	2011	NUM
alkej-68	1	30	)	)	PUNCT
alkej-68	1	31	fuzzy	fuzzy	ADJ
alkej-68	1	32	control	control	NOUN
alkej-68	1	33	of	of	ADP
alkej-68	1	34	the	the	DET
alkej-68	1	35	robotic	robotic	ADJ
alkej-68	1	36	hands	hand	NOUN
alkej-68	1	37	catching	catch	VERB
alkej-68	1	38	force	force	NOUN
alkej-68	1	39	using	use	VERB
alkej-68	1	40	muscle	muscle	NOUN
alkej-68	1	41	wires	wire	NOUN
alkej-68	1	42	actuator	actuator	PROPN
alkej-68	1	43	yarub	yarub	PROPN
alkej-68	1	44	omer	omer	PROPN
alkej-68	1	45	naji	naji	PROPN
alkej-68	1	46	al	al	PROPN
alkej-68	1	47	-	-	PUNCT
alkej-68	1	48	azzawi	azzawi	PROPN
alkej-68	1	49	department	department	NOUN
alkej-68	1	50	of	of	ADP
alkej-68	1	51	mechatronics/	mechatronics/	PROPN
alkej-68	1	52	al	al	PROPN
alkej-68	1	53	-	-	PUNCT
alkej-68	1	54	khwarizmi	khwarizmi	PROPN
alkej-68	1	55	college	college	PROPN
alkej-68	1	56	of	of	ADP
alkej-68	1	57	engineering/	engineering/	NUM
alkej-68	1	58	university	university	NOUN
alkej-68	1	59	of	of	ADP
alkej-68	1	60	baghdad	baghdad	PROPN
alkej-68	1	61	(	(	PUNCT
alkej-68	1	62	received	receive	VERB
alkej-68	1	63	6	6	NUM
alkej-68	1	64	february	february	NOUN
alkej-68	1	65	2011	2011	NUM
alkej-68	1	66	;	;	PUNCT
alkej-68	1	67	accepted	accept	VERB
alkej-68	1	68	19	19	NUM
alkej-68	1	69	jun	jun	PROPN
alkej-68	1	70	2011	2011	NUM
alkej-68	1	71	)	)	PUNCT
alkej-68	1	72	abstract	abstract	ADV
alkej-68	1	73	the	the	DET
alkej-68	1	74	aim	aim	NOUN
alkej-68	1	75	of	of	ADP
alkej-68	1	76	this	this	DET
alkej-68	1	77	research	research	NOUN
alkej-68	1	78	is	be	AUX
alkej-68	1	79	controlling	control	VERB
alkej-68	1	80	the	the	DET
alkej-68	1	81	amount	amount	NOUN
alkej-68	1	82	of	of	ADP
alkej-68	1	83	the	the	DET
alkej-68	1	84	robotic	robotic	ADJ
alkej-68	1	85	hand	hand	NOUN
alkej-68	1	86	catching	catch	VERB
alkej-68	1	87	force	force	NOUN
alkej-68	1	88	using	use	VERB
alkej-68	1	89	the	the	DET
alkej-68	1	90	artificial	artificial	ADJ
alkej-68	1	91	muscle	muscle	NOUN
alkej-68	1	92	wire	wire	NOUN
alkej-68	1	93	as	as	ADP
alkej-68	1	94	an	an	DET
alkej-68	1	95	actuator	actuator	NOUN
alkej-68	1	96	to	to	PART
alkej-68	1	97	achieve	achieve	VERB
alkej-68	1	98	the	the	DET
alkej-68	1	99	desired	desire	VERB
alkej-68	1	100	response	response	NOUN
alkej-68	1	101	of	of	ADP
alkej-68	1	102	the	the	DET
alkej-68	1	103	robotic	robotic	ADJ
alkej-68	1	104	hand	hand	NOUN
alkej-68	1	105	in	in	ADP
alkej-68	1	106	order	order	NOUN
alkej-68	1	107	to	to	PART
alkej-68	1	108	catch	catch	VERB
alkej-68	1	109	different	different	ADJ
alkej-68	1	110	things	thing	NOUN
alkej-68	1	111	without	without	ADP
alkej-68	1	112	destroying	destroy	VERB
alkej-68	1	113	or	or	CCONJ
alkej-68	1	114	dropping	drop	VERB
alkej-68	1	115	them	they	PRON
alkej-68	1	116	;	;	PUNCT
alkej-68	1	117	where	where	SCONJ
alkej-68	1	118	the	the	DET
alkej-68	1	119	process	process	NOUN
alkej-68	1	120	is	be	AUX
alkej-68	1	121	to	to	PART
alkej-68	1	122	be	be	AUX
alkej-68	1	123	similar	similar	ADJ
alkej-68	1	124	to	to	ADP
alkej-68	1	125	that	that	PRON
alkej-68	1	126	of	of	ADP
alkej-68	1	127	human	human	ADJ
alkej-68	1	128	hand	hand	NOUN
alkej-68	1	129	catching	catch	VERB
alkej-68	1	130	way	way	NOUN
alkej-68	1	131	.	.	PUNCT
alkej-68	2	1	the	the	DET
alkej-68	2	2	proper	proper	ADJ
alkej-68	2	3	selection	selection	NOUN
alkej-68	2	4	of	of	ADP
alkej-68	2	5	the	the	DET
alkej-68	2	6	amount	amount	NOUN
alkej-68	2	7	of	of	ADP
alkej-68	2	8	the	the	DET
alkej-68	2	9	catching	catch	VERB
alkej-68	2	10	force	force	NOUN
alkej-68	2	11	is	be	AUX
alkej-68	2	12	achieved	achieve	VERB
alkej-68	2	13	through	through	ADP
alkej-68	2	14	out	out	ADP
alkej-68	2	15	simulation	simulation	NOUN
alkej-68	2	16	using	use	VERB
alkej-68	2	17	the	the	DET
alkej-68	2	18	fuzzy	fuzzy	ADJ
alkej-68	2	19	control	control	NOUN
alkej-68	2	20	technique	technique	NOUN
alkej-68	2	21	.	.	PUNCT
alkej-68	3	1	the	the	DET
alkej-68	3	2	mechanism	mechanism	NOUN
alkej-68	3	3	of	of	ADP
alkej-68	3	4	the	the	DET
alkej-68	3	5	arrangement	arrangement	NOUN
alkej-68	3	6	of	of	ADP
alkej-68	3	7	the	the	DET
alkej-68	3	8	muscle	muscle	NOUN
alkej-68	3	9	wires	wire	NOUN
alkej-68	3	10	is	be	AUX
alkej-68	3	11	proposed	propose	VERB
alkej-68	3	12	to	to	PART
alkej-68	3	13	achieve	achieve	VERB
alkej-68	3	14	good	good	ADJ
alkej-68	3	15	force	force	NOUN
alkej-68	3	16	selections	selection	NOUN
alkej-68	3	17	.	.	PUNCT
alkej-68	4	1	the	the	DET
alkej-68	4	2	results	result	NOUN
alkej-68	4	3	indicate	indicate	VERB
alkej-68	4	4	the	the	DET
alkej-68	4	5	feasibility	feasibility	NOUN
alkej-68	4	6	of	of	ADP
alkej-68	4	7	using	use	VERB
alkej-68	4	8	this	this	DET
alkej-68	4	9	proposed	propose	VERB
alkej-68	4	10	technique	technique	NOUN
alkej-68	4	11	which	which	PRON
alkej-68	4	12	mimics	mimic	VERB
alkej-68	4	13	human	human	ADJ
alkej-68	4	14	reasoning	reasoning	NOUN
alkej-68	4	15	where	where	SCONJ
alkej-68	4	16	as	as	ADP
alkej-68	4	17	the	the	DET
alkej-68	4	18	weight	weight	NOUN
alkej-68	4	19	of	of	ADP
alkej-68	4	20	the	the	DET
alkej-68	4	21	caught	catch	VERB
alkej-68	4	22	peace	peace	NOUN
alkej-68	4	23	increases	increase	NOUN
alkej-68	4	24	,	,	PUNCT
alkej-68	4	25	the	the	DET
alkej-68	4	26	force	force	NOUN
alkej-68	4	27	increases	increase	VERB
alkej-68	4	28	also	also	ADV
alkej-68	4	29	with	with	ADP
alkej-68	4	30	approximately	approximately	ADV
alkej-68	4	31	the	the	DET
alkej-68	4	32	same	same	ADJ
alkej-68	4	33	amount	amount	NOUN
alkej-68	4	34	of	of	ADP
alkej-68	4	35	increment	increment	NOUN
alkej-68	4	36	.	.	PUNCT
alkej-68	5	1	keywords	keyword	NOUN
alkej-68	5	2	:	:	PUNCT
alkej-68	5	3	muscle	muscle	NOUN
alkej-68	5	4	wires	wire	NOUN
alkej-68	5	5	,	,	PUNCT
alkej-68	5	6	shape	shape	NOUN
alkej-68	5	7	memory	memory	NOUN
alkej-68	5	8	alloy	alloy	NOUN
alkej-68	5	9	,	,	PUNCT
alkej-68	5	10	robotics	robotic	NOUN
alkej-68	5	11	hands	hand	NOUN
alkej-68	5	12	.	.	PUNCT
alkej-68	6	1	1	1	X
alkej-68	6	2	.	.	X
alkej-68	6	3	introduction	introduction	NOUN
alkej-68	6	4	it	it	PRON
alkej-68	6	5	is	be	AUX
alkej-68	6	6	still	still	ADV
alkej-68	6	7	hardly	hardly	ADV
alkej-68	6	8	desired	desire	VERB
alkej-68	6	9	to	to	PART
alkej-68	6	10	control	control	VERB
alkej-68	6	11	the	the	DET
alkej-68	6	12	motion	motion	NOUN
alkej-68	6	13	and	and	CCONJ
alkej-68	6	14	catching	catch	VERB
alkej-68	6	15	force	force	NOUN
alkej-68	6	16	of	of	ADP
alkej-68	6	17	the	the	DET
alkej-68	6	18	robotic	robotic	ADJ
alkej-68	6	19	hand	hand	NOUN
alkej-68	6	20	to	to	PART
alkej-68	6	21	make	make	VERB
alkej-68	6	22	an	an	DET
alkej-68	6	23	excellent	excellent	ADJ
alkej-68	6	24	response	response	NOUN
alkej-68	6	25	to	to	PART
alkej-68	6	26	catch	catch	VERB
alkej-68	6	27	different	different	ADJ
alkej-68	6	28	things	thing	NOUN
alkej-68	6	29	without	without	ADP
alkej-68	6	30	destroying	destroy	VERB
alkej-68	6	31	them	they	PRON
alkej-68	6	32	or	or	CCONJ
alkej-68	6	33	slipping	slip	VERB
alkej-68	6	34	them	they	PRON
alkej-68	6	35	down	down	ADP
alkej-68	6	36	.	.	PUNCT
alkej-68	7	1	pedram	pedram	NOUN
alkej-68	7	2	afshar	afshar	PRON
alkej-68	7	3	and	and	CCONJ
alkej-68	7	4	yoky	yoky	PROPN
alkej-68	7	5	matsuoka	matsuoka	VERB
alkej-68	7	6	[	[	X
alkej-68	7	7	1	1	X
alkej-68	7	8	]	]	PUNCT
alkej-68	7	9	indicate	indicate	VERB
alkej-68	7	10	that	that	SCONJ
alkej-68	7	11	the	the	DET
alkej-68	7	12	neural	neural	ADV
alkej-68	7	13	-	-	PUNCT
alkej-68	7	14	based	base	VERB
alkej-68	7	15	control	control	NOUN
alkej-68	7	16	of	of	ADP
alkej-68	7	17	a	a	DET
alkej-68	7	18	robotic	robotic	ADJ
alkej-68	7	19	hand	hand	NOUN
alkej-68	7	20	has	have	VERB
alkej-68	7	21	many	many	ADJ
alkej-68	7	22	clinical	clinical	ADJ
alkej-68	7	23	and	and	CCONJ
alkej-68	7	24	engineering	engineering	NOUN
alkej-68	7	25	applications	application	NOUN
alkej-68	7	26	.	.	PUNCT
alkej-68	8	1	current	current	ADJ
alkej-68	8	2	approaches	approach	NOUN
alkej-68	8	3	to	to	ADP
alkej-68	8	4	this	this	DET
alkej-68	8	5	problem	problem	NOUN
alkej-68	8	6	have	have	AUX
alkej-68	8	7	been	be	AUX
alkej-68	8	8	limited	limit	VERB
alkej-68	8	9	due	due	ADP
alkej-68	8	10	to	to	ADP
alkej-68	8	11	a	a	DET
alkej-68	8	12	lack	lack	NOUN
alkej-68	8	13	of	of	ADP
alkej-68	8	14	understanding	understanding	NOUN
alkej-68	8	15	of	of	ADP
alkej-68	8	16	the	the	DET
alkej-68	8	17	relationship	relationship	NOUN
alkej-68	8	18	between	between	ADP
alkej-68	8	19	neural	neural	ADJ
alkej-68	8	20	signals	signal	NOUN
alkej-68	8	21	and	and	CCONJ
alkej-68	8	22	dynamic	dynamic	ADJ
alkej-68	8	23	finger	finger	NOUN
alkej-68	8	24	movements	movement	NOUN
alkej-68	8	25	.	.	PUNCT
alkej-68	9	1	here	here	ADV
alkej-68	9	2	,	,	PUNCT
alkej-68	9	3	a	a	DET
alkej-68	9	4	technique	technique	NOUN
alkej-68	9	5	is	be	AUX
alkej-68	9	6	presented	present	VERB
alkej-68	9	7	to	to	PART
alkej-68	9	8	predict	predict	VERB
alkej-68	9	9	index	index	NOUN
alkej-68	9	10	finger	finger	NOUN
alkej-68	9	11	joint	joint	ADJ
alkej-68	9	12	angles	angle	NOUN
alkej-68	9	13	from	from	ADP
alkej-68	9	14	neural	neural	ADJ
alkej-68	9	15	signals	signal	NOUN
alkej-68	9	16	recorded	record	VERB
alkej-68	9	17	from	from	ADP
alkej-68	9	18	the	the	DET
alkej-68	9	19	associated	associated	ADJ
alkej-68	9	20	muscles	muscle	NOUN
alkej-68	9	21	.	.	PUNCT
alkej-68	10	1	the	the	DET
alkej-68	10	2	neural	neural	ADJ
alkej-68	10	3	signals	signal	NOUN
alkej-68	10	4	were	be	AUX
alkej-68	10	5	converted	convert	VERB
alkej-68	10	6	to	to	ADP
alkej-68	10	7	a	a	DET
alkej-68	10	8	torque	torque	NOUN
alkej-68	10	9	estimate	estimate	NOUN
alkej-68	10	10	(	(	PUNCT
alkej-68	10	11	ebte	ebte	ADV
alkej-68	10	12	)	)	PUNCT
alkej-68	10	13	and	and	CCONJ
alkej-68	10	14	then	then	ADV
alkej-68	10	15	input	input	VERB
alkej-68	10	16	to	to	ADP
alkej-68	10	17	artificial	artificial	ADJ
alkej-68	10	18	neural	neural	ADJ
alkej-68	10	19	networks	network	NOUN
alkej-68	10	20	.	.	PUNCT
alkej-68	11	1	the	the	DET
alkej-68	11	2	networks	network	NOUN
alkej-68	11	3	predict	predict	VERB
alkej-68	11	4	the	the	DET
alkej-68	11	5	finger	finger	NOUN
alkej-68	11	6	position	position	VERB
alkej-68	11	7	more	more	ADV
alkej-68	11	8	closely	closely	ADV
alkej-68	11	9	when	when	SCONJ
alkej-68	11	10	the	the	DET
alkej-68	11	11	input	input	NOUN
alkej-68	11	12	to	to	ADP
alkej-68	11	13	the	the	DET
alkej-68	11	14	networks	network	NOUN
alkej-68	11	15	is	be	AUX
alkej-68	11	16	torque	torque	NOUN
alkej-68	11	17	estimates	estimate	NOUN
alkej-68	11	18	rather	rather	ADV
alkej-68	11	19	than	than	ADP
alkej-68	11	20	neural	neural	ADJ
alkej-68	11	21	signals	signal	NOUN
alkej-68	11	22	.	.	PUNCT
alkej-68	12	1	vishalini	vishalini	PROPN
alkej-68	12	2	bundhoo	bundhoo	PROPN
alkej-68	12	3	and	and	CCONJ
alkej-68	12	4	edward	edward	PROPN
alkej-68	12	5	j.	j.	PROPN
alkej-68	12	6	park	park	PROPN
alkej-68	13	1	[	[	X
alkej-68	13	2	2	2	NUM
alkej-68	13	3	]	]	PUNCT
alkej-68	13	4	focus	focus	NOUN
alkej-68	13	5	on	on	ADP
alkej-68	13	6	the	the	DET
alkej-68	13	7	design	design	NOUN
alkej-68	13	8	and	and	CCONJ
alkej-68	13	9	modeling	modeling	NOUN
alkej-68	13	10	of	of	ADP
alkej-68	13	11	a	a	DET
alkej-68	13	12	prosthetic	prosthetic	ADJ
alkej-68	13	13	finger	finger	NOUN
alkej-68	13	14	for	for	ADP
alkej-68	13	15	children	child	NOUN
alkej-68	13	16	.	.	PUNCT
alkej-68	14	1	conventional	conventional	ADJ
alkej-68	14	2	prosthetic	prosthetic	ADJ
alkej-68	14	3	hands	hand	NOUN
alkej-68	14	4	are	be	AUX
alkej-68	14	5	simple	simple	ADJ
alkej-68	14	6	grippers	gripper	NOUN
alkej-68	14	7	that	that	PRON
alkej-68	14	8	only	only	ADV
alkej-68	14	9	restore	restore	VERB
alkej-68	14	10	the	the	DET
alkej-68	14	11	very	very	ADV
alkej-68	14	12	basic	basic	ADJ
alkej-68	14	13	grasping	grasp	VERB
alkej-68	14	14	capabilities	capability	NOUN
alkej-68	14	15	of	of	ADP
alkej-68	14	16	the	the	DET
alkej-68	14	17	human	human	ADJ
alkej-68	14	18	hand	hand	NOUN
alkej-68	14	19	.	.	PUNCT
alkej-68	15	1	novel	novel	ADJ
alkej-68	15	2	design	design	NOUN
alkej-68	15	3	methodologies	methodology	NOUN
alkej-68	15	4	were	be	AUX
alkej-68	15	5	required	require	VERB
alkej-68	15	6	in	in	ADP
alkej-68	15	7	order	order	NOUN
alkej-68	15	8	to	to	PART
alkej-68	15	9	address	address	VERB
alkej-68	15	10	the	the	DET
alkej-68	15	11	issue	issue	NOUN
alkej-68	15	12	of	of	ADP
alkej-68	15	13	low	low	ADJ
alkej-68	15	14	functionality	functionality	NOUN
alkej-68	15	15	of	of	ADP
alkej-68	15	16	prosthetic	prosthetic	ADJ
alkej-68	15	17	hands	hand	NOUN
alkej-68	15	18	while	while	SCONJ
alkej-68	15	19	still	still	ADV
alkej-68	15	20	meeting	meet	VERB
alkej-68	15	21	their	their	PRON
alkej-68	15	22	mass	mass	ADJ
alkej-68	15	23	and	and	CCONJ
alkej-68	15	24	size	size	NOUN
alkej-68	15	25	requirements	requirement	NOUN
alkej-68	15	26	.	.	PUNCT
alkej-68	16	1	a	a	DET
alkej-68	16	2	biomimetic	biomimetic	ADJ
alkej-68	16	3	approach	approach	NOUN
alkej-68	16	4	to	to	ADP
alkej-68	16	5	prosthetic	prosthetic	ADJ
alkej-68	16	6	hand	hand	NOUN
alkej-68	16	7	design	design	NOUN
alkej-68	16	8	proposed	propose	VERB
alkej-68	16	9	.	.	PUNCT
alkej-68	17	1	the	the	DET
alkej-68	17	2	musculosketal	musculosketal	ADJ
alkej-68	17	3	characteristics	characteristic	NOUN
alkej-68	17	4	of	of	ADP
alkej-68	17	5	the	the	DET
alkej-68	17	6	human	human	ADJ
alkej-68	17	7	hand	hand	NOUN
alkej-68	17	8	are	be	AUX
alkej-68	17	9	studied	study	VERB
alkej-68	17	10	in	in	ADP
alkej-68	17	11	order	order	NOUN
alkej-68	17	12	to	to	PART
alkej-68	17	13	extract	extract	VERB
alkej-68	17	14	elements	element	NOUN
alkej-68	17	15	that	that	PRON
alkej-68	17	16	are	be	AUX
alkej-68	17	17	essential	essential	ADJ
alkej-68	17	18	in	in	ADP
alkej-68	17	19	the	the	DET
alkej-68	17	20	design	design	NOUN
alkej-68	17	21	of	of	ADP
alkej-68	17	22	a	a	DET
alkej-68	17	23	biomechanically	biomechanically	ADV
alkej-68	17	24	accurate	accurate	ADJ
alkej-68	17	25	hand	hand	NOUN
alkej-68	17	26	.	.	PUNCT
alkej-68	18	1	a	a	DET
alkej-68	18	2	4	4	NUM
alkej-68	18	3	dof	dof	NOUN
alkej-68	18	4	finger	finger	NOUN
alkej-68	18	5	design	design	NOUN
alkej-68	18	6	that	that	PRON
alkej-68	18	7	closely	closely	ADV
alkej-68	18	8	mimics	mimic	VERB
alkej-68	18	9	the	the	DET
alkej-68	18	10	size	size	NOUN
alkej-68	18	11	and	and	CCONJ
alkej-68	18	12	kinematics	kinematic	NOUN
alkej-68	18	13	of	of	ADP
alkej-68	18	14	the	the	DET
alkej-68	18	15	human	human	ADJ
alkej-68	18	16	finger	finger	NOUN
alkej-68	18	17	is	be	AUX
alkej-68	18	18	presented	present	VERB
alkej-68	18	19	.	.	PUNCT
alkej-68	19	1	the	the	DET
alkej-68	19	2	design	design	NOUN
alkej-68	19	3	proposes	propose	VERB
alkej-68	19	4	to	to	PART
alkej-68	19	5	use	use	VERB
alkej-68	19	6	sma	sma	NOUN
alkej-68	19	7	-	-	PUNCT
alkej-68	19	8	driven	drive	VERB
alkej-68	19	9	tendon	tendon	NOUN
alkej-68	19	10	wires	wire	NOUN
alkej-68	19	11	that	that	PRON
alkej-68	19	12	are	be	AUX
alkej-68	19	13	directly	directly	ADV
alkej-68	19	14	attached	attach	VERB
alkej-68	19	15	to	to	ADP
alkej-68	19	16	the	the	DET
alkej-68	19	17	finger	finger	NOUN
alkej-68	19	18	structure	structure	NOUN
alkej-68	19	19	,	,	PUNCT
alkej-68	19	20	in	in	ADP
alkej-68	19	21	a	a	DET
alkej-68	19	22	manner	manner	NOUN
alkej-68	19	23	similar	similar	ADJ
alkej-68	19	24	to	to	ADP
alkej-68	19	25	the	the	DET
alkej-68	19	26	natural	natural	ADJ
alkej-68	19	27	tendons	tendon	NOUN
alkej-68	19	28	and	and	CCONJ
alkej-68	19	29	muscles	muscle	NOUN
alkej-68	19	30	.	.	PUNCT
alkej-68	20	1	a	a	DET
alkej-68	20	2	kinematic	kinematic	ADJ
alkej-68	20	3	analysis	analysis	NOUN
alkej-68	20	4	of	of	ADP
alkej-68	20	5	the	the	DET
alkej-68	20	6	proposed	propose	VERB
alkej-68	20	7	finger	finger	NOUN
alkej-68	20	8	,	,	PUNCT
alkej-68	20	9	which	which	PRON
alkej-68	20	10	defines	define	VERB
alkej-68	20	11	the	the	DET
alkej-68	20	12	relationship	relationship	NOUN
alkej-68	20	13	between	between	ADP
alkej-68	20	14	the	the	DET
alkej-68	20	15	motion	motion	NOUN
alkej-68	20	16	of	of	ADP
alkej-68	20	17	its	its	PRON
alkej-68	20	18	joints	joint	NOUN
alkej-68	20	19	and	and	CCONJ
alkej-68	20	20	the	the	DET
alkej-68	20	21	corresponding	corresponding	ADJ
alkej-68	20	22	sma	sma	NOUN
alkej-68	20	23	artificial	artificial	ADJ
alkej-68	20	24	muscle	muscle	NOUN
alkej-68	20	25	contraction	contraction	NOUN
alkej-68	20	26	ranges	range	NOUN
alkej-68	20	27	,	,	PUNCT
alkej-68	20	28	was	be	AUX
alkej-68	20	29	presented	present	VERB
alkej-68	20	30	.	.	PUNCT
alkej-68	21	1	the	the	DET
alkej-68	21	2	results	result	NOUN
alkej-68	21	3	of	of	ADP
alkej-68	21	4	a	a	DET
alkej-68	21	5	torque	torque	NOUN
alkej-68	21	6	analysis	analysis	NOUN
alkej-68	21	7	carried	carry	VERB
alkej-68	21	8	out	out	ADP
alkej-68	21	9	to	to	PART
alkej-68	21	10	evaluate	evaluate	VERB
alkej-68	21	11	sma	sma	NOUN
alkej-68	21	12	wire	wire	NOUN
alkej-68	21	13	diameter	diameter	NOUN
alkej-68	21	14	and	and	CCONJ
alkej-68	21	15	actuation	actuation	NOUN
alkej-68	21	16	forces	force	NOUN
alkej-68	21	17	required	require	VERB
alkej-68	21	18	was	be	AUX
alkej-68	21	19	also	also	ADV
alkej-68	21	20	presented	present	VERB
alkej-68	21	21	.	.	PUNCT
alkej-68	22	1	megan	megan	PROPN
alkej-68	22	2	grimm	grimm	PROPN
alkej-68	22	3	,	,	PUNCT
alkej-68	22	4	a.	a.	PROPN
alkej-68	22	5	antonio	antonio	PROPN
alkej-68	22	6	arroyo	arroyo	PROPN
alkej-68	22	7	,	,	PUNCT
alkej-68	22	8	michael	michael	PROPN
alkej-68	22	9	nechyba	nechyba	PROPN
alkej-68	23	1	[	[	X
alkej-68	23	2	3	3	NUM
alkej-68	23	3	]	]	PUNCT
alkej-68	23	4	introduce	introduce	VERB
alkej-68	23	5	the	the	DET
alkej-68	23	6	thing	thing	NOUN
alkej-68	23	7	which	which	PRON
alkej-68	23	8	is	be	AUX
alkej-68	23	9	a	a	DET
alkej-68	23	10	robotic	robotic	ADJ
alkej-68	23	11	hand	hand	NOUN
alkej-68	23	12	with	with	ADP
alkej-68	23	13	three	three	NUM
alkej-68	23	14	digits	digit	NOUN
alkej-68	23	15	,	,	PUNCT
alkej-68	23	16	a	a	DET
alkej-68	23	17	pronating	pronate	VERB
alkej-68	23	18	opposable	opposable	ADJ
alkej-68	23	19	thumb	thumb	NOUN
alkej-68	23	20	,	,	PUNCT
alkej-68	23	21	and	and	CCONJ
alkej-68	23	22	a	a	DET
alkej-68	23	23	2	2	NUM
alkej-68	23	24	d.o.f	d.o.f	ADJ
alkej-68	23	25	.	.	PROPN
alkej-68	23	26	wrist	wrist	PROPN
alkej-68	23	27	.	.	PUNCT
alkej-68	24	1	designed	design	VERB
alkej-68	24	2	to	to	PART
alkej-68	24	3	more	more	ADV
alkej-68	24	4	accurately	accurately	ADV
alkej-68	24	5	model	model	NOUN
alkej-68	24	6	of	of	ADP
alkej-68	24	7	human	human	ADJ
alkej-68	24	8	hand	hand	NOUN
alkej-68	24	9	positioning	positioning	NOUN
alkej-68	24	10	and	and	CCONJ
alkej-68	24	11	grasping	grasp	VERB
alkej-68	24	12	capabilities	capability	NOUN
alkej-68	24	13	than	than	ADP
alkej-68	24	14	previous	previous	ADJ
alkej-68	24	15	models	model	NOUN
alkej-68	24	16	,	,	PUNCT
alkej-68	24	17	thing	thing	NOUN
alkej-68	24	18	is	be	AUX
alkej-68	24	19	controlled	control	VERB
alkej-68	24	20	by	by	ADP
alkej-68	24	21	a	a	DET
alkej-68	24	22	flex	flex	ADJ
alkej-68	24	23	-	-	PUNCT
alkej-68	24	24	sensor	sensor	NOUN
alkej-68	24	25	-	-	PUNCT
alkej-68	24	26	equipped	equip	VERB
alkej-68	24	27	glove	glove	NOUN
alkej-68	24	28	yarub	yarub	NOUN
alkej-68	24	29	omer	omer	PROPN
alkej-68	24	30	naji	naji	PROPN
alkej-68	24	31	al	al	PROPN
alkej-68	24	32	-	-	PUNCT
alkej-68	24	33	azzawi	azzawi	PROPN
alkej-68	24	34	al	al	PROPN
alkej-68	24	35	-	-	PUNCT
alkej-68	24	36	khwarizmi	khwarizmi	PROPN
alkej-68	24	37	engineering	engineering	NOUN
alkej-68	24	38	journal	journal	PROPN
alkej-68	24	39	,	,	PUNCT
alkej-68	24	40	vol	vol	NOUN
alkej-68	24	41	.	.	PROPN
alkej-68	25	1	7	7	NUM
alkej-68	25	2	,	,	PUNCT
alkej-68	25	3	no	no	INTJ
alkej-68	25	4	.	.	NOUN
alkej-68	25	5	3	3	NUM
alkej-68	25	6	,	,	PUNCT
alkej-68	25	7	pp	pp	ADV
alkej-68	25	8	13	13	NUM
alkej-68	25	9	18	18	NUM
alkej-68	25	10	(	(	PUNCT
alkej-68	25	11	2011	2011	NUM
alkej-68	25	12	)	)	PUNCT
alkej-68	25	13	14	14	NUM
alkej-68	25	14	which	which	PRON
alkej-68	25	15	relays	relay	VERB
alkej-68	25	16	the	the	DET
alkej-68	25	17	user	user	NOUN
alkej-68	25	18	’s	’s	PART
alkej-68	25	19	finger	finger	NOUN
alkej-68	25	20	positions	position	NOUN
alkej-68	25	21	by	by	ADP
alkej-68	25	22	means	mean	NOUN
alkej-68	25	23	of	of	ADP
alkej-68	25	24	flex	flex	ADJ
alkej-68	25	25	sensors	sensor	NOUN
alkej-68	25	26	.	.	PUNCT
alkej-68	26	1	it	it	PRON
alkej-68	26	2	will	will	AUX
alkej-68	26	3	also	also	ADV
alkej-68	26	4	,	,	PUNCT
alkej-68	26	5	by	by	ADP
alkej-68	26	6	the	the	DET
alkej-68	26	7	time	time	NOUN
alkej-68	26	8	of	of	ADP
alkej-68	26	9	publication	publication	NOUN
alkej-68	26	10	,	,	PUNCT
alkej-68	26	11	incorporate	incorporate	VERB
alkej-68	26	12	an	an	DET
alkej-68	26	13	image	image	NOUN
alkej-68	26	14	-	-	PUNCT
alkej-68	26	15	processing	process	VERB
alkej-68	26	16	system	system	NOUN
alkej-68	26	17	for	for	ADP
alkej-68	26	18	determination	determination	NOUN
alkej-68	26	19	of	of	ADP
alkej-68	26	20	wrist	wrist	NOUN
alkej-68	26	21	posture	posture	NOUN
alkej-68	26	22	.	.	PUNCT
alkej-68	27	1	the	the	DET
alkej-68	27	2	proposed	propose	VERB
alkej-68	27	3	design	design	NOUN
alkej-68	27	4	in	in	ADP
alkej-68	27	5	this	this	DET
alkej-68	27	6	research	research	NOUN
alkej-68	27	7	is	be	AUX
alkej-68	27	8	using	use	VERB
alkej-68	27	9	an	an	DET
alkej-68	27	10	artificial	artificial	ADJ
alkej-68	27	11	muscle	muscle	NOUN
alkej-68	27	12	wire	wire	NOUN
alkej-68	27	13	(	(	PUNCT
alkej-68	27	14	shape	shape	NOUN
alkej-68	27	15	-	-	PUNCT
alkej-68	27	16	memory	memory	NOUN
alkej-68	27	17	-	-	PUNCT
alkej-68	27	18	alloy	alloy	NOUN
alkej-68	27	19	sma	sma	NOUN
alkej-68	27	20	)	)	PUNCT
alkej-68	27	21	as	as	ADP
alkej-68	27	22	an	an	DET
alkej-68	27	23	actuator	actuator	NOUN
alkej-68	27	24	.	.	PUNCT
alkej-68	28	1	muscle	muscle	NOUN
alkej-68	28	2	wires	wire	NOUN
alkej-68	28	3	belong	belong	VERB
alkej-68	28	4	to	to	ADP
alkej-68	28	5	a	a	DET
alkej-68	28	6	class	class	NOUN
alkej-68	28	7	of	of	ADP
alkej-68	28	8	metal	metal	NOUN
alkej-68	28	9	alloys	alloy	NOUN
alkej-68	28	10	displaying	display	VERB
alkej-68	28	11	a	a	DET
alkej-68	28	12	property	property	NOUN
alkej-68	28	13	called	call	VERB
alkej-68	28	14	shape	shape	NOUN
alkej-68	28	15	memory	memory	NOUN
alkej-68	28	16	effect	effect	NOUN
alkej-68	28	17	(	(	PUNCT
alkej-68	28	18	sme	sme	NOUN
alkej-68	28	19	)	)	PUNCT
alkej-68	28	20	,	,	PUNCT
alkej-68	28	21	and	and	CCONJ
alkej-68	28	22	when	when	SCONJ
alkej-68	28	23	heated	heated	ADJ
alkej-68	28	24	they	they	PRON
alkej-68	28	25	will	will	AUX
alkej-68	28	26	recover	recover	VERB
alkej-68	28	27	their	their	PRON
alkej-68	28	28	original	original	ADJ
alkej-68	28	29	,	,	PUNCT
alkej-68	28	30	shorter	short	ADJ
alkej-68	28	31	length	length	NOUN
alkej-68	28	32	and	and	CCONJ
alkej-68	28	33	contract	contract	NOUN
alkej-68	28	34	with	with	ADP
alkej-68	28	35	a	a	DET
alkej-68	28	36	usable	usable	ADJ
alkej-68	28	37	amount	amount	NOUN
alkej-68	28	38	of	of	ADP
alkej-68	28	39	force	force	NOUN
alkej-68	28	40	in	in	ADP
alkej-68	28	41	the	the	DET
alkej-68	28	42	process	process	NOUN
alkej-68	28	43	[	[	X
alkej-68	28	44	4	4	NUM
alkej-68	28	45	]	]	PUNCT
alkej-68	28	46	.	.	PUNCT
alkej-68	29	1	the	the	DET
alkej-68	29	2	connection	connection	NOUN
alkej-68	29	3	of	of	ADP
alkej-68	29	4	muscle	muscle	NOUN
alkej-68	29	5	wires	wire	NOUN
alkej-68	29	6	mechanically	mechanically	ADV
alkej-68	29	7	in	in	ADP
alkej-68	29	8	parallel	parallel	NOUN
alkej-68	29	9	as	as	SCONJ
alkej-68	29	10	proposed	propose	VERB
alkej-68	29	11	in	in	ADP
alkej-68	29	12	this	this	DET
alkej-68	29	13	research	research	NOUN
alkej-68	29	14	makes	make	VERB
alkej-68	29	15	the	the	DET
alkej-68	29	16	increment	increment	NOUN
alkej-68	29	17	of	of	ADP
alkej-68	29	18	the	the	DET
alkej-68	29	19	amount	amount	NOUN
alkej-68	29	20	of	of	ADP
alkej-68	29	21	force	force	NOUN
alkej-68	29	22	without	without	ADP
alkej-68	29	23	affecting	affect	VERB
alkej-68	29	24	the	the	DET
alkej-68	29	25	amount	amount	NOUN
alkej-68	29	26	of	of	ADP
alkej-68	29	27	contraction	contraction	NOUN
alkej-68	29	28	possible	possible	ADJ
alkej-68	29	29	and	and	CCONJ
alkej-68	29	30	this	this	DET
alkej-68	29	31	help	help	NOUN
alkej-68	29	32	in	in	ADP
alkej-68	29	33	the	the	DET
alkej-68	29	34	application	application	NOUN
alkej-68	29	35	of	of	ADP
alkej-68	29	36	the	the	DET
alkej-68	29	37	robotics	robotic	NOUN
alkej-68	29	38	hand	hand	NOUN
alkej-68	29	39	to	to	ADP
alkej-68	29	40	catching	catch	VERB
alkej-68	29	41	different	different	ADJ
alkej-68	29	42	things	thing	NOUN
alkej-68	29	43	without	without	ADP
alkej-68	29	44	problem	problem	NOUN
alkej-68	29	45	association	association	NOUN
alkej-68	29	46	.	.	PUNCT
alkej-68	30	1	2	2	X
alkej-68	30	2	.	.	X
alkej-68	30	3	the	the	DET
alkej-68	30	4	proposed	propose	VERB
alkej-68	30	5	technique	technique	NOUN
alkej-68	30	6	of	of	ADP
alkej-68	30	7	catchment	catchment	NOUN
alkej-68	30	8	there	there	PRON
alkej-68	30	9	is	be	VERB
alkej-68	30	10	a	a	DET
alkej-68	30	11	very	very	ADV
alkej-68	30	12	different	different	ADJ
alkej-68	30	13	and	and	CCONJ
alkej-68	30	14	much	much	ADV
alkej-68	30	15	newer	new	ADJ
alkej-68	30	16	way	way	NOUN
alkej-68	30	17	to	to	PART
alkej-68	30	18	create	create	VERB
alkej-68	30	19	motion	motion	NOUN
alkej-68	30	20	from	from	ADP
alkej-68	30	21	by	by	ADP
alkej-68	30	22	using	use	VERB
alkej-68	30	23	shape	shape	NOUN
alkej-68	30	24	memory	memory	NOUN
alkej-68	30	25	alloys	alloy	NOUN
alkej-68	30	26	(	(	PUNCT
alkej-68	30	27	sma	sma	PROPN
alkej-68	30	28	)	)	PUNCT
alkej-68	30	29	.	.	PUNCT
alkej-68	31	1	these	these	DET
alkej-68	31	2	special	special	ADJ
alkej-68	31	3	metals	metal	NOUN
alkej-68	31	4	undergo	undergo	VERB
alkej-68	31	5	changes	change	NOUN
alkej-68	31	6	in	in	ADP
alkej-68	31	7	shape	shape	NOUN
alkej-68	31	8	when	when	SCONJ
alkej-68	31	9	heated	heated	ADJ
alkej-68	31	10	or	or	CCONJ
alkej-68	31	11	cooled	cool	VERB
alkej-68	31	12	and	and	CCONJ
alkej-68	31	13	do	do	VERB
alkej-68	31	14	so	so	ADV
alkej-68	31	15	with	with	ADP
alkej-68	31	16	great	great	ADJ
alkej-68	31	17	force	force	NOUN
alkej-68	31	18	.	.	PUNCT
alkej-68	32	1	the	the	DET
alkej-68	32	2	required	require	VERB
alkej-68	32	3	gripper	gripper	NOUN
alkej-68	32	4	movements	movement	NOUN
alkej-68	32	5	are	be	AUX
alkej-68	32	6	ensured	ensure	VERB
alkej-68	32	7	from	from	ADP
alkej-68	32	8	the	the	DET
alkej-68	32	9	different	different	ADJ
alkej-68	32	10	activations	activation	NOUN
alkej-68	32	11	of	of	ADP
alkej-68	32	12	the	the	DET
alkej-68	32	13	connected	connected	ADJ
alkej-68	32	14	muscle	muscle	NOUN
alkej-68	32	15	wires	wire	NOUN
alkej-68	32	16	in	in	ADP
alkej-68	32	17	series	series	NOUN
alkej-68	32	18	as	as	SCONJ
alkej-68	32	19	shown	show	VERB
alkej-68	32	20	in	in	ADP
alkej-68	32	21	figure	figure	NOUN
alkej-68	32	22	[	[	X
alkej-68	32	23	1	1	NUM
alkej-68	32	24	]	]	PUNCT
alkej-68	32	25	.	.	PUNCT
alkej-68	33	1	fig.1	fig.1	ADJ
alkej-68	33	2	.	.	PUNCT
alkej-68	34	1	schematic	schematic	ADJ
alkej-68	34	2	of	of	ADP
alkej-68	34	3	mws	mws	NOUN
alkej-68	34	4	connection	connection	NOUN
alkej-68	34	5	in	in	ADP
alkej-68	34	6	series	series	NOUN
alkej-68	34	7	[	[	X
alkej-68	34	8	5	5	NUM
alkej-68	34	9	]	]	PUNCT
alkej-68	34	10	.	.	PUNCT
alkej-68	35	1	the	the	DET
alkej-68	35	2	important	important	ADJ
alkej-68	35	3	part	part	NOUN
alkej-68	35	4	of	of	ADP
alkej-68	35	5	this	this	DET
alkej-68	35	6	job	job	NOUN
alkej-68	35	7	is	be	AUX
alkej-68	35	8	the	the	DET
alkej-68	35	9	limitation	limitation	NOUN
alkej-68	35	10	of	of	ADP
alkej-68	35	11	the	the	DET
alkej-68	35	12	amount	amount	NOUN
alkej-68	35	13	of	of	ADP
alkej-68	35	14	the	the	DET
alkej-68	35	15	catching	catch	VERB
alkej-68	35	16	force	force	NOUN
alkej-68	35	17	;	;	PUNCT
alkej-68	35	18	that	that	PRON
alkej-68	35	19	is	be	AUX
alkej-68	35	20	the	the	DET
alkej-68	35	21	hand	hand	NOUN
alkej-68	35	22	to	to	PART
alkej-68	35	23	catch	catch	VERB
alkej-68	35	24	different	different	ADJ
alkej-68	35	25	things	thing	NOUN
alkej-68	35	26	without	without	ADP
alkej-68	35	27	slipping	slip	VERB
alkej-68	35	28	or	or	CCONJ
alkej-68	35	29	destroying	destroy	VERB
alkej-68	35	30	them	they	PRON
alkej-68	35	31	.	.	PUNCT
alkej-68	36	1	the	the	DET
alkej-68	36	2	selection	selection	NOUN
alkej-68	36	3	of	of	ADP
alkej-68	36	4	the	the	DET
alkej-68	36	5	amount	amount	NOUN
alkej-68	36	6	of	of	ADP
alkej-68	36	7	the	the	DET
alkej-68	36	8	force	force	NOUN
alkej-68	36	9	depends	depend	VERB
alkej-68	36	10	on	on	ADP
alkej-68	36	11	the	the	DET
alkej-68	36	12	size	size	NOUN
alkej-68	36	13	(	(	PUNCT
alkej-68	36	14	cross	cross	NOUN
alkej-68	36	15	section	section	NOUN
alkej-68	36	16	)	)	PUNCT
alkej-68	36	17	of	of	ADP
alkej-68	36	18	the	the	DET
alkej-68	36	19	used	use	VERB
alkej-68	36	20	muscle	muscle	NOUN
alkej-68	36	21	wire	wire	NOUN
alkej-68	36	22	and	and	CCONJ
alkej-68	36	23	the	the	DET
alkej-68	36	24	type	type	NOUN
alkej-68	36	25	of	of	ADP
alkej-68	36	26	the	the	DET
alkej-68	36	27	alloy	alloy	NOUN
alkej-68	36	28	that	that	PRON
alkej-68	36	29	this	this	DET
alkej-68	36	30	muscle	muscle	NOUN
alkej-68	36	31	wire	wire	NOUN
alkej-68	36	32	is	be	AUX
alkej-68	36	33	made	make	VERB
alkej-68	36	34	of	of	ADP
alkej-68	36	35	,	,	PUNCT
alkej-68	36	36	where	where	SCONJ
alkej-68	36	37	each	each	DET
alkej-68	36	38	size	size	NOUN
alkej-68	36	39	and	and	CCONJ
alkej-68	36	40	type	type	NOUN
alkej-68	36	41	give	give	VERB
alkej-68	36	42	an	an	DET
alkej-68	36	43	absolute	absolute	ADJ
alkej-68	36	44	amount	amount	NOUN
alkej-68	36	45	of	of	ADP
alkej-68	36	46	force	force	NOUN
alkej-68	36	47	[	[	X
alkej-68	36	48	4	4	NUM
alkej-68	36	49	]	]	PUNCT
alkej-68	36	50	.	.	PUNCT
alkej-68	37	1	but	but	CCONJ
alkej-68	37	2	if	if	SCONJ
alkej-68	37	3	it	it	PRON
alkej-68	37	4	is	be	AUX
alkej-68	37	5	needed	need	VERB
alkej-68	37	6	to	to	PART
alkej-68	37	7	control	control	VERB
alkej-68	37	8	or	or	CCONJ
alkej-68	37	9	select	select	VERB
alkej-68	37	10	the	the	DET
alkej-68	37	11	desired	desire	VERB
alkej-68	37	12	amount	amount	NOUN
alkej-68	37	13	of	of	ADP
alkej-68	37	14	catching	catch	VERB
alkej-68	37	15	force	force	NOUN
alkej-68	37	16	to	to	PART
alkej-68	37	17	catch	catch	VERB
alkej-68	37	18	the	the	DET
alkej-68	37	19	present	present	ADJ
alkej-68	37	20	piece	piece	NOUN
alkej-68	37	21	or	or	CCONJ
alkej-68	37	22	particle	particle	NOUN
alkej-68	37	23	,	,	PUNCT
alkej-68	37	24	the	the	DET
alkej-68	37	25	number	number	NOUN
alkej-68	37	26	of	of	ADP
alkej-68	37	27	parallel	parallel	NOUN
alkej-68	37	28	(	(	PUNCT
alkej-68	37	29	mechanically	mechanically	ADV
alkej-68	37	30	)	)	PUNCT
alkej-68	37	31	muscle	muscle	NOUN
alkej-68	37	32	wires	wire	NOUN
alkej-68	37	33	of	of	ADP
alkej-68	37	34	the	the	DET
alkej-68	37	35	same	same	ADJ
alkej-68	37	36	size	size	NOUN
alkej-68	37	37	and	and	CCONJ
alkej-68	37	38	type	type	NOUN
alkej-68	37	39	or	or	CCONJ
alkej-68	37	40	different	different	ADJ
alkej-68	37	41	must	must	AUX
alkej-68	37	42	be	be	AUX
alkej-68	37	43	selected	select	VERB
alkej-68	37	44	and	and	CCONJ
alkej-68	37	45	the	the	DET
alkej-68	37	46	process	process	NOUN
alkej-68	37	47	of	of	ADP
alkej-68	37	48	selection	selection	NOUN
alkej-68	37	49	must	must	AUX
alkej-68	37	50	be	be	AUX
alkej-68	37	51	through	through	ADP
alkej-68	37	52	a	a	DET
alkej-68	37	53	control	control	NOUN
alkej-68	37	54	strategy	strategy	NOUN
alkej-68	37	55	.	.	PUNCT
alkej-68	38	1	the	the	DET
alkej-68	38	2	proposed	propose	VERB
alkej-68	38	3	hands	hand	NOUN
alkej-68	38	4	'	'	PART
alkej-68	38	5	actuator	actuator	NOUN
alkej-68	38	6	consists	consist	VERB
alkej-68	38	7	of	of	ADP
alkej-68	38	8	two	two	NUM
alkej-68	38	9	levels	level	NOUN
alkej-68	38	10	;	;	PUNCT
alkej-68	38	11	level(1	level(1	PROPN
alkej-68	38	12	)	)	PUNCT
alkej-68	38	13	is	be	AUX
alkej-68	38	14	responsible	responsible	ADJ
alkej-68	38	15	of	of	ADP
alkej-68	38	16	the	the	DET
alkej-68	38	17	required	require	VERB
alkej-68	38	18	hands	hand	NOUN
alkej-68	38	19	'	'	PART
alkej-68	38	20	tips	tip	NOUN
alkej-68	38	21	motions	motion	NOUN
alkej-68	38	22	,	,	PUNCT
alkej-68	38	23	and	and	CCONJ
alkej-68	38	24	level(2	level(2	PROPN
alkej-68	38	25	)	)	PUNCT
alkej-68	38	26	works	work	VERB
alkej-68	38	27	as	as	ADP
alkej-68	38	28	a	a	DET
alkej-68	38	29	generator	generator	NOUN
alkej-68	38	30	that	that	PRON
alkej-68	38	31	generates	generate	VERB
alkej-68	38	32	the	the	DET
alkej-68	38	33	required	require	VERB
alkej-68	38	34	amount	amount	NOUN
alkej-68	38	35	of	of	ADP
alkej-68	38	36	grasping	grasp	VERB
alkej-68	38	37	force	force	NOUN
alkej-68	38	38	as	as	SCONJ
alkej-68	38	39	shown	show	VERB
alkej-68	38	40	in	in	ADP
alkej-68	38	41	figure	figure	NOUN
alkej-68	38	42	[	[	X
alkej-68	38	43	2	2	NUM
alkej-68	38	44	]	]	PUNCT
alkej-68	38	45	.	.	PUNCT
alkej-68	39	1	fig.2	fig.2	PROPN
alkej-68	39	2	.	.	PUNCT
alkej-68	40	1	the	the	DET
alkej-68	40	2	proposed	propose	VERB
alkej-68	40	3	robotics	robotic	NOUN
alkej-68	40	4	hand	hand	NOUN
alkej-68	40	5	.	.	PUNCT
alkej-68	41	1	the	the	DET
alkej-68	41	2	mechanical	mechanical	ADJ
alkej-68	41	3	and	and	CCONJ
alkej-68	41	4	electrical	electrical	ADJ
alkej-68	41	5	characteristics	characteristic	NOUN
alkej-68	41	6	of	of	ADP
alkej-68	41	7	the	the	DET
alkej-68	41	8	used	use	VERB
alkej-68	41	9	sma	sma	NOUN
alkej-68	41	10	are	be	AUX
alkej-68	41	11	:	:	PUNCT
alkej-68	41	12	1	1	X
alkej-68	41	13	.	.	X
alkej-68	41	14	type	type	NOUN
alkej-68	41	15	:	:	PUNCT
alkej-68	41	16	flexinol	flexinol	NOUN
alkej-68	41	17	375	375	NUM
alkej-68	41	18	ht	ht	PROPN
alkej-68	41	19	2	2	NUM
alkej-68	41	20	.	.	PUNCT
alkej-68	41	21	diameter	diameter	NOUN
alkej-68	41	22	:	:	PUNCT
alkej-68	41	23	375	375	NUM
alkej-68	41	24	µm	µm	PART
alkej-68	41	25	3	3	NUM
alkej-68	41	26	.	.	PUNCT
alkej-68	41	27	activation	activation	NOUN
alkej-68	41	28	temp	temp	NOUN
alkej-68	41	29	:	:	PUNCT
alkej-68	41	30	90⁰c	90⁰c	PROPN
alkej-68	41	31	4	4	NUM
alkej-68	41	32	.	.	PUNCT
alkej-68	41	33	resistance	resistance	NOUN
alkej-68	41	34	:	:	PUNCT
alkej-68	41	35	8	8	NUM
alkej-68	41	36	ω	ω	NUM
alkej-68	41	37	/	/	SYM
alkej-68	41	38	m	m	PROPN
alkej-68	41	39	5	5	NUM
alkej-68	41	40	.	.	PUNCT
alkej-68	41	41	recommended	recommend	VERB
alkej-68	41	42	current	current	ADJ
alkej-68	41	43	:	:	PUNCT
alkej-68	41	44	2750	2750	NUM
alkej-68	41	45	ma	ma	PROPN
alkej-68	41	46	6	6	NUM
alkej-68	41	47	.	.	PUNCT
alkej-68	41	48	rec	rec	PROPN
alkej-68	41	49	.	.	PROPN
alkej-68	41	50	recovery	recovery	NOUN
alkej-68	41	51	force	force	NOUN
alkej-68	41	52	:	:	PUNCT
alkej-68	41	53	2000	2000	NUM
alkej-68	41	54	grams	gram	NOUN
alkej-68	41	55	7	7	NUM
alkej-68	41	56	.	.	PUNCT
alkej-68	41	57	rec	rec	PROPN
alkej-68	41	58	.	.	PUNCT
alkej-68	41	59	deformation	deformation	NOUN
alkej-68	41	60	force	force	NOUN
alkej-68	41	61	:	:	PUNCT
alkej-68	41	62	393	393	NUM
alkej-68	41	63	grams	gram	NOUN
alkej-68	41	64	8	8	NUM
alkej-68	41	65	.	.	PUNCT
alkej-68	42	1	rec	rec	PROPN
alkej-68	42	2	.	.	PUNCT
alkej-68	42	3	deformation	deformation	NOUN
alkej-68	42	4	:	:	PUNCT
alkej-68	42	5	3	3	NUM
alkej-68	42	6	-	-	SYM
alkej-68	42	7	5	5	NUM
alkej-68	42	8	%	%	NOUN
alkej-68	42	9	mws	mws	NOUN
alkej-68	42	10	connected	connect	VERB
alkej-68	42	11	mechanically	mechanically	ADV
alkej-68	42	12	in	in	ADP
alkej-68	42	13	parallel	parallel	ADJ
alkej-68	42	14	level	level	NOUN
alkej-68	42	15	1	1	NUM
alkej-68	42	16	level	level	NOUN
alkej-68	42	17	2	2	NUM
alkej-68	42	18	available	available	ADJ
alkej-68	42	19	hand	hand	NOUN
alkej-68	42	20	yarub	yarub	NOUN
alkej-68	42	21	omer	omer	PROPN
alkej-68	42	22	naji	naji	PROPN
alkej-68	42	23	al	al	PROPN
alkej-68	42	24	-	-	PUNCT
alkej-68	42	25	azzawi	azzawi	PROPN
alkej-68	42	26	al	al	PROPN
alkej-68	42	27	-	-	PUNCT
alkej-68	42	28	khwarizmi	khwarizmi	PROPN
alkej-68	42	29	engineering	engineering	NOUN
alkej-68	42	30	journal	journal	PROPN
alkej-68	42	31	,	,	PUNCT
alkej-68	42	32	vol	vol	NOUN
alkej-68	42	33	.	.	PROPN
alkej-68	42	34	7	7	NUM
alkej-68	42	35	,	,	PUNCT
alkej-68	42	36	no	no	INTJ
alkej-68	42	37	.	.	NOUN
alkej-68	42	38	3	3	NUM
alkej-68	42	39	,	,	PUNCT
alkej-68	42	40	pp	pp	ADV
alkej-68	42	41	13	13	NUM
alkej-68	42	42	18	18	NUM
alkej-68	42	43	(	(	PUNCT
alkej-68	42	44	2011	2011	NUM
alkej-68	42	45	)	)	PUNCT
alkej-68	42	46	15	15	NUM
alkej-68	42	47	the	the	DET
alkej-68	42	48	characteristics	characteristic	NOUN
alkej-68	42	49	and	and	CCONJ
alkej-68	42	50	dimensions	dimension	NOUN
alkej-68	42	51	of	of	ADP
alkej-68	42	52	the	the	DET
alkej-68	42	53	used	use	VERB
alkej-68	42	54	robotic	robotic	ADJ
alkej-68	42	55	hand	hand	NOUN
alkej-68	42	56	1	1	NUM
alkej-68	42	57	.	.	PUNCT
alkej-68	42	58	stainless	stainless	ADJ
alkej-68	42	59	steel	steel	NOUN
alkej-68	42	60	prostheses	prosthesis	NOUN
alkej-68	42	61	partial	partial	ADJ
alkej-68	42	62	hand	hand	NOUN
alkej-68	42	63	2	2	NUM
alkej-68	42	64	.	.	PUNCT
alkej-68	42	65	single	single	ADJ
alkej-68	42	66	degree	degree	NOUN
alkej-68	42	67	of	of	ADP
alkej-68	42	68	freedom	freedom	NOUN
alkej-68	42	69	hand	hand	NOUN
alkej-68	42	70	3	3	NUM
alkej-68	42	71	.	.	X
alkej-68	42	72	two	two	NUM
alkej-68	42	73	fingered	finger	VERB
alkej-68	42	74	4	4	NUM
alkej-68	42	75	.	.	PUNCT
alkej-68	42	76	length	length	NOUN
alkej-68	42	77	:	:	PUNCT
alkej-68	42	78	10	10	NUM
alkej-68	42	79	cm	cm	NOUN
alkej-68	42	80	5	5	NUM
alkej-68	42	81	.	.	PUNCT
alkej-68	43	1	wight	wight	PROPN
alkej-68	43	2	:	:	PUNCT
alkej-68	43	3	100	100	NUM
alkej-68	43	4	grams	gram	NOUN
alkej-68	43	5	6	6	NUM
alkej-68	43	6	.	.	PUNCT
alkej-68	43	7	approximate	approximate	ADJ
alkej-68	43	8	fingers	finger	NOUN
alkej-68	43	9	cross	cross	PROPN
alkej-68	43	10	section	section	NOUN
alkej-68	43	11	:	:	PUNCT
alkej-68	43	12	0.05	0.05	NUM
alkej-68	43	13	each	each	DET
alkej-68	43	14	3	3	NUM
alkej-68	43	15	.	.	PUNCT
alkej-68	43	16	control	control	NOUN
alkej-68	43	17	strategy	strategy	NOUN
alkej-68	44	1	the	the	DET
alkej-68	44	2	pieces	piece	NOUN
alkej-68	44	3	weight	weight	NOUN
alkej-68	44	4	,	,	PUNCT
alkej-68	44	5	size	size	NOUN
alkej-68	44	6	,	,	PUNCT
alkej-68	44	7	and	and	CCONJ
alkej-68	44	8	the	the	DET
alkej-68	44	9	coefficient	coefficient	NOUN
alkej-68	44	10	of	of	ADP
alkej-68	44	11	friction	friction	NOUN
alkej-68	44	12	between	between	ADP
alkej-68	44	13	the	the	DET
alkej-68	44	14	piece	piece	NOUN
alkej-68	44	15	and	and	CCONJ
alkej-68	44	16	the	the	DET
alkej-68	44	17	finger	finger	NOUN
alkej-68	44	18	tip	tip	NOUN
alkej-68	44	19	are	be	AUX
alkej-68	44	20	all	all	PRON
alkej-68	44	21	unknowns	unknown	NOUN
alkej-68	44	22	to	to	ADP
alkej-68	44	23	the	the	DET
alkej-68	44	24	robot	robot	NOUN
alkej-68	44	25	;	;	PUNCT
alkej-68	44	26	therefore	therefore	ADV
alkej-68	44	27	,	,	PUNCT
alkej-68	44	28	the	the	DET
alkej-68	44	29	robot	robot	NOUN
alkej-68	44	30	controller	controller	NOUN
alkej-68	44	31	must	must	AUX
alkej-68	44	32	take	take	VERB
alkej-68	44	33	this	this	PRON
alkej-68	44	34	into	into	ADP
alkej-68	44	35	account	account	NOUN
alkej-68	44	36	,	,	PUNCT
alkej-68	44	37	where	where	SCONJ
alkej-68	44	38	the	the	DET
alkej-68	44	39	robotic	robotic	ADJ
alkej-68	44	40	hand	hand	NOUN
alkej-68	44	41	should	should	AUX
alkej-68	44	42	catch	catch	VERB
alkej-68	44	43	any	any	DET
alkej-68	44	44	piece	piece	NOUN
alkej-68	44	45	without	without	ADP
alkej-68	44	46	the	the	DET
alkej-68	44	47	need	need	NOUN
alkej-68	44	48	to	to	PART
alkej-68	44	49	know	know	VERB
alkej-68	44	50	the	the	DET
alkej-68	44	51	preceding	precede	VERB
alkej-68	44	52	parameters	parameter	NOUN
alkej-68	44	53	.	.	PUNCT
alkej-68	45	1	it	it	PRON
alkej-68	45	2	is	be	AUX
alkej-68	45	3	important	important	ADJ
alkej-68	45	4	also	also	ADV
alkej-68	45	5	to	to	PART
alkej-68	45	6	know	know	VERB
alkej-68	45	7	that	that	SCONJ
alkej-68	45	8	the	the	DET
alkej-68	45	9	dropping	dropping	NOUN
alkej-68	45	10	of	of	ADP
alkej-68	45	11	the	the	DET
alkej-68	45	12	piece	piece	NOUN
alkej-68	45	13	results	result	VERB
alkej-68	45	14	from	from	ADP
alkej-68	45	15	not	not	PART
alkej-68	45	16	enough	enough	ADV
alkej-68	45	17	catching	catch	VERB
alkej-68	45	18	force	force	NOUN
alkej-68	45	19	to	to	PART
alkej-68	45	20	prevent	prevent	VERB
alkej-68	45	21	slipping	slipping	NOUN
alkej-68	45	22	of	of	ADP
alkej-68	45	23	the	the	DET
alkej-68	45	24	piece	piece	NOUN
alkej-68	45	25	.	.	PUNCT
alkej-68	46	1	figure	figure	NOUN
alkej-68	47	1	[	[	X
alkej-68	47	2	3	3	NUM
alkej-68	47	3	]	]	PUNCT
alkej-68	47	4	indicates	indicate	VERB
alkej-68	47	5	the	the	DET
alkej-68	47	6	robotics	robotic	NOUN
alkej-68	47	7	hand	hand	NOUN
alkej-68	47	8	catching	catch	VERB
alkej-68	47	9	a	a	DET
alkej-68	47	10	piece	piece	NOUN
alkej-68	47	11	[	[	X
alkej-68	47	12	6	6	NUM
alkej-68	47	13	]	]	PUNCT
alkej-68	47	14	.	.	PUNCT
alkej-68	48	1	from	from	ADP
alkej-68	48	2	figure	figure	NOUN
alkej-68	48	3	[	[	X
alkej-68	48	4	3	3	NUM
alkej-68	48	5	]	]	PUNCT
alkej-68	48	6	,	,	PUNCT
alkej-68	48	7	to	to	PART
alkej-68	48	8	ensure	ensure	VERB
alkej-68	48	9	catching	catch	VERB
alkej-68	48	10	the	the	DET
alkej-68	48	11	piece	piece	NOUN
alkej-68	48	12	,	,	PUNCT
alkej-68	48	13	the	the	DET
alkej-68	48	14	total	total	ADJ
alkej-68	48	15	friction	friction	NOUN
alkej-68	48	16	force	force	NOUN
alkej-68	48	17	(	(	PUNCT
alkej-68	48	18	2ff	2ff	ADJ
alkej-68	48	19	)	)	PUNCT
alkej-68	48	20	must	must	AUX
alkej-68	48	21	equal	equal	VERB
alkej-68	48	22	the	the	DET
alkej-68	48	23	value	value	NOUN
alkej-68	48	24	of	of	ADP
alkej-68	48	25	the	the	DET
alkej-68	48	26	piece	piece	NOUN
alkej-68	48	27	weight	weight	NOUN
alkej-68	49	1	[	[	X
alkej-68	49	2	6	6	NUM
alkej-68	49	3	]	]	PUNCT
alkej-68	49	4	:	:	PUNCT
alkej-68	49	5	from	from	ADP
alkej-68	49	6	the	the	DET
alkej-68	49	7	free	free	ADJ
alkej-68	49	8	-	-	PUNCT
alkej-68	49	9	body	body	NOUN
alkej-68	49	10	-	-	PUNCT
alkej-68	49	11	diagram	diagram	NOUN
alkej-68	49	12	(	(	PUNCT
alkej-68	49	13	fbd	fbd	NOUN
alkej-68	49	14	)	)	PUNCT
alkej-68	49	15	shown	show	VERB
alkej-68	49	16	in	in	ADP
alkej-68	49	17	figure	figure	NOUN
alkej-68	49	18	[	[	X
alkej-68	49	19	3.b	3.b	NUM
alkej-68	49	20	]	]	PUNCT
alkej-68	49	21	where	where	SCONJ
alkej-68	49	22	;	;	PUNCT
alkej-68	49	23	µ	µ	X
alkej-68	49	24	=	=	SYM
alkej-68	49	25	coefficient	coefficient	NOUN
alkej-68	49	26	of	of	ADP
alkej-68	49	27	friction	friction	NOUN
alkej-68	49	28	.	.	PUNCT
alkej-68	50	1	fg	fg	NOUN
alkej-68	50	2	=	=	PUNCT
alkej-68	50	3	pressing	press	VERB
alkej-68	50	4	force	force	NOUN
alkej-68	50	5	(	(	PUNCT
alkej-68	50	6	grasping	grasp	VERB
alkej-68	50	7	force	force	NOUN
alkej-68	50	8	)	)	PUNCT
alkej-68	50	9	.	.	PUNCT
alkej-68	51	1	w	w	NOUN
alkej-68	51	2	=	=	NOUN
alkej-68	51	3	piece	piece	NOUN
alkej-68	51	4	weight	weight	NOUN
alkej-68	51	5	.	.	PUNCT
alkej-68	52	1	so	so	ADV
alkej-68	52	2	the	the	DET
alkej-68	52	3	grasping	grasp	VERB
alkej-68	52	4	force	force	NOUN
alkej-68	52	5	fg	fg	PROPN
alkej-68	52	6	will	will	AUX
alkej-68	52	7	be	be	AUX
alkej-68	52	8	:	:	PUNCT
alkej-68	52	9	the	the	DET
alkej-68	52	10	two	two	NUM
alkej-68	52	11	parameters	parameter	NOUN
alkej-68	52	12	(	(	PUNCT
alkej-68	52	13	µ	µ	NOUN
alkej-68	52	14	,	,	PUNCT
alkej-68	52	15	w	w	NOUN
alkej-68	52	16	)	)	PUNCT
alkej-68	52	17	upon	upon	SCONJ
alkej-68	52	18	them	they	PRON
alkej-68	52	19	the	the	DET
alkej-68	52	20	grasping	grasp	VERB
alkej-68	52	21	force	force	NOUN
alkej-68	52	22	depends	depend	VERB
alkej-68	52	23	are	be	AUX
alkej-68	52	24	unknowns	unknown	NOUN
alkej-68	52	25	;	;	PUNCT
alkej-68	52	26	therefore	therefore	ADV
alkej-68	52	27	,	,	PUNCT
alkej-68	52	28	the	the	DET
alkej-68	52	29	required	require	VERB
alkej-68	52	30	grasping	grasp	VERB
alkej-68	52	31	force	force	NOUN
alkej-68	52	32	is	be	AUX
alkej-68	52	33	also	also	ADV
alkej-68	52	34	unknown	unknown	ADJ
alkej-68	52	35	.	.	PUNCT
alkej-68	53	1	the	the	DET
alkej-68	53	2	best	good	ADJ
alkej-68	53	3	control	control	NOUN
alkej-68	53	4	strategy	strategy	NOUN
alkej-68	53	5	to	to	PART
alkej-68	53	6	decide	decide	VERB
alkej-68	53	7	the	the	DET
alkej-68	53	8	grasping	grasp	VERB
alkej-68	53	9	force	force	NOUN
alkej-68	53	10	value	value	NOUN
alkej-68	53	11	in	in	ADP
alkej-68	53	12	a	a	DET
alkej-68	53	13	manner	manner	NOUN
alkej-68	53	14	like	like	ADP
alkej-68	53	15	the	the	DET
alkej-68	53	16	human	human	ADJ
alkej-68	53	17	brain	brain	NOUN
alkej-68	53	18	does	do	AUX
alkej-68	53	19	is	be	AUX
alkej-68	53	20	the	the	DET
alkej-68	53	21	fuzzy	fuzzy	ADJ
alkej-68	53	22	control	control	NOUN
alkej-68	53	23	strategy	strategy	NOUN
alkej-68	53	24	that	that	PRON
alkej-68	53	25	mimics	mimic	VERB
alkej-68	53	26	the	the	DET
alkej-68	53	27	human	human	ADJ
alkej-68	53	28	reasoning	reasoning	NOUN
alkej-68	53	29	way	way	NOUN
alkej-68	53	30	[	[	X
alkej-68	53	31	6	6	NUM
alkej-68	53	32	]	]	PUNCT
alkej-68	53	33	.	.	PUNCT
alkej-68	54	1	the	the	DET
alkej-68	54	2	proposed	propose	VERB
alkej-68	54	3	fuzzy	fuzzy	ADJ
alkej-68	54	4	control	control	NOUN
alkej-68	54	5	in	in	ADP
alkej-68	54	6	this	this	DET
alkej-68	54	7	research	research	NOUN
alkej-68	54	8	consists	consist	VERB
alkej-68	54	9	of	of	ADP
alkej-68	54	10	three	three	NUM
alkej-68	54	11	membership	membership	NOUN
alkej-68	54	12	functions	function	NOUN
alkej-68	54	13	shown	show	VERB
alkej-68	54	14	in	in	ADP
alkej-68	54	15	figure	figure	NOUN
alkej-68	54	16	[	[	X
alkej-68	54	17	4	4	NUM
alkej-68	54	18	]	]	PUNCT
alkej-68	54	19	,	,	PUNCT
alkej-68	54	20	the	the	DET
alkej-68	54	21	inputs	input	NOUN
alkej-68	54	22	(	(	PUNCT
alkej-68	54	23	amount	amount	NOUN
alkej-68	54	24	of	of	ADP
alkej-68	54	25	sliding	slide	VERB
alkej-68	54	26	(	(	PUNCT
alkej-68	54	27	s	s	NOUN
alkej-68	54	28	)	)	PUNCT
alkej-68	54	29	in	in	ADP
alkej-68	54	30	(	(	PUNCT
alkej-68	54	31	cm	cm	NOUN
alkej-68	54	32	)	)	PUNCT
alkej-68	54	33	and	and	CCONJ
alkej-68	54	34	the	the	DET
alkej-68	54	35	rate	rate	NOUN
alkej-68	54	36	of	of	ADP
alkej-68	54	37	sliding	slide	VERB
alkej-68	54	38	(	(	PUNCT
alkej-68	54	39	δs	δs	NOUN
alkej-68	54	40	)	)	PUNCT
alkej-68	54	41	in	in	ADP
alkej-68	54	42	(	(	PUNCT
alkej-68	54	43	cm	cm	NOUN
alkej-68	54	44	/	/	SYM
alkej-68	54	45	sec	sec	PROPN
alkej-68	54	46	)	)	PUNCT
alkej-68	54	47	)	)	PUNCT
alkej-68	54	48	that	that	PRON
alkej-68	54	49	may	may	AUX
alkej-68	54	50	be	be	AUX
alkej-68	54	51	observed	observe	VERB
alkej-68	54	52	from	from	ADP
alkej-68	54	53	the	the	DET
alkej-68	54	54	slide	slide	NOUN
alkej-68	54	55	sensor	sensor	NOUN
alkej-68	54	56	[	[	X
alkej-68	54	57	6	6	NUM
alkej-68	54	58	]	]	PUNCT
alkej-68	54	59	and	and	CCONJ
alkej-68	54	60	one	one	NUM
alkej-68	54	61	output	output	NOUN
alkej-68	54	62	(	(	PUNCT
alkej-68	54	63	number	number	NOUN
alkej-68	54	64	of	of	ADP
alkej-68	54	65	the	the	DET
alkej-68	54	66	mentioned	mention	VERB
alkej-68	54	67	parallel	parallel	ADJ
alkej-68	54	68	connected	connect	VERB
alkej-68	54	69	muscle	muscle	NOUN
alkej-68	54	70	wires	wire	NOUN
alkej-68	54	71	that	that	PRON
alkej-68	54	72	will	will	AUX
alkej-68	54	73	be	be	AUX
alkej-68	54	74	activated	activate	VERB
alkej-68	54	75	to	to	PART
alkej-68	54	76	generate	generate	VERB
alkej-68	54	77	the	the	DET
alkej-68	54	78	required	required	ADJ
alkej-68	54	79	grasping	grasp	VERB
alkej-68	54	80	force	force	NOUN
alkej-68	54	81	)	)	PUNCT
alkej-68	54	82	.	.	PUNCT
alkej-68	55	1	the	the	DET
alkej-68	55	2	rules	rule	NOUN
alkej-68	55	3	of	of	ADP
alkej-68	55	4	the	the	DET
alkej-68	55	5	fuzzy	fuzzy	ADJ
alkej-68	55	6	controller	controller	NOUN
alkej-68	55	7	are	be	AUX
alkej-68	55	8	designed	design	VERB
alkej-68	55	9	as	as	SCONJ
alkej-68	55	10	shown	show	VERB
alkej-68	55	11	in	in	ADP
alkej-68	55	12	table	table	NOUN
alkej-68	55	13	(	(	PUNCT
alkej-68	55	14	1	1	NUM
alkej-68	55	15	)	)	PUNCT
alkej-68	55	16	.	.	PUNCT
alkej-68	56	1	from	from	ADP
alkej-68	56	2	table	table	NOUN
alkej-68	56	3	(	(	PUNCT
alkej-68	56	4	1	1	NUM
alkej-68	56	5	)	)	PUNCT
alkej-68	56	6	because	because	SCONJ
alkej-68	56	7	the	the	DET
alkej-68	56	8	variables	variable	NOUN
alkej-68	56	9	are	be	AUX
alkej-68	56	10	fuzzy	fuzzy	ADJ
alkej-68	56	11	,	,	PUNCT
alkej-68	56	12	each	each	DET
alkej-68	56	13	rule	rule	NOUN
alkej-68	56	14	(	(	PUNCT
alkej-68	56	15	which	which	PRON
alkej-68	56	16	is	be	AUX
alkej-68	56	17	common	common	ADJ
alkej-68	56	18	sense	sense	NOUN
alkej-68	56	19	selected	select	VERB
alkej-68	56	20	)	)	PUNCT
alkej-68	56	21	will	will	AUX
alkej-68	56	22	contribute	contribute	VERB
alkej-68	56	23	to	to	ADP
alkej-68	56	24	a	a	DET
alkej-68	56	25	different	different	ADJ
alkej-68	56	26	degree	degree	NOUN
alkej-68	56	27	.	.	PUNCT
alkej-68	57	1	the	the	DET
alkej-68	57	2	first	first	ADJ
alkej-68	57	3	step	step	NOUN
alkej-68	57	4	toward	toward	ADP
alkej-68	57	5	arriving	arrive	VERB
alkej-68	57	6	at	at	ADP
alkej-68	57	7	a	a	DET
alkej-68	57	8	single	single	ADJ
alkej-68	57	9	output	output	NOUN
alkej-68	57	10	value	value	NOUN
alkej-68	57	11	is	be	AUX
alkej-68	57	12	to	to	PART
alkej-68	57	13	compute	compute	VERB
alkej-68	57	14	the	the	DET
alkej-68	57	15	compatibility	compatibility	NOUN
alkej-68	57	16	for	for	ADP
alkej-68	57	17	each	each	DET
alkej-68	57	18	rule	rule	NOUN
alkej-68	57	19	[	[	X
alkej-68	57	20	7	7	NUM
alkej-68	57	21	]	]	PUNCT
alkej-68	57	22	.	.	PUNCT
alkej-68	58	1	where	where	SCONJ
alkej-68	58	2	the	the	DET
alkej-68	58	3	compatibility	compatibility	NOUN
alkej-68	58	4	is	be	AUX
alkej-68	58	5	simply	simply	ADV
alkej-68	58	6	the	the	DET
alkej-68	58	7	product	product	NOUN
alkej-68	58	8	of	of	ADP
alkej-68	58	9	the	the	DET
alkej-68	58	10	two	two	NUM
alkej-68	58	11	probabilities	probability	NOUN
alkej-68	58	12	in	in	ADP
alkej-68	58	13	the	the	DET
alkej-68	58	14	rule	rule	NOUN
alkej-68	58	15	(	(	PUNCT
alkej-68	58	16	i.e.	i.e.	X
alkej-68	58	17	the	the	DET
alkej-68	58	18	influence	influence	NOUN
alkej-68	58	19	of	of	ADP
alkej-68	58	20	the	the	DET
alkej-68	58	21	rule	rule	NOUN
alkej-68	58	22	):	):	PUNCT
alkej-68	58	23	compatibility	compatibility	NOUN
alkej-68	58	24	=	=	SYM
alkej-68	58	25	wi	wi	PROPN
alkej-68	58	26	=	=	PUNCT
alkej-68	58	27	ai1	ai1	X
alkej-68	59	1	x	x	PUNCT
alkej-68	59	2	ai2	ai2	NOUN
alkej-68	60	1	i	i	NOUN
alkej-68	60	2	=	=	NOUN
alkej-68	60	3	1	1	NUM
alkej-68	60	4	,	,	PUNCT
alkej-68	60	5	2	2	NUM
alkej-68	60	6	,	,	PUNCT
alkej-68	60	7	3	3	NUM
alkej-68	60	8	,	,	PUNCT
alkej-68	60	9	…	…	PUNCT
alkej-68	60	10	.	.	PUNCT
alkej-68	61	1	where	where	SCONJ
alkej-68	61	2	;	;	PUNCT
alkej-68	61	3	wi=	wi=	PROPN
alkej-68	61	4	the	the	DET
alkej-68	61	5	influence	influence	NOUN
alkej-68	61	6	of	of	ADP
alkej-68	61	7	the	the	DET
alkej-68	61	8	rule	rule	NOUN
alkej-68	61	9	i	i	PRON
alkej-68	61	10	ai1=	ai1=	NOUN
alkej-68	61	11	probability	probability	NOUN
alkej-68	61	12	of	of	ADP
alkej-68	61	13	first	first	ADJ
alkej-68	61	14	condition	condition	NOUN
alkej-68	61	15	(	(	PUNCT
alkej-68	61	16	s	s	X
alkej-68	61	17	)	)	PUNCT
alkej-68	61	18	ai2=	ai2=	ADJ
alkej-68	61	19	probability	probability	NOUN
alkej-68	61	20	of	of	ADP
alkej-68	61	21	second	second	ADJ
alkej-68	61	22	condition	condition	NOUN
alkej-68	61	23	(	(	PUNCT
alkej-68	61	24	δs	δs	NOUN
alkej-68	61	25	)	)	PUNCT
alkej-68	61	26	fig.3	fig.3	PROPN
alkej-68	61	27	.	.	PUNCT
alkej-68	62	1	robotics	robotic	NOUN
alkej-68	62	2	hand	hand	NOUN
alkej-68	62	3	catching	catch	VERB
alkej-68	62	4	piece	piece	NOUN
alkej-68	62	5	[	[	X
alkej-68	62	6	6	6	NUM
alkej-68	62	7	]	]	PUNCT
alkej-68	62	8	.	.	PUNCT
alkej-68	63	1	b.	b.	PROPN
alkej-68	63	2	fbd	fbd	PROPN
alkej-68	63	3	of	of	ADP
alkej-68	63	4	the	the	DET
alkej-68	63	5	robotics	robotic	NOUN
alkej-68	63	6	hand	hand	NOUN
alkej-68	63	7	catching	catch	VERB
alkej-68	63	8	piece	piece	NOUN
alkej-68	63	9	a.	a.	NOUN
alkej-68	63	10	schematic	schematic	ADJ
alkej-68	63	11	of	of	ADP
alkej-68	63	12	robotics	robotic	NOUN
alkej-68	63	13	hand	hand	NOUN
alkej-68	63	14	catching	catch	VERB
alkej-68	63	15	piece	piece	NOUN
alkej-68	63	16	w	w	PROPN
alkej-68	63	17	yarub	yarub	PROPN
alkej-68	64	1	omer	omer	PROPN
alkej-68	64	2	naji	naji	PROPN
alkej-68	64	3	al	al	PROPN
alkej-68	64	4	-	-	PUNCT
alkej-68	64	5	azzawi	azzawi	PROPN
alkej-68	64	6	al	al	PROPN
alkej-68	64	7	-	-	PUNCT
alkej-68	64	8	khwarizmi	khwarizmi	PROPN
alkej-68	64	9	engineering	engineering	NOUN
alkej-68	64	10	journal	journal	PROPN
alkej-68	64	11	,	,	PUNCT
alkej-68	64	12	vol	vol	NOUN
alkej-68	64	13	.	.	PROPN
alkej-68	64	14	7	7	NUM
alkej-68	64	15	,	,	PUNCT
alkej-68	64	16	no	no	INTJ
alkej-68	64	17	.	.	NOUN
alkej-68	64	18	3	3	NUM
alkej-68	64	19	,	,	PUNCT
alkej-68	64	20	pp	pp	ADV
alkej-68	64	21	13	13	NUM
alkej-68	64	22	18	18	NUM
alkej-68	64	23	(	(	PUNCT
alkej-68	64	24	2011	2011	NUM
alkej-68	64	25	)	)	PUNCT
alkej-68	64	26	16	16	NUM
alkej-68	64	27	fig.4	fig.4	PROPN
alkej-68	64	28	.	.	PUNCT
alkej-68	65	1	the	the	DET
alkej-68	65	2	membership	membership	NOUN
alkej-68	65	3	functions	function	NOUN
alkej-68	65	4	of	of	ADP
alkej-68	65	5	the	the	DET
alkej-68	65	6	inputs	input	NOUN
alkej-68	65	7	and	and	CCONJ
alkej-68	65	8	output	output	NOUN
alkej-68	65	9	.	.	PUNCT
alkej-68	66	1	table	table	NOUN
alkej-68	66	2	1	1	NUM
alkej-68	66	3	,	,	PUNCT
alkej-68	66	4	fuzzy	fuzzy	ADJ
alkej-68	66	5	rules	rule	NOUN
alkej-68	66	6	δs	δs	VERB
alkej-68	66	7	s	s	PRON
alkej-68	66	8	slow	slow	ADJ
alkej-68	66	9	ok	ok	INTJ
alkej-68	66	10	quick	quick	ADJ
alkej-68	66	11	small	small	ADJ
alkej-68	66	12	2	2	NUM
alkej-68	66	13	4	4	NUM
alkej-68	66	14	6	6	NUM
alkej-68	66	15	medium	medium	NOUN
alkej-68	66	16	4	4	NUM
alkej-68	66	17	6	6	NUM
alkej-68	66	18	8	8	NUM
alkej-68	66	19	large	large	ADJ
alkej-68	66	20	6	6	NUM
alkej-68	66	21	8	8	NUM
alkej-68	66	22	10	10	NUM
alkej-68	66	23	for	for	ADP
alkej-68	66	24	example	example	NOUN
alkej-68	66	25	take	take	VERB
alkej-68	66	26	three	three	NUM
alkej-68	66	27	case	case	NOUN
alkej-68	66	28	studies	study	NOUN
alkej-68	66	29	:	:	PUNCT
alkej-68	66	30	4	4	X
alkej-68	66	31	.	.	NOUN
alkej-68	66	32	results	result	NOUN
alkej-68	66	33	and	and	CCONJ
alkej-68	66	34	discussion	discussion	NOUN
alkej-68	66	35	case	case	NOUN
alkej-68	66	36	study	study	NOUN
alkej-68	66	37	1	1	NUM
alkej-68	66	38	:	:	PUNCT
alkej-68	66	39	the	the	DET
alkej-68	66	40	slide	slide	NOUN
alkej-68	66	41	s=0.125	s=0.125	NOUN
alkej-68	66	42	cm	cm	PROPN
alkej-68	66	43	and	and	CCONJ
alkej-68	66	44	sliding	slide	VERB
alkej-68	66	45	rate	rate	NOUN
alkej-68	66	46	δs	δs	NOUN
alkej-68	66	47	=	=	NOUN
alkej-68	66	48	0.625	0.625	NUM
alkej-68	66	49	cm	cm	NUM
alkej-68	66	50	/	/	SYM
alkej-68	66	51	sec	sec	PROPN
alkej-68	66	52	shown	show	VERB
alkej-68	66	53	in	in	ADP
alkej-68	66	54	figure	figure	NOUN
alkej-68	66	55	[	[	X
alkej-68	66	56	4	4	NUM
alkej-68	66	57	]	]	PUNCT
alkej-68	66	58	,	,	PUNCT
alkej-68	66	59	applying	apply	VERB
alkej-68	66	60	the	the	DET
alkej-68	66	61	compatibility	compatibility	NOUN
alkej-68	66	62	to	to	ADP
alkej-68	66	63	the	the	DET
alkej-68	66	64	applicable	applicable	ADJ
alkej-68	66	65	rules	rule	NOUN
alkej-68	66	66	as	as	ADP
alkej-68	66	67	following	follow	VERB
alkej-68	66	68	:	:	PUNCT
alkej-68	66	69	w1=	w1=	PROPN
alkej-68	66	70	0.75	0.75	NUM
alkej-68	66	71	x	x	SYM
alkej-68	66	72	0.75	0.75	NUM
alkej-68	66	73	=	=	SYM
alkej-68	66	74	0.5625	0.5625	NUM
alkej-68	66	75	w2=	w2=	PROPN
alkej-68	66	76	0.1875	0.1875	NUM
alkej-68	66	77	w3=	w3=	VERB
alkej-68	66	78	0.1875	0.1875	NUM
alkej-68	66	79	w4=	w4=	PROPN
alkej-68	66	80	0.0625	0.0625	NUM
alkej-68	66	81	now	now	ADV
alkej-68	66	82	the	the	DET
alkej-68	66	83	output	output	NOUN
alkej-68	66	84	value	value	NOUN
alkej-68	66	85	for	for	ADP
alkej-68	66	86	each	each	DET
alkej-68	66	87	applicable	applicable	ADJ
alkej-68	66	88	rule	rule	NOUN
alkej-68	66	89	is	be	AUX
alkej-68	66	90	:	:	PUNCT
alkej-68	67	1	output	output	NOUN
alkej-68	67	2	=	=	SYM
alkej-68	67	3	yi	yi	PROPN
alkej-68	67	4	=	=	SYM
alkej-68	67	5	wi	wi	PROPN
alkej-68	67	6	x	x	PROPN
alkej-68	67	7	bi	bi	NOUN
alkej-68	67	8	i	i	NOUN
alkej-68	67	9	=	=	NOUN
alkej-68	67	10	1	1	NUM
alkej-68	67	11	,	,	PUNCT
alkej-68	67	12	2	2	NUM
alkej-68	67	13	,	,	PUNCT
alkej-68	67	14	3	3	NUM
alkej-68	67	15	,	,	PUNCT
alkej-68	67	16	....	....	PUNCT
alkej-68	67	17	where	where	SCONJ
alkej-68	67	18	bi	bi	NOUN
alkej-68	67	19	=	=	NOUN
alkej-68	67	20	appropriate	appropriate	ADJ
alkej-68	67	21	value	value	NOUN
alkej-68	67	22	from	from	ADP
alkej-68	67	23	the	the	DET
alkej-68	67	24	output	output	NOUN
alkej-68	67	25	table	table	NOUN
alkej-68	67	26	y1	y1	NOUN
alkej-68	67	27	=	=	SYM
alkej-68	67	28	w1	w1	NOUN
alkej-68	67	29	x	x	PUNCT
alkej-68	67	30	b1	b1	NOUN
alkej-68	67	31	=	=	SYM
alkej-68	67	32	0.5625	0.5625	NUM
alkej-68	67	33	x	x	SYM
alkej-68	67	34	4	4	NUM
alkej-68	67	35	=	=	SYM
alkej-68	67	36	2.25	2.25	NUM
alkej-68	67	37	y2	y2	NOUN
alkej-68	67	38	=	=	NOUN
alkej-68	67	39	1.125	1.125	NUM
alkej-68	67	40	y3	y3	NOUN
alkej-68	67	41	=	=	PUNCT
alkej-68	67	42	1.125	1.125	NUM
alkej-68	67	43	y4	y4	NOUN
alkej-68	67	44	=	=	SYM
alkej-68	67	45	0.5	0.5	NUM
alkej-68	67	46	now	now	ADV
alkej-68	67	47	there	there	PRON
alkej-68	67	48	are	be	VERB
alkej-68	67	49	two	two	NUM
alkej-68	67	50	outputs	output	NOUN
alkej-68	67	51	from	from	ADP
alkej-68	67	52	the	the	DET
alkej-68	67	53	two	two	NUM
alkej-68	67	54	rules	rule	NOUN
alkej-68	67	55	,	,	PUNCT
alkej-68	67	56	but	but	CCONJ
alkej-68	67	57	it	it	PRON
alkej-68	67	58	is	be	AUX
alkej-68	67	59	needed	need	VERB
alkej-68	67	60	to	to	PART
alkej-68	67	61	defuzzify	defuzzify	VERB
alkej-68	67	62	this	this	DET
alkej-68	67	63	data	datum	NOUN
alkej-68	67	64	into	into	ADP
alkej-68	67	65	a	a	DET
alkej-68	67	66	single	single	ADJ
alkej-68	67	67	1	1	NUM
alkej-68	67	68	2	2	NUM
alkej-68	67	69	3	3	NUM
alkej-68	67	70	4	4	NUM
alkej-68	67	71	5	5	NUM
alkej-68	67	72	6	6	NUM
alkej-68	67	73	7	7	NUM
alkej-68	67	74	8	8	NUM
alkej-68	67	75	9	9	NUM
alkej-68	67	76	10	10	NUM
alkej-68	67	77	output	output	NOUN
alkej-68	67	78	variable	variable	NOUN
alkej-68	67	79	(	(	PUNCT
alkej-68	67	80	number	number	NOUN
alkej-68	67	81	of	of	ADP
alkej-68	67	82	activated	activate	VERB
alkej-68	67	83	muscles	muscle	NOUN
alkej-68	67	84	)	)	PUNCT
alkej-68	67	85	0.75	0.75	NUM
alkej-68	67	86	0.25	0.25	NUM
alkej-68	67	87	0.75	0.75	NUM
alkej-68	67	88	0.25	0.25	NUM
alkej-68	67	89	0.75	0.75	NUM
alkej-68	67	90	0.25	0.25	NUM
alkej-68	67	91	0.125	0.125	NUM
alkej-68	67	92	0.875	0.875	NUM
alkej-68	67	93	0.625	0.625	NUM
alkej-68	67	94	0.875	0.875	NUM
alkej-68	67	95	0	0	NUM
alkej-68	67	96	0.25	0.25	NUM
alkej-68	67	97	0.5	0.5	NUM
alkej-68	67	98	0.75	0.75	NUM
alkej-68	67	99	1	1	NUM
alkej-68	67	100	input	input	NOUN
alkej-68	67	101	variable	variable	NOUN
alkej-68	67	102	"	"	PUNCT
alkej-68	67	103	slide	slide	NOUN
alkej-68	67	104	s	s	X
alkej-68	67	105	(	(	PUNCT
alkej-68	67	106	cm	cm	NOUN
alkej-68	67	107	)	)	PUNCT
alkej-68	67	108	"	"	PUNCT
alkej-68	67	109	small	small	ADJ
alkej-68	67	110	medium	medium	ADJ
alkej-68	67	111	large	large	ADJ
alkej-68	67	112	case1	case1	NOUN
alkej-68	67	113	case2	case2	NOUN
alkej-68	67	114	1	1	NUM
alkej-68	67	115	slow	slow	ADJ
alkej-68	67	116	ok	ok	INTJ
alkej-68	67	117	quick	quick	ADJ
alkej-68	67	118	0	0	NUM
alkej-68	67	119	0.25	0.25	NUM
alkej-68	67	120	0.5	0.5	NUM
alkej-68	67	121	0.75	0.75	NUM
alkej-68	67	122	1	1	NUM
alkej-68	67	123	input	input	NOUN
alkej-68	67	124	variable	variable	NOUN
alkej-68	67	125	"	"	PUNCT
alkej-68	67	126	sliding	slide	VERB
alkej-68	67	127	rate	rate	NOUN
alkej-68	67	128	δs	δs	NOUN
alkej-68	67	129	(	(	PUNCT
alkej-68	67	130	cm	cm	NOUN
alkej-68	67	131	/	/	SYM
alkej-68	67	132	sec	sec	PROPN
alkej-68	67	133	)	)	PUNCT
alkej-68	67	134	"	"	PUNCT
alkej-68	67	135	1	1	NUM
alkej-68	67	136	yarub	yarub	NOUN
alkej-68	67	137	omer	omer	PROPN
alkej-68	67	138	naji	naji	PROPN
alkej-68	67	139	al	al	PROPN
alkej-68	67	140	-	-	PUNCT
alkej-68	67	141	azzawi	azzawi	PROPN
alkej-68	67	142	al	al	PROPN
alkej-68	67	143	-	-	PUNCT
alkej-68	67	144	khwarizmi	khwarizmi	PROPN
alkej-68	67	145	engineering	engineering	NOUN
alkej-68	67	146	journal	journal	PROPN
alkej-68	67	147	,	,	PUNCT
alkej-68	67	148	vol	vol	NOUN
alkej-68	67	149	.	.	PROPN
alkej-68	67	150	7	7	NUM
alkej-68	67	151	,	,	PUNCT
alkej-68	67	152	no	no	INTJ
alkej-68	67	153	.	.	NOUN
alkej-68	67	154	3	3	NUM
alkej-68	67	155	,	,	PUNCT
alkej-68	67	156	pp	pp	ADV
alkej-68	67	157	13	13	NUM
alkej-68	67	158	18	18	NUM
alkej-68	67	159	(	(	PUNCT
alkej-68	67	160	2011	2011	NUM
alkej-68	67	161	)	)	PUNCT
alkej-68	67	162	17	17	NUM
alkej-68	67	163	command	command	NOUN
alkej-68	67	164	for	for	ADP
alkej-68	67	165	the	the	DET
alkej-68	67	166	number	number	NOUN
alkej-68	67	167	of	of	ADP
alkej-68	67	168	the	the	DET
alkej-68	67	169	selected	select	VERB
alkej-68	67	170	activated	activate	VERB
alkej-68	67	171	muscle	muscle	NOUN
alkej-68	67	172	wires	wire	NOUN
alkej-68	67	173	and	and	CCONJ
alkej-68	67	174	this	this	PRON
alkej-68	67	175	is	be	AUX
alkej-68	67	176	as	as	SCONJ
alkej-68	67	177	follows	follow	VERB
alkej-68	67	178	[	[	X
alkej-68	67	179	7	7	NUM
alkej-68	67	180	]	]	NOUN
alkej-68	67	181	:	:	PUNCT
alkej-68	67	182	case	case	NOUN
alkej-68	67	183	study2	study2	X
alkej-68	67	184	:	:	PUNCT
alkej-68	67	185	by	by	ADP
alkej-68	67	186	increasing	increase	VERB
alkej-68	67	187	the	the	DET
alkej-68	67	188	amount	amount	NOUN
alkej-68	67	189	of	of	ADP
alkej-68	67	190	sliding	slide	VERB
alkej-68	68	1	say	say	NOUN
alkej-68	68	2	s	s	VERB
alkej-68	68	3	=	=	NOUN
alkej-68	68	4	0.875	0.875	NUM
alkej-68	68	5	cm	cm	NOUN
alkej-68	68	6	with	with	ADP
alkej-68	68	7	the	the	DET
alkej-68	68	8	same	same	ADJ
alkej-68	68	9	sliding	slide	VERB
alkej-68	68	10	rate	rate	NOUN
alkej-68	68	11	δs	δs	NOUN
alkej-68	68	12	=	=	NOUN
alkej-68	68	13	0.625	0.625	NUM
alkej-68	68	14	cm	cm	NUM
alkej-68	68	15	/	/	SYM
alkej-68	68	16	sec	sec	PROPN
alkej-68	68	17	,	,	PUNCT
alkej-68	68	18	and	and	CCONJ
alkej-68	68	19	by	by	ADP
alkej-68	68	20	applying	apply	VERB
alkej-68	68	21	the	the	DET
alkej-68	68	22	same	same	ADJ
alkej-68	68	23	strategy	strategy	NOUN
alkej-68	68	24	as	as	ADP
alkej-68	68	25	the	the	DET
alkej-68	68	26	first	first	ADJ
alkej-68	68	27	case	case	NOUN
alkej-68	68	28	:	:	PUNCT
alkej-68	68	29	w1=	w1=	PROPN
alkej-68	68	30	0.1875	0.1875	NUM
alkej-68	68	31	w2=	w2=	PROPN
alkej-68	68	32	0.0625	0.0625	NUM
alkej-68	68	33	w3=	w3=	PROPN
alkej-68	68	34	0.5625	0.5625	NUM
alkej-68	68	35	w4=	w4=	PROPN
alkej-68	68	36	0.1875	0.1875	NUM
alkej-68	68	37	and	and	CCONJ
alkej-68	68	38	the	the	DET
alkej-68	68	39	output	output	NOUN
alkej-68	68	40	value	value	NOUN
alkej-68	68	41	for	for	ADP
alkej-68	68	42	each	each	DET
alkej-68	68	43	applicable	applicable	ADJ
alkej-68	68	44	rule	rule	NOUN
alkej-68	68	45	:	:	PUNCT
alkej-68	68	46	y1	y1	NOUN
alkej-68	68	47	=	=	PUNCT
alkej-68	68	48	1.125	1.125	NUM
alkej-68	68	49	y2	y2	NOUN
alkej-68	68	50	=	=	NOUN
alkej-68	68	51	0.5	0.5	NUM
alkej-68	68	52	y3	y3	NOUN
alkej-68	68	53	=	=	SYM
alkej-68	68	54	4.5	4.5	NUM
alkej-68	68	55	y4	y4	NOUN
alkej-68	68	56	=	=	PUNCT
alkej-68	69	1	1.625	1.625	NUM
alkej-68	69	2	the	the	DET
alkej-68	69	3	value	value	NOUN
alkej-68	69	4	of	of	ADP
alkej-68	69	5	output	output	NOUN
alkej-68	69	6	(	(	PUNCT
alkej-68	69	7	i.e.	i.e.	X
alkej-68	69	8	number	number	NOUN
alkej-68	69	9	of	of	ADP
alkej-68	69	10	activated	activate	VERB
alkej-68	69	11	muscle	muscle	NOUN
alkej-68	69	12	wires	wire	NOUN
alkej-68	69	13	)	)	PUNCT
alkej-68	69	14	will	will	AUX
alkej-68	69	15	be	be	AUX
alkej-68	69	16	:	:	PUNCT
alkej-68	69	17	case	case	NOUN
alkej-68	69	18	study3	study3	NOUN
alkej-68	69	19	:	:	PUNCT
alkej-68	69	20	the	the	DET
alkej-68	69	21	sliding	slide	VERB
alkej-68	69	22	s	s	X
alkej-68	69	23	=	=	NOUN
alkej-68	69	24	0.875	0.875	NUM
alkej-68	69	25	cm	cm	NOUN
alkej-68	69	26	and	and	CCONJ
alkej-68	69	27	increasing	increase	VERB
alkej-68	69	28	the	the	DET
alkej-68	69	29	sliding	slide	VERB
alkej-68	69	30	rate	rate	NOUN
alkej-68	69	31	δs	δs	NOUN
alkej-68	69	32	=	=	NOUN
alkej-68	69	33	0.875	0.875	NUM
alkej-68	69	34	cm	cm	NOUN
alkej-68	69	35	/	/	SYM
alkej-68	69	36	sec	sec	PROPN
alkej-68	69	37	.	.	PUNCT
alkej-68	70	1	by	by	ADP
alkej-68	70	2	applying	apply	VERB
alkej-68	70	3	the	the	DET
alkej-68	70	4	compatibility	compatibility	NOUN
alkej-68	70	5	to	to	ADP
alkej-68	70	6	the	the	DET
alkej-68	70	7	applicable	applicable	ADJ
alkej-68	70	8	rules	rule	NOUN
alkej-68	70	9	as	as	SCONJ
alkej-68	70	10	follows	follow	VERB
alkej-68	70	11	:	:	PUNCT
alkej-68	70	12	w1=	w1=	PROPN
alkej-68	70	13	0.0625	0.0625	NUM
alkej-68	70	14	w2=	w2=	PROPN
alkej-68	70	15	0.1875	0.1875	NUM
alkej-68	70	16	w3=	w3=	VERB
alkej-68	70	17	0.1875	0.1875	NUM
alkej-68	70	18	w4=	w4=	PROPN
alkej-68	70	19	0.5625	0.5625	NUM
alkej-68	70	20	the	the	DET
alkej-68	70	21	output	output	NOUN
alkej-68	70	22	value	value	NOUN
alkej-68	70	23	for	for	ADP
alkej-68	70	24	each	each	DET
alkej-68	70	25	applicable	applicable	ADJ
alkej-68	70	26	rule	rule	NOUN
alkej-68	70	27	is	be	AUX
alkej-68	70	28	:	:	PUNCT
alkej-68	70	29	y1	y1	INTJ
alkej-68	70	30	=	=	PUNCT
alkej-68	70	31	0.375	0.375	NUM
alkej-68	70	32	y2	y2	NOUN
alkej-68	70	33	=	=	NOUN
alkej-68	70	34	1.5	1.5	NUM
alkej-68	70	35	y3	y3	NOUN
alkej-68	70	36	=	=	NUM
alkej-68	70	37	1.5	1.5	NUM
alkej-68	70	38	y4	y4	NOUN
alkej-68	70	39	=	=	PUNCT
alkej-68	70	40	5.625	5.625	NUM
alkej-68	70	41	the	the	DET
alkej-68	70	42	value	value	NOUN
alkej-68	70	43	of	of	ADP
alkej-68	70	44	output	output	NOUN
alkej-68	70	45	(	(	PUNCT
alkej-68	70	46	i.e.	i.e.	X
alkej-68	70	47	number	number	NOUN
alkej-68	70	48	of	of	ADP
alkej-68	70	49	activated	activate	VERB
alkej-68	70	50	muscle	muscle	NOUN
alkej-68	70	51	wires	wire	NOUN
alkej-68	70	52	)	)	PUNCT
alkej-68	70	53	will	will	AUX
alkej-68	70	54	be	be	AUX
alkej-68	70	55	:	:	PUNCT
alkej-68	70	56	it	it	PRON
alkej-68	70	57	is	be	AUX
alkej-68	70	58	clearly	clearly	ADV
alkej-68	70	59	shown	show	VERB
alkej-68	70	60	from	from	ADP
alkej-68	70	61	the	the	DET
alkej-68	70	62	results	result	NOUN
alkej-68	70	63	that	that	SCONJ
alkej-68	70	64	by	by	ADP
alkej-68	70	65	applying	apply	VERB
alkej-68	70	66	the	the	DET
alkej-68	70	67	proposed	propose	VERB
alkej-68	70	68	fuzzy	fuzzy	ADJ
alkej-68	70	69	control	control	NOUN
alkej-68	70	70	strategy	strategy	NOUN
alkej-68	70	71	to	to	ADP
alkej-68	70	72	the	the	DET
alkej-68	70	73	proposed	propose	VERB
alkej-68	70	74	robotics	robotic	NOUN
alkej-68	70	75	hand	hand	NOUN
alkej-68	70	76	,	,	PUNCT
alkej-68	70	77	the	the	DET
alkej-68	70	78	process	process	NOUN
alkej-68	70	79	looks	look	VERB
alkej-68	70	80	like	like	ADP
alkej-68	70	81	that	that	PRON
alkej-68	70	82	of	of	ADP
alkej-68	70	83	the	the	DET
alkej-68	70	84	human	human	ADJ
alkej-68	70	85	hand	hand	NOUN
alkej-68	70	86	whereas	whereas	SCONJ
alkej-68	70	87	the	the	DET
alkej-68	70	88	slipping	slipping	NOUN
alkej-68	70	89	or	or	CCONJ
alkej-68	70	90	the	the	DET
alkej-68	70	91	slipping	slip	VERB
alkej-68	70	92	rate	rate	NOUN
alkej-68	70	93	of	of	ADP
alkej-68	70	94	the	the	DET
alkej-68	70	95	caught	catch	VERB
alkej-68	70	96	piece	piece	NOUN
alkej-68	70	97	increases	increase	NOUN
alkej-68	70	98	and	and	CCONJ
alkej-68	70	99	then	then	ADV
alkej-68	70	100	the	the	DET
alkej-68	70	101	number	number	NOUN
alkej-68	70	102	of	of	ADP
alkej-68	70	103	the	the	DET
alkej-68	70	104	activated	activate	VERB
alkej-68	70	105	muscle	muscle	NOUN
alkej-68	70	106	wires	wire	NOUN
alkej-68	70	107	will	will	AUX
alkej-68	70	108	increase	increase	VERB
alkej-68	70	109	also	also	ADV
alkej-68	70	110	to	to	PART
alkej-68	70	111	increase	increase	VERB
alkej-68	70	112	the	the	DET
alkej-68	70	113	amount	amount	NOUN
alkej-68	70	114	of	of	ADP
alkej-68	70	115	the	the	DET
alkej-68	70	116	catching	catch	VERB
alkej-68	70	117	force	force	NOUN
alkej-68	70	118	.	.	PUNCT
alkej-68	71	1	this	this	PRON
alkej-68	71	2	is	be	AUX
alkej-68	71	3	what	what	PRON
alkej-68	71	4	will	will	AUX
alkej-68	71	5	happen	happen	VERB
alkej-68	71	6	when	when	SCONJ
alkej-68	71	7	somebody	somebody	PRON
alkej-68	71	8	needs	need	VERB
alkej-68	71	9	to	to	PART
alkej-68	71	10	catch	catch	VERB
alkej-68	71	11	something	something	PRON
alkej-68	71	12	he	he	PRON
alkej-68	71	13	does	do	AUX
alkej-68	71	14	n’t	not	PART
alkej-68	71	15	know	know	VERB
alkej-68	71	16	the	the	DET
alkej-68	71	17	amount	amount	NOUN
alkej-68	71	18	of	of	ADP
alkej-68	71	19	its	its	PRON
alkej-68	71	20	weight	weight	NOUN
alkej-68	71	21	or	or	CCONJ
alkej-68	71	22	the	the	DET
alkej-68	71	23	coefficient	coefficient	NOUN
alkej-68	71	24	of	of	ADP
alkej-68	71	25	friction	friction	NOUN
alkej-68	71	26	between	between	ADP
alkej-68	71	27	the	the	DET
alkej-68	71	28	hand	hand	NOUN
alkej-68	71	29	finger	finger	NOUN
alkej-68	71	30	tips	tip	NOUN
alkej-68	71	31	and	and	CCONJ
alkej-68	71	32	the	the	DET
alkej-68	71	33	caught	catch	VERB
alkej-68	71	34	piece	piece	NOUN
alkej-68	71	35	.	.	PUNCT
alkej-68	72	1	5	5	X
alkej-68	72	2	.	.	X
alkej-68	72	3	conclusion	conclusion	NOUN
alkej-68	72	4	and	and	CCONJ
alkej-68	72	5	recommendation	recommendation	VERB
alkej-68	72	6	the	the	DET
alkej-68	72	7	proposed	propose	VERB
alkej-68	72	8	control	control	NOUN
alkej-68	72	9	system	system	NOUN
alkej-68	72	10	with	with	ADP
alkej-68	72	11	its	its	PRON
alkej-68	72	12	easy	easy	ADJ
alkej-68	72	13	way	way	NOUN
alkej-68	72	14	can	can	AUX
alkej-68	72	15	simply	simply	ADV
alkej-68	72	16	mimics	mimics	VERB
alkej-68	72	17	the	the	DET
alkej-68	72	18	human	human	ADJ
alkej-68	72	19	hand	hand	NOUN
alkej-68	72	20	response	response	NOUN
alkej-68	72	21	from	from	ADP
alkej-68	72	22	reducing	reduce	VERB
alkej-68	72	23	the	the	DET
alkej-68	72	24	weight	weight	NOUN
alkej-68	72	25	of	of	ADP
alkej-68	72	26	the	the	DET
alkej-68	72	27	system	system	NOUN
alkej-68	72	28	and	and	CCONJ
alkej-68	72	29	keeping	keep	VERB
alkej-68	72	30	away	away	ADV
alkej-68	72	31	from	from	ADP
alkej-68	72	32	the	the	DET
alkej-68	72	33	electrical	electrical	ADJ
alkej-68	72	34	noises	noise	NOUN
alkej-68	72	35	and	and	CCONJ
alkej-68	72	36	also	also	ADV
alkej-68	72	37	the	the	DET
alkej-68	72	38	catching	catch	VERB
alkej-68	72	39	force	force	NOUN
alkej-68	72	40	can	can	AUX
alkej-68	72	41	be	be	AUX
alkej-68	72	42	developed	develop	VERB
alkej-68	72	43	in	in	ADP
alkej-68	72	44	a	a	DET
alkej-68	72	45	small	small	ADJ
alkej-68	72	46	environment	environment	NOUN
alkej-68	72	47	depending	depend	VERB
alkej-68	72	48	on	on	ADP
alkej-68	72	49	the	the	DET
alkej-68	72	50	muscle	muscle	NOUN
alkej-68	72	51	wire	wire	NOUN
alkej-68	72	52	specifications	specification	NOUN
alkej-68	72	53	.	.	PUNCT
alkej-68	73	1	so	so	ADV
alkej-68	73	2	the	the	DET
alkej-68	73	3	whole	whole	ADJ
alkej-68	73	4	system	system	NOUN
alkej-68	73	5	may	may	AUX
alkej-68	73	6	be	be	AUX
alkej-68	73	7	used	use	VERB
alkej-68	73	8	effectively	effectively	ADV
alkej-68	73	9	in	in	ADP
alkej-68	73	10	many	many	ADJ
alkej-68	73	11	different	different	ADJ
alkej-68	73	12	applications	application	NOUN
alkej-68	73	13	like	like	ADP
alkej-68	73	14	a	a	DET
alkej-68	73	15	robotic	robotic	ADJ
alkej-68	73	16	hand	hand	NOUN
alkej-68	73	17	disassembling	disassemble	VERB
alkej-68	73	18	explosives	explosive	NOUN
alkej-68	73	19	or	or	CCONJ
alkej-68	73	20	reaching	reach	VERB
alkej-68	73	21	different	different	ADJ
alkej-68	73	22	dangerous	dangerous	ADJ
alkej-68	73	23	chemical	chemical	ADJ
alkej-68	73	24	parts	part	NOUN
alkej-68	73	25	without	without	ADP
alkej-68	73	26	destroing	destroe	VERB
alkej-68	73	27	them	they	PRON
alkej-68	73	28	or	or	CCONJ
alkej-68	73	29	slipping	slip	VERB
alkej-68	73	30	them	they	PRON
alkej-68	73	31	down	down	ADP
alkej-68	73	32	.	.	PUNCT
alkej-68	74	1	it	it	PRON
alkej-68	74	2	is	be	AUX
alkej-68	74	3	also	also	ADV
alkej-68	74	4	recommended	recommend	VERB
alkej-68	74	5	in	in	ADP
alkej-68	74	6	this	this	DET
alkej-68	74	7	work	work	NOUN
alkej-68	74	8	to	to	PART
alkej-68	74	9	design	design	VERB
alkej-68	74	10	an	an	DET
alkej-68	74	11	effective	effective	ADJ
alkej-68	74	12	sliding	slide	VERB
alkej-68	74	13	sensor	sensor	NOUN
alkej-68	74	14	that	that	PRON
alkej-68	74	15	can	can	AUX
alkej-68	74	16	measure	measure	VERB
alkej-68	74	17	the	the	DET
alkej-68	74	18	amount	amount	NOUN
alkej-68	74	19	of	of	ADP
alkej-68	74	20	sliding	slide	VERB
alkej-68	74	21	and	and	CCONJ
alkej-68	74	22	at	at	ADP
alkej-68	74	23	the	the	DET
alkej-68	74	24	same	same	ADJ
alkej-68	74	25	time	time	NOUN
alkej-68	74	26	the	the	DET
alkej-68	74	27	sliding	slide	VERB
alkej-68	74	28	rate	rate	NOUN
alkej-68	74	29	.	.	PUNCT
alkej-68	75	1	6	6	X
alkej-68	75	2	.	.	NUM
alkej-68	75	3	references	reference	NOUN
alkej-68	75	4	[	[	X
alkej-68	75	5	1	1	NUM
alkej-68	75	6	]	]	X
alkej-68	75	7	pedram	pedram	NOUN
alkej-68	75	8	afshar	afshar	ADJ
alkej-68	75	9	and	and	CCONJ
alkej-68	75	10	yoky	yoky	PROPN
alkej-68	75	11	matsuoka	matsuoka	PROPN
alkej-68	75	12	"	"	PUNCT
alkej-68	75	13	neuralbased	neuralbase	VERB
alkej-68	75	14	control	control	NOUN
alkej-68	75	15	of	of	ADP
alkej-68	75	16	a	a	DET
alkej-68	75	17	robotic	robotic	ADJ
alkej-68	75	18	hand	hand	NOUN
alkej-68	75	19	evidence	evidence	NOUN
alkej-68	75	20	for	for	ADP
alkej-68	75	21	distinct	distinct	ADJ
alkej-68	75	22	muscle	muscle	NOUN
alkej-68	75	23	strategies	strategy	NOUN
alkej-68	75	24	"	"	PUNCT
alkej-68	75	25	ieee	ieee	NOUN
alkej-68	75	26	2004	2004	NUM
alkej-68	75	27	.	.	PUNCT
alkej-68	76	1	[	[	X
alkej-68	76	2	2	2	NUM
alkej-68	76	3	]	]	PUNCT
alkej-68	76	4	vishalini	vishalini	X
alkej-68	76	5	bundhoo	bundhoo	PROPN
alkej-68	76	6	and	and	CCONJ
alkej-68	76	7	edward	edward	PROPN
alkej-68	76	8	j.	j.	PROPN
alkej-68	76	9	park	park	PROPN
alkej-68	76	10	“	"	PUNCT
alkej-68	76	11	design	design	NOUN
alkej-68	76	12	of	of	ADP
alkej-68	76	13	an	an	DET
alkej-68	76	14	artificial	artificial	ADJ
alkej-68	76	15	muscle	muscle	NOUN
alkej-68	76	16	actuated	actuate	VERB
alkej-68	76	17	finger	finger	NOUN
alkej-68	76	18	towards	towards	ADP
alkej-68	76	19	biomimetic	biomimetic	ADJ
alkej-68	76	20	prosthetic	prosthetic	ADJ
alkej-68	76	21	hands	hand	NOUN
alkej-68	76	22	"	"	PUNCT
alkej-68	76	23	ieee	ieee	NOUN
alkej-68	76	24	2005	2005	NUM
alkej-68	76	25	.	.	PUNCT
alkej-68	77	1	[	[	X
alkej-68	77	2	3	3	NUM
alkej-68	77	3	]	]	X
alkej-68	77	4	megan	megan	NOUN
alkej-68	77	5	grimm	grimm	NOUN
alkej-68	77	6	,	,	PUNCT
alkej-68	77	7	a.	a.	PROPN
alkej-68	77	8	antonio	antonio	PROPN
alkej-68	77	9	arroyo	arroyo	PROPN
alkej-68	77	10	,	,	PUNCT
alkej-68	77	11	michael	michael	PROPN
alkej-68	77	12	nechyba	nechyba	ADJ
alkej-68	77	13	"	"	PUNCT
alkej-68	77	14	thing	thing	NOUN
alkej-68	77	15	:	:	PUNCT
alkej-68	77	16	a	a	DET
alkej-68	77	17	robotic	robotic	ADJ
alkej-68	77	18	hand	hand	NOUN
alkej-68	77	19	with	with	ADP
alkej-68	77	20	realistic	realistic	ADJ
alkej-68	77	21	thumb	thumb	NOUN
alkej-68	77	22	pronation	pronation	NOUN
alkej-68	77	23	"	"	PUNCT
alkej-68	77	24	machine	machine	NOUN
alkej-68	77	25	intelligence	intelligence	NOUN
alkej-68	77	26	laboratory	laboratory	PROPN
alkej-68	77	27	2008	2008	NUM
alkej-68	77	28	.	.	PUNCT
alkej-68	78	1	[	[	X
alkej-68	78	2	4	4	X
alkej-68	78	3	]	]	X
alkej-68	78	4	roger	roger	PROPN
alkej-68	78	5	g.	g.	PROPN
alkej-68	78	6	gilbertson	gilbertson	PROPN
alkej-68	78	7	"	"	PUNCT
alkej-68	78	8	muscle	muscle	NOUN
alkej-68	78	9	wires	wire	NOUN
alkej-68	78	10	"	"	PUNCT
alkej-68	78	11	project	project	NOUN
alkej-68	78	12	book	book	NOUN
alkej-68	78	13	2003	2003	NUM
alkej-68	78	14	.	.	PUNCT
alkej-68	79	1	[	[	X
alkej-68	79	2	5	5	NUM
alkej-68	79	3	]	]	PUNCT
alkej-68	79	4	a.salam	a.salam	PROPN
alkej-68	79	5	al	al	PROPN
alkej-68	79	6	-	-	PUNCT
alkej-68	79	7	ammri	ammri	PROPN
alkej-68	79	8	,	,	PUNCT
alkej-68	79	9	bahaa	bahaa	NOUN
alkej-68	79	10	i.	i.	NOUN
alkej-68	79	11	kadim	kadim	PROPN
alkej-68	79	12	,	,	PUNCT
alkej-68	79	13	yarub	yarub	PROPN
alkej-68	79	14	o.	o.	PROPN
alkej-68	79	15	al	al	PROPN
alkej-68	79	16	-	-	PUNCT
alkej-68	79	17	azzawi	azzawi	PROPN
alkej-68	79	18	"	"	PUNCT
alkej-68	79	19	miniature	miniature	ADJ
alkej-68	79	20	two	two	NUM
alkej-68	79	21	-fingered	-fingered	ADJ
alkej-68	79	22	robot	robot	NOUN
alkej-68	79	23	hand	hand	NOUN
alkej-68	79	24	driven	drive	VERB
alkej-68	79	25	by	by	ADP
alkej-68	79	26	muscle	muscle	NOUN
alkej-68	79	27	wires	wire	NOUN
alkej-68	79	28	actuators	actuator	NOUN
alkej-68	79	29	"	"	PUNCT
alkej-68	79	30	al	al	PROPN
alkej-68	79	31	-	-	PUNCT
alkej-68	79	32	khwarizmi	khwarizmi	PROPN
alkej-68	79	33	magazine	magazine	NOUN
alkej-68	79	34	2008	2008	NUM
alkej-68	79	35	.	.	PUNCT
alkej-68	80	1	[	[	X
alkej-68	80	2	6	6	NUM
alkej-68	80	3	]	]	X
alkej-68	80	4	ra'ad	ra'ad	NOUN
alkej-68	80	5	kadim	kadim	PROPN
alkej-68	80	6	mohamed	mohamed	PROPN
alkej-68	80	7	"	"	PUNCT
alkej-68	80	8	pneumatic	pneumatic	ADJ
alkej-68	80	9	actuation	actuation	NOUN
alkej-68	80	10	and	and	CCONJ
alkej-68	80	11	fuzzy	fuzzy	ADJ
alkej-68	80	12	control	control	NOUN
alkej-68	80	13	of	of	ADP
alkej-68	80	14	robotics	robotic	NOUN
alkej-68	80	15	hand	hand	NOUN
alkej-68	80	16	"	"	PUNCT
alkej-68	80	17	al	al	PROPN
alkej-68	80	18	-	-	PUNCT
alkej-68	80	19	kuffa	kuffa	PROPN
alkej-68	80	20	magazine	magazine	NOUN
alkej-68	80	21	2010	2010	NUM
alkej-68	80	22	.	.	PUNCT
alkej-68	81	1	[	[	X
alkej-68	81	2	7	7	X
alkej-68	81	3	]	]	X
alkej-68	81	4	christopher	christopher	PROPN
alkej-68	81	5	t.	t.	PROPN
alkej-68	81	6	kilian	kilian	PROPN
alkej-68	81	7	“	"	PUNCT
alkej-68	81	8	modern	modern	ADJ
alkej-68	81	9	control	control	NOUN
alkej-68	81	10	technology	technology	NOUN
alkej-68	81	11	,	,	PUNCT
alkej-68	81	12	components	component	NOUN
alkej-68	81	13	and	and	CCONJ
alkej-68	81	14	systems	system	NOUN
alkej-68	81	15	"	"	PUNCT
alkej-68	81	16	delmar	delmar	PROPN
alkej-68	81	17	2001	2001	NUM
alkej-68	81	18	.	.	PUNCT
alkej-68	81	19	)	)	PUNCT
alkej-68	81	20	2011	2011	NUM
alkej-68	81	21	(	(	PUNCT
alkej-68	82	1	13	13	NUM
alkej-68	82	2	18	18	NUM
alkej-68	82	3	،	،	NOUN
alkej-68	82	4	صفحة3	صفحة3	PROPN
alkej-68	82	5	،	،	NOUN
alkej-68	82	6	العدد	العدد	PROPN
alkej-68	83	1	7مجلة	7مجلة	PROPN
alkej-68	83	2	الخوارزمي	الخوارزمي	VERB
alkej-68	83	3	الھندسیة	الھندسیة	PROPN
alkej-68	83	4	المجلد	المجلد	PROPN
alkej-68	83	5	یعرب	یعرب	PROPN
alkej-68	83	6	عمر	عمر	NOUN
alkej-68	83	7	ناجي	ناجي	NOUN
alkej-68	83	8	العزاوي	العزاوي	VERB
alkej-68	83	9	18	18	NUM
alkej-68	83	10	التحكم	التحكم	NOUN
alkej-68	83	11	الضبابي	الضبابي	NOUN
alkej-68	83	12	بقوة	بقوة	ADJ
alkej-68	83	13	مسك	مسك	VERB
alkej-68	83	14	ید	ید	ADP
alkej-68	83	15	اإلنسان	اإلنسان	NOUN
alkej-68	83	16	اآللي	اآللي	NOUN
alkej-68	83	17	باستخدام	باستخدام	NOUN
alkej-68	83	18	مشغل	مشغل	ADJ
alkej-68	83	19	األسالك	األسالك	PROPN
alkej-68	83	20	العضلیة	العضلیة	PROPN
alkej-68	83	21	یعرب	یعرب	PROPN
alkej-68	83	22	عمر	عمر	NOUN
alkej-68	84	1	ناجي	ناجي	NOUN
alkej-68	84	2	العزاوي	العزاوي	VERB
alkej-68	84	3	جامعة	جامعة	NOUN
alkej-68	84	4	بغداد/	بغداد/	NUM
alkej-68	84	5	كلیة	كلیة	NOUN
alkej-68	84	6	الھندسة	الھندسة	NOUN
alkej-68	84	7	الخوارزمي/	الخوارزمي/	NUM
alkej-68	84	8	قسم	قسم	NOUN
alkej-68	84	9	ھندسة	ھندسة	PROPN
alkej-68	84	10	المیكاترونكس	المیكاترونكس	PROPN
alkej-68	84	11	الخالصة	الخالصة	PROPN
alkej-68	84	12	بھا	بھا	PROPN
alkej-68	84	13	الھدف	الھدف	PROPN
alkej-68	84	14	من	من	PROPN
alkej-68	84	15	ھذا	ھذا	NOUN
alkej-68	84	16	البحث	البحث	PROPN
alkej-68	84	17	ھو	ھو	ADP
alkej-68	84	18	السیطرة	السیطرة	PROPN
alkej-68	84	19	على	على	PROPN
alkej-68	84	20	مقدار	مقدار	NOUN
alkej-68	84	21	قوة	قوة	PROPN
alkej-68	84	22	مسك	مسك	VERB
alkej-68	84	23	ید	ید	ADP
alkej-68	84	24	االنسان	االنسان	NOUN
alkej-68	84	25	اآللي	اآللي	NOUN
alkej-68	84	26	باستخدام	باستخدام	NOUN
alkej-68	84	27	اسالك	اسالك	PROPN
alkej-68	84	28	عضالت	عضالت	PROPN
alkej-68	84	29	اصطناعیة	اصطناعیة	PROPN
alkej-68	84	30	كمشغل	كمشغل	PROPN
alkej-68	84	31	لتحقیق	لتحقیق	PROPN
alkej-68	84	32	االستجابة	االستجابة	PROPN
alkej-68	85	1	المرغوب	المرغوب	PROPN
alkej-68	85	2	المالئم	المالئم	PROPN
alkej-68	85	3	لقوة	لقوة	PROPN
alkej-68	85	4	تم	تم	PROPN
alkej-68	85	5	تحقیق	تحقیق	PROPN
alkej-68	85	6	االختیار	االختیار	PROPN
alkej-68	85	7	.	.	PUNCT
alkej-68	86	1	لید	لید	NOUN
alkej-68	86	2	االنسان	االنسان	NOUN
alkej-68	86	3	اآللي	اآللي	NOUN
alkej-68	86	4	وذلك	وذلك	PROPN
alkej-68	86	5	من	من	PROPN
alkej-68	86	6	اجل	اجل	PROPN
alkej-68	86	7	مسك	مسك	PROPN
alkej-68	86	8	اشیاء	اشیاء	PROPN
alkej-68	86	9	مختلفة	مختلفة	PROPN
alkej-68	86	10	بدون	بدون	PROPN
alkej-68	86	11	تحطیمھا	تحطیمھا	ADJ
alkej-68	86	12	او	او	PUNCT
alkej-68	86	13	اسقاطھا	اسقاطھا	ADJ
alkej-68	86	14	باسلوب	باسلوب	NOUN
alkej-68	86	15	مشابھ	مشابھ	PROPN
alkej-68	86	16	لطریقة	لطریقة	PROPN
alkej-68	86	17	مسك	مسك	VERB
alkej-68	86	18	الید	الید	PROPN
alkej-68	86	19	البشریة	البشریة	PROPN
alkej-68	86	20	.	.	PUNCT
alkej-68	87	1	تم	تم	PROPN
alkej-68	87	2	اقتراح	اقتراح	PROPN
alkej-68	87	3	الیة	الیة	PROPN
alkej-68	87	4	لترتیب	لترتیب	PROPN
alkej-68	87	5	االلیاف	االلیاف	PROPN
alkej-68	87	6	العضلیة	العضلیة	PROPN
alkej-68	87	7	االصطناعیة	االصطناعیة	VERB
alkej-68	87	8	لتحقیق	لتحقیق	ADJ
alkej-68	87	9	االختیار	االختیار	PROPN
alkej-68	87	10	االفضل	االفضل	PROPN
alkej-68	87	11	لمقدار	لمقدار	PROPN
alkej-68	88	1	قوة	قوة	PROPN
alkej-68	88	2	المسك	المسك	PROPN
alkej-68	88	3	.	.	PUNCT
alkej-68	89	1	المسك	المسك	PROPN
alkej-68	90	1	من	من	PROPN
alkej-68	90	2	خالل	خالل	PROPN
alkej-68	90	3	المحاكات	المحاكات	PROPN
alkej-68	90	4	باستخدام	باستخدام	PROPN
alkej-68	90	5	تقنیة	تقنیة	PROPN
alkej-68	90	6	السیطرة	السیطرة	PROPN
alkej-68	91	1	الضبابیة	الضبابیة	NOUN
alkej-68	91	2	یادة	یادة	VERB
alkej-68	91	3	قوة	قوة	PROPN
alkej-68	91	4	المسك	المسك	PROPN
alkej-68	91	5	كلما	كلما	PROPN
alkej-68	91	6	زاد	زاد	PROPN
alkej-68	91	7	وزن	وزن	PROPN
alkej-68	91	8	القطعة	القطعة	PROPN
alkej-68	91	9	الممسوكة	الممسوكة	PROPN
alkej-68	91	10	بنفس	بنفس	ADV
alkej-68	91	11	لقد	لقد	PROPN
alkej-68	91	12	اوضحت	اوضحت	PROPN
alkej-68	91	13	النتائج	النتائج	PROPN
alkej-68	91	14	امكانیة	امكانیة	PROPN
alkej-68	91	15	تطبیق	تطبیق	PROPN
alkej-68	91	16	استخدام	استخدام	PROPN
alkej-68	91	17	ھذه	ھذه	VERB
alkej-68	92	1	التقنیة	التقنیة	PROPN
alkej-68	92	2	المقترحة	المقترحة	PROPN
alkej-68	92	3	والتي	والتي	PROPN
alkej-68	92	4	تحاكي	تحاكي	PROPN
alkej-68	92	5	تفكیر	تفكیر	PROPN
alkej-68	92	6	االنسان	االنسان	VERB
alkej-68	92	7	حیث	حیث	NOUN
alkej-68	92	8	یتم	یتم	ADP
alkej-68	92	9	ز	ز	PROPN
alkej-68	92	10	.مقدار	.مقدار	PROPN
alkej-68	92	11	الزیادة	الزیادة	PROPN
alkej-68	92	12	تقریبا	تقریبا	PROPN