id	sid	tid	token	lemma	pos
alkej-746	1	1	microsoft	microsoft	PROPN
alkej-746	1	2	word	word	NOUN
alkej-746	1	3	f9e	f9e	PROPN
alkej-746	1	4	h3he1	h3he1	ADJ
alkej-746	1	5	h	h	NOUN
alkej-746	1	6	,	,	PUNCT
alkej-746	1	7	e9	e9	PROPN
alkej-746	1	8	)	)	PUNCT
alkej-746	1	9	h9e13647	h9e13647	NOUN
alkej-746	1	10	this	this	PRON
alkej-746	1	11	is	be	AUX
alkej-746	1	12	an	an	DET
alkej-746	1	13	open	open	ADJ
alkej-746	1	14	access	access	NOUN
alkej-746	1	15	article	article	NOUN
alkej-746	1	16	under	under	ADP
alkej-746	1	17	the	the	DET
alkej-746	1	18	cc	cc	NOUN
alkej-746	1	19	by	by	ADP
alkej-746	1	20	license	license	NOUN
alkej-746	1	21	:	:	PUNCT
alkej-746	1	22	al	al	PROPN
alkej-746	1	23	-	-	PUNCT
alkej-746	1	24	khwarizmi	khwarizmi	PROPN
alkej-746	1	25	engineering	engineering	PROPN
alkej-746	1	26	journal	journal	PROPN
alkej-746	1	27	al	al	PROPN
alkej-746	1	28	-	-	PUNCT
alkej-746	1	29	khwarizmi	khwarizmi	PROPN
alkej-746	1	30	engineering	engineering	NOUN
alkej-746	1	31	journal	journal	PROPN
alkej-746	1	32	,	,	PUNCT
alkej-746	1	33	vol	vol	NOUN
alkej-746	1	34	.	.	PROPN
alkej-746	1	35	17	17	NUM
alkej-746	1	36	,	,	PUNCT
alkej-746	1	37	no	no	INTJ
alkej-746	1	38	.	.	NOUN
alkej-746	1	39	4	4	NUM
alkej-746	1	40	,	,	PUNCT
alkej-746	1	41	december	december	PROPN
alkej-746	1	42	,	,	PUNCT
alkej-746	1	43	(	(	PUNCT
alkej-746	1	44	2021	2021	NUM
alkej-746	1	45	)	)	PUNCT
alkej-746	2	1	p.	p.	NOUN
alkej-746	2	2	p.	p.	NOUN
alkej-746	2	3	3647	3647	NUM
alkej-746	3	1	analysis	analysis	NOUN
alkej-746	3	2	and	and	CCONJ
alkej-746	3	3	evaluation	evaluation	NOUN
alkej-746	3	4	of	of	ADP
alkej-746	3	5	a	a	DET
alkej-746	3	6	quasi	quasi	ADJ
alkej-746	3	7	-	-	ADJ
alkej-746	3	8	passive	passive	ADJ
alkej-746	3	9	lower	low	ADJ
alkej-746	3	10	limb	limb	NOUN
alkej-746	3	11	exoskeleton	exoskeleton	NOUN
alkej-746	3	12	for	for	ADP
alkej-746	3	13	gait	gait	PROPN
alkej-746	3	14	rehabilitation	rehabilitation	PROPN
alkej-746	3	15	niaam	niaam	PROPN
alkej-746	3	16	kh	kh	PROPN
alkej-746	3	17	.	.	PUNCT
alkej-746	4	1	al	al	PROPN
alkej-746	4	2	-	-	PUNCT
alkej-746	4	3	hayali	hayali	PROPN
alkej-746	4	4	*	*	PUNCT
alkej-746	4	5	somer	somer	PROPN
alkej-746	4	6	m.	m.	PROPN
alkej-746	4	7	nacy	nacy	PROPN
alkej-746	4	8	*	*	PROPN
alkej-746	4	9	*	*	PROPN
alkej-746	4	10	jumaa	jumaa	PROPN
alkej-746	4	11	s.	s.	PROPN
alkej-746	4	12	chiad	chiad	PROPN
alkej-746	4	13	*	*	PROPN
alkej-746	4	14	*	*	PUNCT
alkej-746	4	15	*	*	PUNCT
alkej-746	4	16	o.	o.	PROPN
alkej-746	4	17	hussein	hussein	PROPN
alkej-746	4	18	*	*	PUNCT
alkej-746	4	19	*	*	PUNCT
alkej-746	4	20	*	*	PUNCT
alkej-746	4	21	*	*	PUNCT
alkej-746	4	22	*	*	PUNCT
alkej-746	4	23	,	,	PUNCT
alkej-746	4	24	*	*	PUNCT
alkej-746	4	25	*	*	NOUN
alkej-746	4	26	department	department	NOUN
alkej-746	4	27	of	of	ADP
alkej-746	4	28	biomedical	biomedical	ADJ
alkej-746	4	29	engineering/	engineering/	NUM
alkej-746	4	30	alkhwarizmi	alkhwarizmi	NOUN
alkej-746	4	31	college	college	NOUN
alkej-746	4	32	of	of	ADP
alkej-746	4	33	engineering/	engineering/	NUM
alkej-746	4	34	university	university	NOUN
alkej-746	4	35	of	of	ADP
alkej-746	4	36	baghdad	baghdad	PROPN
alkej-746	4	37	/	/	SYM
alkej-746	4	38	baghdad	baghdad	PROPN
alkej-746	4	39	iraq	iraq	PROPN
alkej-746	4	40	*	*	PUNCT
alkej-746	4	41	*	*	PUNCT
alkej-746	4	42	*	*	PUNCT
alkej-746	4	43	department	department	PROPN
alkej-746	4	44	of	of	ADP
alkej-746	4	45	mechanical	mechanical	ADJ
alkej-746	4	46	engineering/	engineering/	NUM
alkej-746	4	47	college	college	NOUN
alkej-746	4	48	of	of	ADP
alkej-746	4	49	engineering/	engineering/	NUM
alkej-746	4	50	al	al	PROPN
alkej-746	4	51	-	-	PUNCT
alkej-746	4	52	nahrain	nahrain	PROPN
alkej-746	4	53	university/	university/	NUM
alkej-746	4	54	baghdad	baghdad	PROPN
alkej-746	4	55	–	–	PUNCT
alkej-746	4	56	iraq	iraq	PROPN
alkej-746	4	57	*	*	PUNCT
alkej-746	5	1	*	*	PUNCT
alkej-746	5	2	*	*	PUNCT
alkej-746	5	3	*	*	PUNCT
alkej-746	5	4	department	department	PROPN
alkej-746	5	5	of	of	ADP
alkej-746	5	6	automated	automate	VERB
alkej-746	5	7	manufacturing	manufacturing	NOUN
alkej-746	5	8	engineering/	engineering/	NUM
alkej-746	5	9	alkhwarizmi	alkhwarizmi	NOUN
alkej-746	5	10	college	college	NOUN
alkej-746	5	11	of	of	ADP
alkej-746	5	12	engineering/	engineering/	NUM
alkej-746	5	13	university	university	NOUN
alkej-746	5	14	of	of	ADP
alkej-746	5	15	baghdad/	baghdad/	NUM
alkej-746	5	16	baghdad	baghdad	PROPN
alkej-746	5	17	–	–	PUNCT
alkej-746	5	18	iraq	iraq	PROPN
alkej-746	5	19	*	*	PUNCT
alkej-746	5	20	email	email	NOUN
alkej-746	5	21	:	:	PUNCT
alkej-746	5	22	neaam@kecbu.uobaghdad.edu.iq	neaam@kecbu.uobaghdad.edu.iq	PUNCT
alkej-746	5	23	*	*	PUNCT
alkej-746	5	24	*	*	NOUN
alkej-746	5	25	email	email	NOUN
alkej-746	5	26	:	:	PUNCT
alkej-746	5	27	somernacy@googlemail.com	somernacy@googlemail.com	X
alkej-746	6	1	*	*	PUNCT
alkej-746	6	2	*	*	PUNCT
alkej-746	6	3	*	*	NOUN
alkej-746	6	4	email	email	NOUN
alkej-746	6	5	:	:	PUNCT
alkej-746	7	1	jumaachiad@gmail.com	jumaachiad@gmail.com	X
alkej-746	8	1	*	*	PUNCT
alkej-746	8	2	*	*	PUNCT
alkej-746	8	3	*	*	PUNCT
alkej-746	8	4	*	*	NOUN
alkej-746	8	5	email	email	NOUN
alkej-746	8	6	:	:	PUNCT
alkej-746	8	7	omar.hussein@kecbu.uobaghdad.edu.iq	omar.hussein@kecbu.uobaghdad.edu.iq	NUM
alkej-746	8	8	(	(	PUNCT
alkej-746	8	9	received	receive	VERB
alkej-746	8	10	4	4	NUM
alkej-746	8	11	august	august	PROPN
alkej-746	8	12	2021	2021	NUM
alkej-746	8	13	;	;	PUNCT
alkej-746	8	14	accepted	accept	VERB
alkej-746	8	15	20	20	NUM
alkej-746	8	16	december	december	PROPN
alkej-746	8	17	2021	2021	NUM
alkej-746	8	18	)	)	PUNCT
alkej-746	8	19	7https://doi.org/10.22153/kej.2021.12.00	7https://doi.org/10.22153/kej.2021.12.00	PROPN
alkej-746	8	20	abstract	abstract	ADJ
alkej-746	8	21	lower	low	ADJ
alkej-746	8	22	extremity	extremity	NOUN
alkej-746	8	23	exoskeletons	exoskeleton	NOUN
alkej-746	8	24	can	can	AUX
alkej-746	8	25	assist	assist	VERB
alkej-746	8	26	with	with	ADP
alkej-746	8	27	performing	perform	VERB
alkej-746	8	28	particular	particular	ADJ
alkej-746	8	29	functions	function	NOUN
alkej-746	8	30	such	such	ADJ
alkej-746	8	31	as	as	ADP
alkej-746	8	32	gait	gait	ADJ
alkej-746	8	33	assistance	assistance	NOUN
alkej-746	8	34	,	,	PUNCT
alkej-746	8	35	and	and	CCONJ
alkej-746	8	36	physical	physical	ADJ
alkej-746	8	37	therapy	therapy	NOUN
alkej-746	8	38	support	support	NOUN
alkej-746	8	39	for	for	ADP
alkej-746	8	40	subjects	subject	NOUN
alkej-746	8	41	who	who	PRON
alkej-746	8	42	have	have	AUX
alkej-746	8	43	lost	lose	VERB
alkej-746	8	44	the	the	DET
alkej-746	8	45	ability	ability	NOUN
alkej-746	8	46	to	to	PART
alkej-746	8	47	walk	walk	VERB
alkej-746	8	48	.	.	PUNCT
alkej-746	9	1	this	this	DET
alkej-746	9	2	paper	paper	NOUN
alkej-746	9	3	presents	present	VERB
alkej-746	9	4	the	the	DET
alkej-746	9	5	analysis	analysis	NOUN
alkej-746	9	6	and	and	CCONJ
alkej-746	9	7	evaluation	evaluation	NOUN
alkej-746	9	8	of	of	ADP
alkej-746	9	9	lightweight	lightweight	NOUN
alkej-746	9	10	and	and	CCONJ
alkej-746	9	11	adjustable	adjustable	ADJ
alkej-746	9	12	two	two	NUM
alkej-746	9	13	degrees	degree	NOUN
alkej-746	9	14	of	of	ADP
alkej-746	9	15	freedom	freedom	NOUN
alkej-746	9	16	,	,	PUNCT
alkej-746	9	17	quasi	quasi	ADJ
alkej-746	9	18	-	-	ADJ
alkej-746	9	19	passive	passive	ADJ
alkej-746	9	20	lower	low	ADJ
alkej-746	9	21	limb	limb	NOUN
alkej-746	9	22	device	device	NOUN
alkej-746	9	23	to	to	PART
alkej-746	9	24	improve	improve	VERB
alkej-746	9	25	gait	gait	ADJ
alkej-746	9	26	rehabilitation	rehabilitation	NOUN
alkej-746	9	27	.	.	PUNCT
alkej-746	10	1	the	the	DET
alkej-746	10	2	exoskeleton	exoskeleton	PROPN
alkej-746	10	3	consists	consist	VERB
alkej-746	10	4	of	of	ADP
alkej-746	10	5	a	a	DET
alkej-746	10	6	high	high	ADJ
alkej-746	10	7	torque	torque	NOUN
alkej-746	10	8	dc	dc	PROPN
alkej-746	10	9	motor	motor	NOUN
alkej-746	10	10	mounted	mount	VERB
alkej-746	10	11	on	on	ADP
alkej-746	10	12	a	a	DET
alkej-746	10	13	metal	metal	NOUN
alkej-746	10	14	plate	plate	NOUN
alkej-746	10	15	above	above	ADP
alkej-746	10	16	the	the	DET
alkej-746	10	17	hip	hip	NOUN
alkej-746	10	18	joint	joint	NOUN
alkej-746	10	19	,	,	PUNCT
alkej-746	10	20	and	and	CCONJ
alkej-746	10	21	a	a	DET
alkej-746	10	22	link	link	NOUN
alkej-746	10	23	that	that	PRON
alkej-746	10	24	transmits	transmit	VERB
alkej-746	10	25	assistance	assistance	NOUN
alkej-746	10	26	torque	torque	NOUN
alkej-746	10	27	from	from	ADP
alkej-746	10	28	the	the	DET
alkej-746	10	29	motor	motor	NOUN
alkej-746	10	30	to	to	ADP
alkej-746	10	31	the	the	DET
alkej-746	10	32	thigh	thigh	NOUN
alkej-746	10	33	.	.	PUNCT
alkej-746	11	1	the	the	DET
alkej-746	11	2	knee	knee	NOUN
alkej-746	11	3	joint	joint	NOUN
alkej-746	11	4	is	be	AUX
alkej-746	11	5	passively	passively	ADV
alkej-746	11	6	actuated	actuate	VERB
alkej-746	11	7	by	by	ADP
alkej-746	11	8	spring	spring	NOUN
alkej-746	11	9	installed	instal	VERB
alkej-746	11	10	parallel	parallel	NOUN
alkej-746	11	11	with	with	ADP
alkej-746	11	12	the	the	DET
alkej-746	11	13	joint	joint	NOUN
alkej-746	11	14	.	.	PUNCT
alkej-746	12	1	the	the	DET
alkej-746	12	2	action	action	NOUN
alkej-746	12	3	of	of	ADP
alkej-746	12	4	the	the	DET
alkej-746	12	5	passive	passive	ADJ
alkej-746	12	6	component	component	NOUN
alkej-746	12	7	(	(	PUNCT
alkej-746	12	8	spring	spring	NOUN
alkej-746	12	9	)	)	PUNCT
alkej-746	12	10	is	be	AUX
alkej-746	12	11	combined	combine	VERB
alkej-746	12	12	with	with	ADP
alkej-746	12	13	mechanical	mechanical	ADJ
alkej-746	12	14	output	output	NOUN
alkej-746	12	15	of	of	ADP
alkej-746	12	16	the	the	DET
alkej-746	12	17	motor	motor	NOUN
alkej-746	12	18	to	to	PART
alkej-746	12	19	provide	provide	VERB
alkej-746	12	20	a	a	DET
alkej-746	12	21	good	good	ADJ
alkej-746	12	22	control	control	NOUN
alkej-746	12	23	on	on	ADP
alkej-746	12	24	the	the	DET
alkej-746	12	25	designed	design	VERB
alkej-746	12	26	exoskeleton	exoskeleton	NOUN
alkej-746	12	27	while	while	SCONJ
alkej-746	12	28	walking	walk	VERB
alkej-746	12	29	.	.	PUNCT
alkej-746	13	1	the	the	DET
alkej-746	13	2	results	result	NOUN
alkej-746	13	3	show	show	VERB
alkej-746	13	4	that	that	SCONJ
alkej-746	13	5	muscles	muscle	NOUN
alkej-746	13	6	'	'	PART
alkej-746	13	7	efforts	effort	NOUN
alkej-746	13	8	on	on	ADP
alkej-746	13	9	both	both	CCONJ
alkej-746	13	10	the	the	DET
alkej-746	13	11	front	front	NOUN
alkej-746	13	12	and	and	CCONJ
alkej-746	13	13	the	the	DET
alkej-746	13	14	back	back	ADJ
alkej-746	13	15	sides	side	NOUN
alkej-746	13	16	of	of	ADP
alkej-746	13	17	the	the	DET
alkej-746	13	18	user	user	NOUN
alkej-746	13	19	's	's	PART
alkej-746	13	20	leg	leg	NOUN
alkej-746	13	21	were	be	AUX
alkej-746	13	22	decreased	decrease	VERB
alkej-746	13	23	when	when	SCONJ
alkej-746	13	24	walking	walk	VERB
alkej-746	13	25	using	use	VERB
alkej-746	13	26	the	the	DET
alkej-746	13	27	exoskeleton	exoskeleton	NOUN
alkej-746	13	28	with	with	ADP
alkej-746	13	29	the	the	DET
alkej-746	13	30	motor	motor	NOUN
alkej-746	13	31	and	and	CCONJ
alkej-746	13	32	spring	spring	NOUN
alkej-746	13	33	.	.	PUNCT
alkej-746	14	1	keywords	keyword	NOUN
alkej-746	14	2	:	:	PUNCT
alkej-746	14	3	exoskeleton	exoskeleton	ADJ
alkej-746	14	4	,	,	PUNCT
alkej-746	14	5	lower	low	ADJ
alkej-746	14	6	limb	limb	NOUN
alkej-746	14	7	,	,	PUNCT
alkej-746	14	8	gait	gait	ADJ
alkej-746	14	9	cycle	cycle	NOUN
alkej-746	14	10	,	,	PUNCT
alkej-746	14	11	quasi	quasi	ADJ
alkej-746	14	12	-	-	ADJ
alkej-746	14	13	passive	passive	ADJ
alkej-746	14	14	,	,	PUNCT
alkej-746	14	15	rehabilitation	rehabilitation	NOUN
alkej-746	14	16	.	.	PUNCT
alkej-746	15	1	1	1	X
alkej-746	15	2	.	.	X
alkej-746	15	3	introduction	introduction	NOUN
alkej-746	15	4	assistive	assistive	ADJ
alkej-746	15	5	exoskeletons	exoskeleton	NOUN
alkej-746	15	6	for	for	ADP
alkej-746	15	7	healthcare	healthcare	NOUN
alkej-746	15	8	like	like	ADP
alkej-746	15	9	rehabilitation	rehabilitation	NOUN
alkej-746	15	10	and	and	CCONJ
alkej-746	15	11	gait	gait	NOUN
alkej-746	15	12	assistance	assistance	NOUN
alkej-746	15	13	has	have	AUX
alkej-746	15	14	been	be	AUX
alkej-746	15	15	widely	widely	ADV
alkej-746	15	16	developed	develop	VERB
alkej-746	15	17	[	[	X
alkej-746	15	18	1][2][3	1][2][3	NUM
alkej-746	15	19	]	]	PUNCT
alkej-746	15	20	.	.	PUNCT
alkej-746	16	1	lower	low	ADJ
alkej-746	16	2	limb	limb	NOUN
alkej-746	16	3	exoskeletons	exoskeleton	NOUN
alkej-746	16	4	are	be	AUX
alkej-746	16	5	defined	define	VERB
alkej-746	16	6	as	as	ADP
alkej-746	16	7	wearable	wearable	ADJ
alkej-746	16	8	devices	device	NOUN
alkej-746	16	9	that	that	PRON
alkej-746	16	10	are	be	AUX
alkej-746	16	11	worn	wear	VERB
alkej-746	16	12	by	by	ADP
alkej-746	16	13	a	a	DET
alkej-746	16	14	human	human	NOUN
alkej-746	16	15	and	and	CCONJ
alkej-746	16	16	work	work	NOUN
alkej-746	16	17	in	in	ADP
alkej-746	16	18	concert	concert	NOUN
alkej-746	16	19	with	with	ADP
alkej-746	16	20	the	the	DET
alkej-746	16	21	wearer	wearer	NOUN
alkej-746	16	22	’s	’s	PART
alkej-746	16	23	movements	movement	NOUN
alkej-746	16	24	[	[	X
alkej-746	16	25	4][5	4][5	X
alkej-746	16	26	]	]	PUNCT
alkej-746	16	27	.	.	PUNCT
alkej-746	17	1	lower	low	ADJ
alkej-746	17	2	limb	limb	NOUN
alkej-746	17	3	exoskeletons	exoskeleton	NOUN
alkej-746	17	4	can	can	AUX
alkej-746	17	5	be	be	AUX
alkej-746	17	6	used	use	VERB
alkej-746	17	7	to	to	PART
alkej-746	17	8	aid	aid	VERB
alkej-746	17	9	the	the	DET
alkej-746	17	10	rehabilitation	rehabilitation	NOUN
alkej-746	17	11	training	training	NOUN
alkej-746	17	12	by	by	ADP
alkej-746	17	13	providing	provide	VERB
alkej-746	17	14	functional	functional	ADJ
alkej-746	17	15	motion	motion	NOUN
alkej-746	17	16	assistance	assistance	NOUN
alkej-746	17	17	for	for	ADP
alkej-746	17	18	people	people	NOUN
alkej-746	17	19	with	with	ADP
alkej-746	17	20	neurological	neurological	ADJ
alkej-746	17	21	and	and	CCONJ
alkej-746	17	22	age	age	NOUN
alkej-746	17	23	related	relate	VERB
alkej-746	17	24	disorders	disorder	NOUN
alkej-746	17	25	[	[	X
alkej-746	17	26	3][6][7][8	3][6][7][8	NUM
alkej-746	17	27	]	]	PUNCT
alkej-746	17	28	.	.	PUNCT
alkej-746	18	1	during	during	ADP
alkej-746	18	2	manual	manual	ADJ
alkej-746	18	3	rehabilitation	rehabilitation	NOUN
alkej-746	18	4	training	training	NOUN
alkej-746	18	5	,	,	PUNCT
alkej-746	18	6	the	the	DET
alkej-746	18	7	training	training	NOUN
alkej-746	18	8	time	time	NOUN
alkej-746	18	9	is	be	AUX
alkej-746	18	10	limited	limit	VERB
alkej-746	18	11	to	to	ADP
alkej-746	18	12	the	the	DET
alkej-746	18	13	therapist	therapist	NOUN
alkej-746	18	14	.	.	PUNCT
alkej-746	19	1	with	with	ADP
alkej-746	19	2	this	this	DET
alkej-746	19	3	limitation	limitation	NOUN
alkej-746	19	4	of	of	ADP
alkej-746	19	5	time	time	NOUN
alkej-746	19	6	,	,	PUNCT
alkej-746	19	7	the	the	DET
alkej-746	19	8	gait	gait	ADJ
alkej-746	19	9	style	style	NOUN
alkej-746	19	10	of	of	ADP
alkej-746	19	11	the	the	DET
alkej-746	19	12	patient	patient	NOUN
alkej-746	19	13	is	be	AUX
alkej-746	19	14	not	not	PART
alkej-746	19	15	reproducible	reproducible	ADJ
alkej-746	19	16	and	and	CCONJ
alkej-746	19	17	thus	thus	ADV
alkej-746	19	18	the	the	DET
alkej-746	19	19	whole	whole	ADJ
alkej-746	19	20	therapy	therapy	NOUN
alkej-746	19	21	is	be	AUX
alkej-746	19	22	not	not	PART
alkej-746	19	23	optimal	optimal	ADJ
alkej-746	20	1	[	[	X
alkej-746	20	2	9][10	9][10	NUM
alkej-746	20	3	]	]	PUNCT
alkej-746	20	4	.	.	PUNCT
alkej-746	21	1	rehabilitation	rehabilitation	NOUN
alkej-746	21	2	exoskeletons	exoskeleton	NOUN
alkej-746	21	3	allow	allow	VERB
alkej-746	21	4	normal	normal	ADJ
alkej-746	21	5	and	and	CCONJ
alkej-746	21	6	symmetrical	symmetrical	ADJ
alkej-746	21	7	walking	walking	NOUN
alkej-746	21	8	style	style	NOUN
alkej-746	21	9	with	with	ADP
alkej-746	21	10	raising	raise	VERB
alkej-746	21	11	the	the	DET
alkej-746	21	12	period	period	NOUN
alkej-746	21	13	and	and	CCONJ
alkej-746	21	14	intensity	intensity	NOUN
alkej-746	21	15	of	of	ADP
alkej-746	21	16	the	the	DET
alkej-746	21	17	practice	practice	NOUN
alkej-746	21	18	sessions	session	NOUN
alkej-746	21	19	[	[	X
alkej-746	21	20	11][12	11][12	PROPN
alkej-746	21	21	]	]	X
alkej-746	21	22	.	.	PUNCT
alkej-746	22	1	a	a	DET
alkej-746	22	2	number	number	NOUN
alkej-746	22	3	of	of	ADP
alkej-746	22	4	lower	low	ADJ
alkej-746	22	5	limb	limb	NOUN
alkej-746	22	6	exoskeletons	exoskeleton	NOUN
alkej-746	22	7	and	and	CCONJ
alkej-746	22	8	their	their	PRON
alkej-746	22	9	features	feature	NOUN
alkej-746	22	10	for	for	ADP
alkej-746	22	11	rehabilitation	rehabilitation	NOUN
alkej-746	22	12	have	have	AUX
alkej-746	22	13	been	be	AUX
alkej-746	22	14	presented	present	VERB
alkej-746	22	15	by	by	ADP
alkej-746	22	16	researchers	researcher	NOUN
alkej-746	22	17	.	.	PUNCT
alkej-746	23	1	in	in	ADP
alkej-746	23	2	2003	2003	NUM
alkej-746	23	3	,	,	PUNCT
alkej-746	23	4	hiroaki	hiroaki	PROPN
alkej-746	23	5	kawamoto	kawamoto	PROPN
alkej-746	23	6	et	et	PROPN
alkej-746	23	7	al	al	PROPN
alkej-746	23	8	developed	develop	VERB
alkej-746	23	9	hal	hal	PROPN
alkej-746	23	10	which	which	PRON
alkej-746	23	11	is	be	AUX
alkej-746	23	12	integrated	integrate	VERB
alkej-746	23	13	with	with	ADP
alkej-746	23	14	the	the	DET
alkej-746	23	15	human	human	NOUN
alkej-746	23	16	and	and	CCONJ
alkej-746	23	17	assists	assist	VERB
alkej-746	23	18	proper	proper	ADJ
alkej-746	23	19	power	power	NOUN
alkej-746	23	20	for	for	ADP
alkej-746	23	21	lower	low	ADJ
alkej-746	23	22	extremity	extremity	NOUN
alkej-746	23	23	of	of	ADP
alkej-746	23	24	patients	patient	NOUN
alkej-746	23	25	with	with	ADP
alkej-746	23	26	a	a	DET
alkej-746	23	27	gait	gait	ADJ
alkej-746	23	28	disorder	disorder	NOUN
alkej-746	23	29	.	.	PUNCT
alkej-746	24	1	the	the	DET
alkej-746	24	2	exoskeleton	exoskeleton	NOUN
alkej-746	24	3	is	be	AUX
alkej-746	24	4	actuated	actuate	VERB
alkej-746	24	5	by	by	ADP
alkej-746	24	6	electrical	electrical	ADJ
alkej-746	24	7	motor	motor	NOUN
alkej-746	24	8	and	and	CCONJ
alkej-746	24	9	niaam	niaam	PROPN
alkej-746	24	10	kh	kh	PROPN
alkej-746	24	11	.	.	PUNCT
alkej-746	25	1	al	al	PROPN
alkej-746	25	2	-	-	PUNCT
alkej-746	25	3	hayali	hayali	PROPN
alkej-746	25	4	al	al	PROPN
alkej-746	25	5	-	-	PUNCT
alkej-746	25	6	khwarizmi	khwarizmi	PROPN
alkej-746	25	7	engineering	engineering	NOUN
alkej-746	25	8	journal	journal	PROPN
alkej-746	25	9	,	,	PUNCT
alkej-746	25	10	vol	vol	NOUN
alkej-746	25	11	.	.	PROPN
alkej-746	25	12	17	17	NUM
alkej-746	25	13	,	,	PUNCT
alkej-746	25	14	no	no	INTJ
alkej-746	25	15	.	.	NOUN
alkej-746	25	16	4	4	NUM
alkej-746	25	17	,	,	PUNCT
alkej-746	25	18	p.p	p.p	PROPN
alkej-746	25	19	.	.	NOUN
alkej-746	25	20	3647	3647	NUM
alkej-746	25	21	(	(	PUNCT
alkej-746	25	22	2021	2021	NUM
alkej-746	25	23	)	)	PUNCT
alkej-746	25	24	37	37	NUM
alkej-746	25	25	controlled	control	VERB
alkej-746	25	26	based	base	VERB
alkej-746	25	27	on	on	ADP
alkej-746	25	28	emg	emg	NOUN
alkej-746	25	29	signals	signal	NOUN
alkej-746	25	30	[	[	X
alkej-746	25	31	13][14	13][14	PROPN
alkej-746	25	32	]	]	PUNCT
alkej-746	25	33	.	.	PUNCT
alkej-746	26	1	in	in	ADP
alkej-746	26	2	2004	2004	NUM
alkej-746	26	3	,	,	PUNCT
alkej-746	26	4	an	an	DET
alkej-746	26	5	over	over	ADP
alkej-746	26	6	ground	ground	NOUN
alkej-746	26	7	lower	low	ADJ
alkej-746	26	8	limb	limb	NOUN
alkej-746	26	9	exoskeleton	exoskeleton	ADJ
alkej-746	26	10	bleex	bleex	NOUN
alkej-746	26	11	from	from	ADP
alkej-746	26	12	university	university	PROPN
alkej-746	26	13	of	of	ADP
alkej-746	26	14	california	california	PROPN
alkej-746	26	15	-	-	PUNCT
alkej-746	26	16	berkeley	berkeley	PROPN
alkej-746	26	17	was	be	AUX
alkej-746	26	18	designed	design	VERB
alkej-746	26	19	for	for	ADP
alkej-746	26	20	people	people	NOUN
alkej-746	26	21	's	's	PART
alkej-746	26	22	rehabilitation	rehabilitation	NOUN
alkej-746	26	23	and	and	CCONJ
alkej-746	26	24	assistance	assistance	NOUN
alkej-746	26	25	.	.	PUNCT
alkej-746	27	1	the	the	DET
alkej-746	27	2	exoskeleton	exoskeleton	NOUN
alkej-746	27	3	is	be	AUX
alkej-746	27	4	actuated	actuate	VERB
alkej-746	27	5	by	by	ADP
alkej-746	27	6	three	three	NUM
alkej-746	27	7	hydraulic	hydraulic	ADJ
alkej-746	27	8	cylinders	cylinder	NOUN
alkej-746	27	9	for	for	ADP
alkej-746	27	10	each	each	DET
alkej-746	27	11	leg	leg	NOUN
alkej-746	27	12	,	,	PUNCT
alkej-746	27	13	and	and	CCONJ
alkej-746	27	14	its	its	PRON
alkej-746	27	15	control	control	NOUN
alkej-746	27	16	based	base	VERB
alkej-746	27	17	on	on	ADP
alkej-746	27	18	feet	foot	NOUN
alkej-746	27	19	pressure	pressure	NOUN
alkej-746	27	20	signals	signal	NOUN
alkej-746	27	21	[	[	X
alkej-746	27	22	5][15][16	5][15][16	PROPN
alkej-746	27	23	]	]	X
alkej-746	27	24	.	.	PUNCT
alkej-746	28	1	in	in	ADP
alkej-746	28	2	2006	2006	NUM
alkej-746	28	3	,	,	PUNCT
alkej-746	28	4	expos	expos	NOUN
alkej-746	28	5	was	be	AUX
alkej-746	28	6	developed	develop	VERB
alkej-746	28	7	by	by	ADP
alkej-746	28	8	sogang	sogang	PROPN
alkej-746	28	9	university	university	PROPN
alkej-746	28	10	for	for	ADP
alkej-746	28	11	patients	patient	NOUN
alkej-746	28	12	and	and	CCONJ
alkej-746	28	13	elderly	elderly	ADJ
alkej-746	28	14	people	people	NOUN
alkej-746	28	15	.	.	PUNCT
alkej-746	29	1	expos	expos	NOUN
alkej-746	29	2	integrated	integrate	VERB
alkej-746	29	3	an	an	DET
alkej-746	29	4	automatic	automatic	ADJ
alkej-746	29	5	platform	platform	NOUN
alkej-746	29	6	as	as	ADP
alkej-746	29	7	caster	caster	NOUN
alkej-746	29	8	walker	walker	NOUN
alkej-746	29	9	to	to	PART
alkej-746	29	10	retain	retain	VERB
alkej-746	29	11	the	the	DET
alkej-746	29	12	balance	balance	NOUN
alkej-746	29	13	during	during	ADP
alkej-746	29	14	walking	walk	VERB
alkej-746	29	15	.	.	PUNCT
alkej-746	30	1	the	the	DET
alkej-746	30	2	device	device	NOUN
alkej-746	30	3	is	be	AUX
alkej-746	30	4	pneumatically	pneumatically	ADV
alkej-746	30	5	actuated	actuate	VERB
alkej-746	30	6	,	,	PUNCT
alkej-746	30	7	and	and	CCONJ
alkej-746	30	8	its	its	PRON
alkej-746	30	9	control	control	NOUN
alkej-746	30	10	by	by	ADP
alkej-746	30	11	the	the	DET
alkej-746	30	12	neural	neural	ADJ
alkej-746	30	13	network	network	NOUN
alkej-746	30	14	theory	theory	NOUN
alkej-746	30	15	[	[	X
alkej-746	30	16	2][9	2][9	NOUN
alkej-746	30	17	]	]	PUNCT
alkej-746	30	18	.	.	PUNCT
alkej-746	31	1	the	the	DET
alkej-746	31	2	rex	rex	PROPN
alkej-746	31	3	exoskeleton	exoskeleton	PROPN
alkej-746	31	4	by	by	ADP
alkej-746	31	5	rex	rex	PROPN
alkej-746	31	6	bionics	bionics	PROPN
alkej-746	31	7	was	be	AUX
alkej-746	31	8	developed	develop	VERB
alkej-746	31	9	in	in	ADP
alkej-746	31	10	2007	2007	NUM
alkej-746	31	11	for	for	ADP
alkej-746	31	12	subjects	subject	NOUN
alkej-746	31	13	with	with	ADP
alkej-746	31	14	spinal	spinal	ADJ
alkej-746	31	15	cord	cord	NOUN
alkej-746	31	16	injury	injury	NOUN
alkej-746	31	17	(	(	PUNCT
alkej-746	31	18	sci	sci	PROPN
alkej-746	31	19	)	)	PUNCT
alkej-746	32	1	[	[	X
alkej-746	32	2	17	17	NUM
alkej-746	32	3	]	]	PUNCT
alkej-746	32	4	which	which	PRON
alkej-746	32	5	is	be	AUX
alkej-746	32	6	able	able	ADJ
alkej-746	32	7	to	to	PART
alkej-746	32	8	selfbalance	selfbalance	VERB
alkej-746	32	9	during	during	ADP
alkej-746	32	10	motion	motion	NOUN
alkej-746	32	11	.	.	PUNCT
alkej-746	33	1	rex	rex	PROPN
alkej-746	33	2	is	be	AUX
alkej-746	33	3	actuated	actuate	VERB
alkej-746	33	4	by	by	ADP
alkej-746	33	5	an	an	DET
alkej-746	33	6	electrical	electrical	ADJ
alkej-746	33	7	motor	motor	NOUN
alkej-746	33	8	,	,	PUNCT
alkej-746	33	9	and	and	CCONJ
alkej-746	33	10	it	it	PRON
alkej-746	33	11	is	be	AUX
alkej-746	33	12	the	the	DET
alkej-746	33	13	only	only	ADJ
alkej-746	33	14	completely	completely	ADV
alkej-746	33	15	self	self	NOUN
alkej-746	33	16	-	-	PUNCT
alkej-746	33	17	supporting	support	VERB
alkej-746	33	18	(	(	PUNCT
alkej-746	33	19	i.e.	i.e.	X
alkej-746	33	20	handfree	handfree	NOUN
alkej-746	33	21	)	)	PUNCT
alkej-746	33	22	,	,	PUNCT
alkej-746	33	23	independently	independently	ADV
alkej-746	33	24	controlled	control	VERB
alkej-746	33	25	exoskeleton	exoskeleton	NOUN
alkej-746	33	26	available	available	ADJ
alkej-746	33	27	among	among	ADP
alkej-746	33	28	both	both	CCONJ
alkej-746	33	29	the	the	DET
alkej-746	33	30	commercial	commercial	ADJ
alkej-746	33	31	and	and	CCONJ
alkej-746	33	32	research	research	NOUN
alkej-746	33	33	prototypes	prototype	NOUN
alkej-746	33	34	[	[	X
alkej-746	33	35	18][19	18][19	NUM
alkej-746	33	36	]	]	PUNCT
alkej-746	33	37	.	.	PUNCT
alkej-746	34	1	in	in	ADP
alkej-746	34	2	2007	2007	NUM
alkej-746	34	3	,	,	PUNCT
alkej-746	34	4	alex	alex	PROPN
alkej-746	34	5	developed	develop	VERB
alkej-746	34	6	by	by	ADP
alkej-746	34	7	sai	sai	PROPN
alkej-746	34	8	k.	k.	PROPN
alkej-746	34	9	banala	banala	PROPN
alkej-746	34	10	et	et	PROPN
alkej-746	34	11	al	al	PROPN
alkej-746	34	12	,	,	PUNCT
alkej-746	34	13	which	which	PRON
alkej-746	34	14	is	be	AUX
alkej-746	34	15	a	a	DET
alkej-746	34	16	powered	power	VERB
alkej-746	34	17	orthosis	orthosis	NOUN
alkej-746	34	18	device	device	NOUN
alkej-746	34	19	used	use	VERB
alkej-746	34	20	for	for	ADP
alkej-746	34	21	gait	gait	ADJ
alkej-746	34	22	training	training	NOUN
alkej-746	34	23	of	of	ADP
alkej-746	34	24	subjects	subject	NOUN
alkej-746	34	25	with	with	ADP
alkej-746	34	26	walking	walk	VERB
alkej-746	34	27	disorders	disorder	NOUN
alkej-746	34	28	.	.	PUNCT
alkej-746	35	1	the	the	DET
alkej-746	35	2	exoskeleton	exoskeleton	PROPN
alkej-746	35	3	has	have	VERB
alkej-746	35	4	linear	linear	PROPN
alkej-746	35	5	actuators	actuator	NOUN
alkej-746	35	6	at	at	ADP
alkej-746	35	7	hip	hip	NOUN
alkej-746	35	8	and	and	CCONJ
alkej-746	35	9	knee	knee	NOUN
alkej-746	35	10	joints	joint	NOUN
alkej-746	36	1	[	[	X
alkej-746	36	2	20][21	20][21	X
alkej-746	36	3	]	]	X
alkej-746	36	4	,	,	PUNCT
alkej-746	36	5	it	it	PRON
alkej-746	36	6	is	be	AUX
alkej-746	36	7	also	also	ADV
alkej-746	36	8	instrumented	instrument	VERB
alkej-746	36	9	with	with	ADP
alkej-746	36	10	force	force	NOUN
alkej-746	36	11	-	-	PUNCT
alkej-746	36	12	field	field	NOUN
alkej-746	36	13	controller	controller	NOUN
alkej-746	36	14	[	[	X
alkej-746	36	15	22	22	NUM
alkej-746	36	16	]	]	PUNCT
alkej-746	36	17	.	.	PUNCT
alkej-746	37	1	in	in	ADP
alkej-746	37	2	2013	2013	NUM
alkej-746	37	3	,	,	PUNCT
alkej-746	37	4	ekso	ekso	NOUN
alkej-746	37	5	bionics	bionic	NOUN
alkej-746	37	6	[	[	X
alkej-746	37	7	23	23	NUM
alkej-746	37	8	]	]	PUNCT
alkej-746	37	9	developed	develop	VERB
alkej-746	37	10	an	an	DET
alkej-746	37	11	exoskeleton	exoskeleton	NOUN
alkej-746	37	12	designed	design	VERB
alkej-746	37	13	for	for	ADP
alkej-746	37	14	gait	gait	NOUN
alkej-746	37	15	rehabilitation	rehabilitation	NOUN
alkej-746	37	16	and	and	CCONJ
alkej-746	37	17	assistance	assistance	NOUN
alkej-746	37	18	purposes	purpose	NOUN
alkej-746	37	19	,	,	PUNCT
alkej-746	37	20	named	name	VERB
alkej-746	37	21	“	"	PUNCT
alkej-746	37	22	ekso	ekso	PROPN
alkej-746	37	23	gt	gt	PROPN
alkej-746	37	24	exoskeleton	exoskeleton	PROPN
alkej-746	37	25	”	"	PUNCT
alkej-746	37	26	.	.	PUNCT
alkej-746	38	1	this	this	DET
alkej-746	38	2	design	design	NOUN
alkej-746	38	3	has	have	AUX
alkej-746	38	4	been	be	AUX
alkej-746	38	5	developed	develop	VERB
alkej-746	38	6	as	as	ADP
alkej-746	38	7	a	a	DET
alkej-746	38	8	powered	power	VERB
alkej-746	38	9	over	over	ADP
alkej-746	38	10	ground	ground	NOUN
alkej-746	38	11	exoskeleton	exoskeleton	NOUN
alkej-746	38	12	containing	contain	VERB
alkej-746	38	13	a	a	DET
alkej-746	38	14	hydraulic	hydraulic	ADJ
alkej-746	38	15	actuator	actuator	NOUN
alkej-746	38	16	.	.	PUNCT
alkej-746	39	1	the	the	DET
alkej-746	39	2	assistance	assistance	NOUN
alkej-746	39	3	level	level	NOUN
alkej-746	39	4	presented	present	VERB
alkej-746	39	5	by	by	ADP
alkej-746	39	6	ekso	ekso	NOUN
alkej-746	39	7	device	device	NOUN
alkej-746	39	8	can	can	AUX
alkej-746	39	9	be	be	AUX
alkej-746	39	10	adjusted	adjust	VERB
alkej-746	39	11	according	accord	VERB
alkej-746	39	12	to	to	ADP
alkej-746	39	13	user	user	NOUN
alkej-746	39	14	's	's	PART
alkej-746	39	15	need	need	NOUN
alkej-746	39	16	[	[	X
alkej-746	39	17	8	8	NUM
alkej-746	39	18	]	]	PUNCT
alkej-746	39	19	.	.	PUNCT
alkej-746	40	1	in	in	ADP
alkej-746	40	2	2020	2020	NUM
alkej-746	40	3	,	,	PUNCT
alkej-746	40	4	y.	y.	PROPN
alkej-746	40	5	m.	m.	NOUN
alkej-746	40	6	pirjade	pirjade	NOUN
alkej-746	40	7	et	et	PROPN
alkej-746	40	8	al	al	PROPN
alkej-746	40	9	.	.	PROPN
alkej-746	40	10	designed	design	VERB
alkej-746	40	11	and	and	CCONJ
alkej-746	40	12	fabricated	fabricate	VERB
alkej-746	40	13	eight	eight	NUM
alkej-746	40	14	degrees	degree	NOUN
alkej-746	40	15	of	of	ADP
alkej-746	40	16	freedom	freedom	NOUN
alkej-746	40	17	lower	low	ADJ
alkej-746	40	18	extremity	extremity	NOUN
alkej-746	40	19	exoskeleton	exoskeleton	NOUN
alkej-746	40	20	for	for	ADP
alkej-746	40	21	gait	gait	NOUN
alkej-746	40	22	training	training	NOUN
alkej-746	40	23	.	.	PUNCT
alkej-746	41	1	the	the	DET
alkej-746	41	2	lower	low	ADJ
alkej-746	41	3	extremity	extremity	NOUN
alkej-746	41	4	hybrid	hybrid	ADJ
alkej-746	41	5	exoskeleton	exoskeleton	NOUN
alkej-746	41	6	works	work	VERB
alkej-746	41	7	on	on	ADP
alkej-746	41	8	a	a	DET
alkej-746	41	9	pre	pre	ADJ
alkej-746	41	10	-	-	ADJ
alkej-746	41	11	defined	define	VERB
alkej-746	41	12	walking	walking	NOUN
alkej-746	41	13	gait	gait	NOUN
alkej-746	41	14	cycle	cycle	NOUN
alkej-746	41	15	and	and	CCONJ
alkej-746	41	16	is	be	AUX
alkej-746	41	17	driven	drive	VERB
alkej-746	41	18	by	by	ADP
alkej-746	41	19	electric	electric	ADJ
alkej-746	41	20	actuators	actuator	NOUN
alkej-746	41	21	and	and	CCONJ
alkej-746	41	22	mechanical	mechanical	ADJ
alkej-746	41	23	springs	spring	NOUN
alkej-746	41	24	.	.	PUNCT
alkej-746	42	1	the	the	DET
alkej-746	42	2	exoskeleton	exoskeleton	PROPN
alkej-746	42	3	has	have	VERB
alkej-746	42	4	electric	electric	ADJ
alkej-746	42	5	actuators	actuator	NOUN
alkej-746	42	6	at	at	ADP
alkej-746	42	7	the	the	DET
alkej-746	42	8	hip	hip	NOUN
alkej-746	42	9	and	and	CCONJ
alkej-746	42	10	knee	knee	NOUN
alkej-746	42	11	joints	joint	NOUN
alkej-746	42	12	which	which	PRON
alkej-746	42	13	provide	provide	VERB
alkej-746	42	14	assistive	assistive	ADJ
alkej-746	42	15	torque	torque	NOUN
alkej-746	42	16	at	at	ADP
alkej-746	42	17	the	the	DET
alkej-746	42	18	joints	joint	NOUN
alkej-746	42	19	.	.	PUNCT
alkej-746	43	1	the	the	DET
alkej-746	43	2	ankle	ankle	NOUN
alkej-746	43	3	joint	joint	NOUN
alkej-746	43	4	of	of	ADP
alkej-746	43	5	the	the	DET
alkej-746	43	6	device	device	NOUN
alkej-746	43	7	is	be	AUX
alkej-746	43	8	passively	passively	ADV
alkej-746	43	9	actuated	actuate	VERB
alkej-746	43	10	by	by	ADP
alkej-746	43	11	a	a	DET
alkej-746	43	12	spring	spring	NOUN
alkej-746	43	13	[	[	X
alkej-746	43	14	24	24	NUM
alkej-746	43	15	]	]	PUNCT
alkej-746	43	16	.	.	PUNCT
alkej-746	44	1	this	this	DET
alkej-746	44	2	paper	paper	NOUN
alkej-746	44	3	aims	aim	VERB
alkej-746	44	4	to	to	PART
alkej-746	44	5	analyze	analyze	VERB
alkej-746	44	6	and	and	CCONJ
alkej-746	44	7	develop	develop	VERB
alkej-746	44	8	a	a	DET
alkej-746	44	9	new	new	ADJ
alkej-746	44	10	lower	low	ADJ
alkej-746	44	11	limb	limb	NOUN
alkej-746	44	12	exoskeleton	exoskeleton	NOUN
alkej-746	44	13	for	for	ADP
alkej-746	44	14	gait	gait	PROPN
alkej-746	44	15	rehabilitation	rehabilitation	NOUN
alkej-746	44	16	to	to	PART
alkej-746	44	17	assist	assist	VERB
alkej-746	44	18	patients	patient	NOUN
alkej-746	44	19	in	in	ADP
alkej-746	44	20	their	their	PRON
alkej-746	44	21	walking	walking	NOUN
alkej-746	44	22	.	.	PUNCT
alkej-746	45	1	since	since	SCONJ
alkej-746	45	2	the	the	DET
alkej-746	45	3	above	above	ADJ
alkej-746	45	4	mentioned	mention	VERB
alkej-746	45	5	exoskeletons	exoskeleton	NOUN
alkej-746	45	6	are	be	AUX
alkej-746	45	7	active	active	ADJ
alkej-746	45	8	(	(	PUNCT
alkej-746	45	9	powered	powered	ADJ
alkej-746	45	10	)	)	PUNCT
alkej-746	45	11	devices	device	NOUN
alkej-746	45	12	and	and	CCONJ
alkej-746	45	13	need	need	VERB
alkej-746	45	14	more	more	ADV
alkej-746	45	15	sophisticated	sophisticated	ADJ
alkej-746	45	16	instruments	instrument	NOUN
alkej-746	45	17	to	to	PART
alkej-746	45	18	be	be	AUX
alkej-746	45	19	controlled	control	VERB
alkej-746	45	20	and	and	CCONJ
alkej-746	45	21	according	accord	VERB
alkej-746	45	22	to	to	ADP
alkej-746	45	23	the	the	DET
alkej-746	45	24	limitations	limitation	NOUN
alkej-746	45	25	of	of	ADP
alkej-746	45	26	the	the	DET
alkej-746	45	27	power	power	NOUN
alkej-746	45	28	-	-	PUNCT
alkej-746	45	29	to	to	ADP
alkej-746	45	30	-	-	PUNCT
alkej-746	45	31	weight	weight	NOUN
alkej-746	45	32	ratio	ratio	NOUN
alkej-746	45	33	that	that	PRON
alkej-746	45	34	appears	appear	VERB
alkej-746	45	35	in	in	ADP
alkej-746	45	36	such	such	ADJ
alkej-746	45	37	exoskeletons	exoskeleton	NOUN
alkej-746	45	38	,	,	PUNCT
alkej-746	45	39	the	the	DET
alkej-746	45	40	presented	present	VERB
alkej-746	45	41	exoskeleton	exoskeleton	NOUN
alkej-746	45	42	is	be	AUX
alkej-746	45	43	quasipassive	quasipassive	ADJ
alkej-746	45	44	which	which	PRON
alkej-746	45	45	is	be	AUX
alkej-746	45	46	lightweight	lightweight	ADJ
alkej-746	45	47	and	and	CCONJ
alkej-746	45	48	require	require	VERB
alkej-746	45	49	very	very	ADV
alkej-746	45	50	low	low	ADJ
alkej-746	45	51	power	power	NOUN
alkej-746	45	52	to	to	PART
alkej-746	45	53	work	work	VERB
alkej-746	45	54	.	.	PUNCT
alkej-746	46	1	2	2	X
alkej-746	46	2	.	.	X
alkej-746	46	3	materials	material	NOUN
alkej-746	46	4	and	and	CCONJ
alkej-746	46	5	methods	method	NOUN
alkej-746	46	6	the	the	DET
alkej-746	46	7	assistive	assistive	ADJ
alkej-746	46	8	exoskeleton	exoskeleton	NOUN
alkej-746	46	9	presented	present	VERB
alkej-746	46	10	in	in	ADP
alkej-746	46	11	this	this	DET
alkej-746	46	12	work	work	NOUN
alkej-746	46	13	is	be	AUX
alkej-746	46	14	proposed	propose	VERB
alkej-746	46	15	to	to	PART
alkej-746	46	16	serve	serve	VERB
alkej-746	46	17	both	both	CCONJ
alkej-746	46	18	able	able	ADJ
alkej-746	46	19	-	-	PUNCT
alkej-746	46	20	bodied	bodied	ADJ
alkej-746	46	21	and	and	CCONJ
alkej-746	46	22	subjects	subject	NOUN
alkej-746	46	23	with	with	ADP
alkej-746	46	24	lower	low	ADJ
alkej-746	46	25	limb	limb	NOUN
alkej-746	46	26	weakness	weakness	NOUN
alkej-746	46	27	by	by	ADP
alkej-746	46	28	reducing	reduce	VERB
alkej-746	46	29	their	their	PRON
alkej-746	46	30	lower	low	ADJ
alkej-746	46	31	limb	limb	NOUN
alkej-746	46	32	muscles	muscle	NOUN
alkej-746	46	33	effort	effort	NOUN
alkej-746	46	34	during	during	ADP
alkej-746	46	35	walking	walk	VERB
alkej-746	46	36	.	.	PUNCT
alkej-746	47	1	2.1	2.1	NUM
alkej-746	47	2	.	.	PUNCT
alkej-746	48	1	clinical	clinical	ADJ
alkej-746	48	2	gait	gait	PROPN
alkej-746	48	3	cycle	cycle	NOUN
alkej-746	48	4	analysis	analysis	NOUN
alkej-746	48	5	clinical	clinical	ADJ
alkej-746	48	6	gait	gait	NOUN
alkej-746	48	7	analysis	analysis	NOUN
alkej-746	48	8	is	be	AUX
alkej-746	48	9	important	important	ADJ
alkej-746	48	10	,	,	PUNCT
alkej-746	48	11	not	not	PART
alkej-746	48	12	only	only	ADV
alkej-746	48	13	to	to	PART
alkej-746	48	14	build	build	VERB
alkej-746	48	15	a	a	DET
alkej-746	48	16	mathematical	mathematical	ADJ
alkej-746	48	17	model	model	NOUN
alkej-746	48	18	,	,	PUNCT
alkej-746	48	19	but	but	CCONJ
alkej-746	48	20	also	also	ADV
alkej-746	48	21	to	to	PART
alkej-746	48	22	improve	improve	VERB
alkej-746	48	23	the	the	DET
alkej-746	48	24	design	design	NOUN
alkej-746	48	25	of	of	ADP
alkej-746	48	26	exoskeletons	exoskeleton	NOUN
alkej-746	48	27	.	.	PUNCT
alkej-746	49	1	the	the	DET
alkej-746	49	2	amit	amit	PROPN
alkej-746	49	3	biomechanics	biomechanics	PROPN
alkej-746	49	4	force	force	PROPN
alkej-746	49	5	plate	plate	NOUN
alkej-746	49	6	model	model	NOUN
alkej-746	49	7	or6	or6	VERB
alkej-746	49	8	-	-	SYM
alkej-746	49	9	7	7	NUM
alkej-746	49	10	was	be	AUX
alkej-746	49	11	used	use	VERB
alkej-746	49	12	for	for	ADP
alkej-746	49	13	the	the	DET
alkej-746	49	14	measurement	measurement	NOUN
alkej-746	49	15	of	of	ADP
alkej-746	49	16	the	the	DET
alkej-746	49	17	ground	ground	NOUN
alkej-746	49	18	reaction	reaction	NOUN
alkej-746	49	19	forces	force	NOUN
alkej-746	49	20	(	(	PUNCT
alkej-746	49	21	grfs	grfs	PROPN
alkej-746	49	22	)	)	PUNCT
alkej-746	49	23	of	of	ADP
alkej-746	49	24	the	the	DET
alkej-746	49	25	right	right	ADV
alkej-746	49	26	lower	low	ADJ
alkej-746	49	27	limb	limb	NOUN
alkej-746	49	28	of	of	ADP
alkej-746	49	29	the	the	DET
alkej-746	49	30	healthy	healthy	ADJ
alkej-746	49	31	participant	participant	NOUN
alkej-746	49	32	.	.	PUNCT
alkej-746	50	1	amit	amit	PROPN
alkej-746	50	2	's	's	PART
alkej-746	50	3	bioanalysis	bioanalysis	NOUN
alkej-746	50	4	software	software	NOUN
alkej-746	50	5	is	be	AUX
alkej-746	50	6	a	a	DET
alkej-746	50	7	completely	completely	ADV
alkej-746	50	8	featured	feature	VERB
alkej-746	50	9	biomechanics	biomechanic	NOUN
alkej-746	50	10	analysis	analysis	NOUN
alkej-746	50	11	to	to	PART
alkej-746	50	12	analyze	analyze	VERB
alkej-746	50	13	the	the	DET
alkej-746	50	14	biomechanics	biomechanic	NOUN
alkej-746	50	15	of	of	ADP
alkej-746	50	16	human	human	PROPN
alkej-746	50	17	gait	gait	PROPN
alkej-746	50	18	cycle	cycle	NOUN
alkej-746	50	19	.	.	PUNCT
alkej-746	51	1	the	the	DET
alkej-746	51	2	amti	amti	PROPN
alkej-746	51	3	’s	’s	PART
alkej-746	51	4	netforce	netforce	ADJ
alkej-746	51	5	data	datum	NOUN
alkej-746	51	6	gathering	gather	VERB
alkej-746	51	7	software	software	NOUN
alkej-746	51	8	can	can	AUX
alkej-746	51	9	be	be	AUX
alkej-746	51	10	interfaced	interface	VERB
alkej-746	51	11	directly	directly	ADV
alkej-746	51	12	with	with	ADP
alkej-746	51	13	the	the	DET
alkej-746	51	14	amit	amit	PROPN
alkej-746	51	15	's	's	PART
alkej-746	51	16	bioanalysis	bioanalysis	NOUN
alkej-746	51	17	program	program	NOUN
alkej-746	51	18	for	for	ADP
alkej-746	51	19	analyzing	analyze	VERB
alkej-746	51	20	and	and	CCONJ
alkej-746	51	21	processing	process	VERB
alkej-746	51	22	the	the	DET
alkej-746	51	23	data	datum	NOUN
alkej-746	51	24	.	.	PUNCT
alkej-746	52	1	the	the	DET
alkej-746	52	2	vertical	vertical	ADJ
alkej-746	52	3	and	and	CCONJ
alkej-746	52	4	horizontal	horizontal	ADJ
alkej-746	52	5	grfs	grfs	PROPN
alkej-746	52	6	,	,	PUNCT
alkej-746	52	7	which	which	PRON
alkej-746	52	8	are	be	AUX
alkej-746	52	9	acted	act	VERB
alkej-746	52	10	on	on	ADP
alkej-746	52	11	the	the	DET
alkej-746	52	12	undersurface	undersurface	NOUN
alkej-746	52	13	of	of	ADP
alkej-746	52	14	a	a	DET
alkej-746	52	15	subject	subject	NOUN
alkej-746	52	16	's	's	PART
alkej-746	52	17	right	right	ADJ
alkej-746	52	18	foot	foot	NOUN
alkej-746	52	19	throughout	throughout	ADP
alkej-746	52	20	the	the	DET
alkej-746	52	21	walking	walk	VERB
alkej-746	52	22	cycle	cycle	NOUN
alkej-746	52	23	were	be	AUX
alkej-746	52	24	calculated	calculate	VERB
alkej-746	52	25	.	.	PUNCT
alkej-746	53	1	simultaneously	simultaneously	ADV
alkej-746	53	2	,	,	PUNCT
alkej-746	53	3	a	a	DET
alkej-746	53	4	camera	camera	NOUN
alkej-746	53	5	was	be	AUX
alkej-746	53	6	used	use	VERB
alkej-746	53	7	to	to	PART
alkej-746	53	8	measure	measure	VERB
alkej-746	53	9	the	the	DET
alkej-746	53	10	motion	motion	NOUN
alkej-746	53	11	tracking	track	VERB
alkej-746	53	12	in	in	ADP
alkej-746	53	13	order	order	NOUN
alkej-746	53	14	to	to	PART
alkej-746	53	15	be	be	AUX
alkej-746	53	16	analyzed	analyze	VERB
alkej-746	53	17	and	and	CCONJ
alkej-746	53	18	evaluated	evaluate	VERB
alkej-746	53	19	by	by	ADP
alkej-746	53	20	kinovea	kinovea	NOUN
alkej-746	53	21	to	to	PART
alkej-746	53	22	calculate	calculate	VERB
alkej-746	53	23	the	the	DET
alkej-746	53	24	angles	angle	NOUN
alkej-746	53	25	of	of	ADP
alkej-746	53	26	the	the	DET
alkej-746	53	27	hip	hip	NOUN
alkej-746	53	28	and	and	CCONJ
alkej-746	53	29	knee	knee	NOUN
alkej-746	53	30	joints	joint	NOUN
alkej-746	53	31	throughout	throughout	ADP
alkej-746	53	32	a	a	DET
alkej-746	53	33	complete	complete	ADJ
alkej-746	53	34	gait	gait	NOUN
alkej-746	53	35	cycle	cycle	NOUN
alkej-746	53	36	.	.	PUNCT
alkej-746	54	1	2.2	2.2	NUM
alkej-746	54	2	.	.	PUNCT
alkej-746	54	3	mathematical	mathematical	ADJ
alkej-746	54	4	model	model	NOUN
alkej-746	54	5	of	of	ADP
alkej-746	54	6	human	human	ADJ
alkej-746	54	7	lower	low	ADJ
alkej-746	54	8	limb	limb	NOUN
alkej-746	54	9	in	in	ADP
alkej-746	54	10	order	order	NOUN
alkej-746	54	11	to	to	PART
alkej-746	54	12	choose	choose	VERB
alkej-746	54	13	the	the	DET
alkej-746	54	14	appropriate	appropriate	ADJ
alkej-746	54	15	motor	motor	NOUN
alkej-746	54	16	to	to	PART
alkej-746	54	17	be	be	AUX
alkej-746	54	18	used	use	VERB
alkej-746	54	19	in	in	ADP
alkej-746	54	20	the	the	DET
alkej-746	54	21	presented	present	VERB
alkej-746	54	22	design	design	NOUN
alkej-746	54	23	,	,	PUNCT
alkej-746	54	24	a	a	DET
alkej-746	54	25	mathematical	mathematical	ADJ
alkej-746	54	26	model	model	NOUN
alkej-746	54	27	for	for	ADP
alkej-746	54	28	the	the	DET
alkej-746	54	29	lower	low	ADJ
alkej-746	54	30	extremity	extremity	NOUN
alkej-746	54	31	of	of	ADP
alkej-746	54	32	the	the	DET
alkej-746	54	33	human	human	ADJ
alkej-746	54	34	body	body	NOUN
alkej-746	54	35	throughout	throughout	ADP
alkej-746	54	36	a	a	DET
alkej-746	54	37	full	full	ADJ
alkej-746	54	38	and	and	CCONJ
alkej-746	54	39	normal	normal	ADJ
alkej-746	54	40	gait	gait	NOUN
alkej-746	54	41	cycle	cycle	NOUN
alkej-746	54	42	was	be	AUX
alkej-746	54	43	built	build	VERB
alkej-746	54	44	to	to	PART
alkej-746	54	45	calculate	calculate	VERB
alkej-746	54	46	the	the	DET
alkej-746	54	47	hip	hip	NOUN
alkej-746	54	48	joint	joint	ADJ
alkej-746	54	49	torque	torque	NOUN
alkej-746	54	50	.	.	PUNCT
alkej-746	55	1	the	the	DET
alkej-746	55	2	following	following	ADJ
alkej-746	55	3	mathematical	mathematical	ADJ
alkej-746	55	4	analysis	analysis	NOUN
alkej-746	55	5	for	for	ADP
alkej-746	55	6	human	human	ADJ
alkej-746	55	7	lower	low	ADJ
alkej-746	55	8	limb	limb	NOUN
alkej-746	55	9	is	be	AUX
alkej-746	55	10	based	base	VERB
alkej-746	55	11	on	on	ADP
alkej-746	55	12	measuring	measure	VERB
alkej-746	55	13	the	the	DET
alkej-746	55	14	kinematics	kinematic	NOUN
alkej-746	55	15	of	of	ADP
alkej-746	55	16	the	the	DET
alkej-746	55	17	human	human	ADJ
alkej-746	55	18	body	body	NOUN
alkej-746	55	19	parts	part	NOUN
alkej-746	55	20	complemented	complement	VERB
alkej-746	55	21	with	with	ADP
alkej-746	55	22	the	the	DET
alkej-746	55	23	grfs	grfs	PROPN
alkej-746	55	24	measurement	measurement	NOUN
alkej-746	55	25	.	.	PUNCT
alkej-746	56	1	the	the	DET
alkej-746	56	2	inertia	inertia	NOUN
alkej-746	56	3	forces	force	NOUN
alkej-746	56	4	were	be	AUX
alkej-746	56	5	neglected	neglect	VERB
alkej-746	56	6	in	in	ADP
alkej-746	56	7	this	this	DET
alkej-746	56	8	analysis	analysis	NOUN
alkej-746	56	9	,	,	PUNCT
alkej-746	56	10	thus	thus	ADV
alkej-746	56	11	the	the	DET
alkej-746	56	12	presented	present	VERB
alkej-746	56	13	analysis	analysis	NOUN
alkej-746	56	14	was	be	AUX
alkej-746	56	15	considered	consider	VERB
alkej-746	56	16	as	as	ADP
alkej-746	56	17	a	a	DET
alkej-746	56	18	quasi	quasi	ADJ
alkej-746	56	19	-	-	ADJ
alkej-746	56	20	static	static	ADJ
alkej-746	56	21	analysis	analysis	NOUN
alkej-746	56	22	..	..	PUNCT
alkej-746	56	23	consider	consider	VERB
alkej-746	56	24	the	the	DET
alkej-746	56	25	right	right	ADV
alkej-746	56	26	lower	low	ADJ
alkej-746	56	27	limb	limb	NOUN
alkej-746	56	28	,	,	PUNCT
alkej-746	56	29	the	the	DET
alkej-746	56	30	hip	hip	NOUN
alkej-746	56	31	joint	joint	ADJ
alkej-746	56	32	torque	torque	NOUN
alkej-746	56	33	can	can	AUX
alkej-746	56	34	be	be	AUX
alkej-746	56	35	calculated	calculate	VERB
alkej-746	56	36	throughout	throughout	ADP
alkej-746	56	37	different	different	ADJ
alkej-746	56	38	phases	phase	NOUN
alkej-746	56	39	of	of	ADP
alkej-746	56	40	the	the	DET
alkej-746	56	41	gait	gait	ADJ
alkej-746	56	42	cycle	cycle	NOUN
alkej-746	56	43	as	as	SCONJ
alkej-746	56	44	illustrated	illustrate	VERB
alkej-746	56	45	below	below	ADV
alkej-746	56	46	.	.	PUNCT
alkej-746	57	1	the	the	DET
alkej-746	57	2	angle	angle	NOUN
alkej-746	57	3	between	between	ADP
alkej-746	57	4	the	the	DET
alkej-746	57	5	foot	foot	NOUN
alkej-746	57	6	and	and	CCONJ
alkej-746	57	7	the	the	DET
alkej-746	57	8	leg	leg	NOUN
alkej-746	57	9	is	be	AUX
alkej-746	57	10	not	not	PART
alkej-746	57	11	considered	consider	VERB
alkej-746	57	12	in	in	ADP
alkej-746	57	13	this	this	DET
alkej-746	57	14	research	research	NOUN
alkej-746	57	15	,	,	PUNCT
alkej-746	57	16	the	the	DET
alkej-746	57	17	foot	foot	NOUN
alkej-746	57	18	is	be	AUX
alkej-746	57	19	considered	consider	VERB
alkej-746	57	20	as	as	ADP
alkej-746	57	21	a	a	DET
alkej-746	57	22	rigid	rigid	ADJ
alkej-746	57	23	body	body	NOUN
alkej-746	57	24	in	in	ADP
alkej-746	57	25	the	the	DET
alkej-746	57	26	human	human	ADJ
alkej-746	57	27	model	model	NOUN
alkej-746	57	28	.	.	PUNCT
alkej-746	58	1	where	where	SCONJ
alkej-746	58	2	,	,	PUNCT
alkej-746	58	3	m1	m1	PROPN
alkej-746	58	4	:	:	PUNCT
alkej-746	58	5	is	be	AUX
alkej-746	58	6	the	the	DET
alkej-746	58	7	thigh	thigh	NOUN
alkej-746	58	8	mass	mass	NOUN
alkej-746	58	9	,	,	PUNCT
alkej-746	58	10	m2	m2	PROPN
alkej-746	58	11	:	:	PUNCT
alkej-746	58	12	is	be	AUX
alkej-746	58	13	the	the	DET
alkej-746	58	14	shank	shank	ADJ
alkej-746	58	15	mass	mass	NOUN
alkej-746	58	16	,	,	PUNCT
alkej-746	58	17	and	and	CCONJ
alkej-746	58	18	m3	m3	PROPN
alkej-746	58	19	:	:	PUNCT
alkej-746	58	20	is	be	AUX
alkej-746	58	21	the	the	DET
alkej-746	58	22	foot	foot	NOUN
alkej-746	58	23	mass	mass	NOUN
alkej-746	58	24	.	.	PUNCT
alkej-746	59	1	the	the	DET
alkej-746	59	2	locations	location	NOUN
alkej-746	59	3	of	of	ADP
alkej-746	59	4	these	these	DET
alkej-746	59	5	masses	masse	NOUN
alkej-746	59	6	on	on	ADP
alkej-746	59	7	the	the	DET
alkej-746	59	8	leg	leg	NOUN
alkej-746	59	9	are	be	AUX
alkej-746	59	10	approximate	approximate	ADJ
alkej-746	59	11	and	and	CCONJ
alkej-746	59	12	not	not	PART
alkej-746	59	13	accurate	accurate	ADJ
alkej-746	59	14	.	.	PUNCT
alkej-746	60	1	l1	l1	PROPN
alkej-746	60	2	:	:	PUNCT
alkej-746	60	3	is	be	AUX
alkej-746	60	4	the	the	DET
alkej-746	60	5	thigh	thigh	NOUN
alkej-746	60	6	length	length	NOUN
alkej-746	60	7	,	,	PUNCT
alkej-746	60	8	and	and	CCONJ
alkej-746	60	9	l2	l2	NOUN
alkej-746	60	10	:	:	PUNCT
alkej-746	60	11	is	be	AUX
alkej-746	60	12	the	the	DET
alkej-746	60	13	shank	shank	PROPN
alkej-746	60	14	niaam	niaam	PROPN
alkej-746	60	15	kh	kh	PROPN
alkej-746	60	16	.	.	PUNCT
alkej-746	61	1	al	al	PROPN
alkej-746	61	2	-	-	PUNCT
alkej-746	61	3	hayali	hayali	PROPN
alkej-746	61	4	al	al	PROPN
alkej-746	61	5	-	-	PUNCT
alkej-746	61	6	khwarizmi	khwarizmi	PROPN
alkej-746	61	7	engineering	engineering	NOUN
alkej-746	61	8	journal	journal	PROPN
alkej-746	61	9	,	,	PUNCT
alkej-746	61	10	vol	vol	NOUN
alkej-746	61	11	.	.	PROPN
alkej-746	61	12	17	17	NUM
alkej-746	61	13	,	,	PUNCT
alkej-746	61	14	no	no	INTJ
alkej-746	61	15	.	.	NOUN
alkej-746	61	16	4	4	NUM
alkej-746	61	17	,	,	PUNCT
alkej-746	61	18	p.p	p.p	PROPN
alkej-746	61	19	.	.	NOUN
alkej-746	61	20	3647	3647	NUM
alkej-746	61	21	(	(	PUNCT
alkej-746	61	22	2021	2021	NUM
alkej-746	61	23	)	)	PUNCT
alkej-746	61	24	38	38	NUM
alkej-746	61	25	length	length	NOUN
alkej-746	61	26	.	.	PUNCT
alkej-746	62	1	fx	fx	NOUN
alkej-746	62	2	:	:	PUNCT
alkej-746	62	3	is	be	AUX
alkej-746	62	4	the	the	DET
alkej-746	62	5	horizontal	horizontal	PROPN
alkej-746	62	6	grf	grf	PROPN
alkej-746	62	7	,	,	PUNCT
alkej-746	62	8	fy	fy	PROPN
alkej-746	62	9	:	:	PUNCT
alkej-746	62	10	is	be	AUX
alkej-746	62	11	the	the	DET
alkej-746	62	12	vertical	vertical	PROPN
alkej-746	62	13	grf	grf	PROPN
alkej-746	62	14	.	.	PROPN
alkej-746	63	1	and	and	CCONJ
alkej-746	63	2	t1	t1	NOUN
alkej-746	63	3	:	:	PUNCT
alkej-746	63	4	is	be	AUX
alkej-746	63	5	the	the	DET
alkej-746	63	6	hip	hip	NOUN
alkej-746	63	7	joint	joint	ADJ
alkej-746	63	8	torque	torque	NOUN
alkej-746	63	9	.	.	PUNCT
alkej-746	64	1	1stance	1stance	NUM
alkej-746	64	2	phase	phase	NOUN
alkej-746	64	3	1st	1st	NOUN
alkej-746	64	4	double	double	ADJ
alkej-746	64	5	support	support	NOUN
alkej-746	64	6	:	:	PUNCT
alkej-746	64	7	throughout	throughout	ADP
alkej-746	64	8	the	the	DET
alkej-746	64	9	1st	1st	ADJ
alkej-746	64	10	double	double	ADJ
alkej-746	64	11	support	support	NOUN
alkej-746	64	12	phase	phase	NOUN
alkej-746	64	13	,	,	PUNCT
alkej-746	64	14	the	the	DET
alkej-746	64	15	hip	hip	NOUN
alkej-746	64	16	and	and	CCONJ
alkej-746	64	17	knee	knee	NOUN
alkej-746	64	18	joints	joint	NOUN
alkej-746	64	19	are	be	AUX
alkej-746	64	20	both	both	PRON
alkej-746	64	21	in	in	ADP
alkej-746	64	22	the	the	DET
alkej-746	64	23	condition	condition	NOUN
alkej-746	64	24	of	of	ADP
alkej-746	64	25	flexion	flexion	NOUN
alkej-746	64	26	as	as	SCONJ
alkej-746	64	27	shown	show	VERB
alkej-746	64	28	in	in	ADP
alkej-746	64	29	figure	figure	NOUN
alkej-746	64	30	1	1	NUM
alkej-746	64	31	.	.	PUNCT
alkej-746	65	1	the	the	DET
alkej-746	65	2	hip	hip	NOUN
alkej-746	65	3	joint	joint	NOUN
alkej-746	65	4	so	so	ADV
alkej-746	65	5	as	as	SCONJ
alkej-746	65	6	the	the	DET
alkej-746	65	7	knee	knee	NOUN
alkej-746	65	8	joint	joint	NOUN
alkej-746	65	9	are	be	AUX
alkej-746	65	10	both	both	ADV
alkej-746	65	11	positive	positive	ADJ
alkej-746	65	12	and	and	CCONJ
alkej-746	65	13	mainly	mainly	ADV
alkej-746	65	14	the	the	DET
alkej-746	65	15	hip	hip	NOUN
alkej-746	65	16	joint	joint	ADJ
alkej-746	65	17	angle	angle	NOUN
alkej-746	65	18	is	be	AUX
alkej-746	65	19	less	less	ADJ
alkej-746	65	20	than	than	ADP
alkej-746	65	21	the	the	DET
alkej-746	65	22	knee	knee	NOUN
alkej-746	65	23	joint	joint	NOUN
alkej-746	65	24	.	.	PUNCT
alkej-746	66	1	taking	take	VERB
alkej-746	66	2	moment	moment	NOUN
alkej-746	66	3	at	at	ADP
alkej-746	66	4	hip	hip	NOUN
alkej-746	66	5	joint	joint	ADJ
alkej-746	66	6	(	(	PUNCT
alkej-746	66	7	t1	t1	NOUN
alkej-746	66	8	):	):	PUNCT
alkej-746	66	9	t1+m1*g[(l1/2)sinθ1]+m2*g[(l2/2)sin(θ1θ2)+l1sinθ1]+m3*g[l2sin(θ1	t1+m1*g[(l1/2)sinθ1]+m2*g[(l2/2)sin(θ1θ2)+l1sinθ1]+m3*g[l2sin(θ1	NOUN
alkej-746	66	10	-	-	PUNCT
alkej-746	66	11	θ2)+l1sinθ1]=	θ2)+l1sinθ1]=	NOUN
alkej-746	66	12	fx[l2cos(θ1	fx[l2cos(θ1	NOUN
alkej-746	66	13	-	-	PUNCT
alkej-746	66	14	θ2)+l1cosθ1]+fy[l2sin(θ1	θ2)+l1cosθ1]+fy[l2sin(θ1	NOUN
alkej-746	66	15	-	-	PUNCT
alkej-746	66	16	θ2)+l1sinθ1	θ2)+l1sinθ1	PROPN
alkej-746	66	17	]	]	PUNCT
alkej-746	66	18	…	…	PUNCT
alkej-746	66	19	(	(	PUNCT
alkej-746	66	20	1	1	X
alkej-746	66	21	)	)	PUNCT
alkej-746	66	22	fig	fig	NOUN
alkej-746	66	23	.	.	PUNCT
alkej-746	67	1	1	1	NUM
alkej-746	67	2	.	.	X
alkej-746	67	3	1st	1st	ADJ
alkej-746	67	4	double	double	ADJ
alkej-746	67	5	support	support	NOUN
alkej-746	67	6	phase	phase	NOUN
alkej-746	67	7	.	.	PUNCT
alkej-746	68	1	2stance	2stance	NUM
alkej-746	68	2	phase	phase	NOUN
alkej-746	68	3	single	single	ADJ
alkej-746	68	4	limb	limb	NOUN
alkej-746	68	5	stance	stance	NOUN
alkej-746	68	6	:	:	PUNCT
alkej-746	68	7	in	in	ADP
alkej-746	68	8	the	the	DET
alkej-746	68	9	case	case	NOUN
alkej-746	68	10	of	of	ADP
alkej-746	68	11	when	when	SCONJ
alkej-746	68	12	the	the	DET
alkej-746	68	13	hip	hip	NOUN
alkej-746	68	14	joint	joint	NOUN
alkej-746	68	15	is	be	AUX
alkej-746	68	16	in	in	ADP
alkej-746	68	17	the	the	DET
alkej-746	68	18	condition	condition	NOUN
alkej-746	68	19	of	of	ADP
alkej-746	68	20	flexion	flexion	NOUN
alkej-746	68	21	and	and	CCONJ
alkej-746	68	22	the	the	DET
alkej-746	68	23	knee	knee	NOUN
alkej-746	68	24	joint	joint	ADJ
alkej-746	68	25	angle	angle	NOUN
alkej-746	68	26	is	be	AUX
alkej-746	68	27	greater	great	ADJ
alkej-746	68	28	than	than	ADP
alkej-746	68	29	the	the	DET
alkej-746	68	30	hip	hip	NOUN
alkej-746	68	31	joint	joint	NOUN
alkej-746	68	32	as	as	SCONJ
alkej-746	68	33	shown	show	VERB
alkej-746	68	34	in	in	ADP
alkej-746	68	35	figure	figure	NOUN
alkej-746	68	36	2	2	NUM
alkej-746	68	37	.	.	PUNCT
alkej-746	68	38	taking	take	VERB
alkej-746	68	39	moment	moment	NOUN
alkej-746	68	40	about	about	ADP
alkej-746	68	41	hip	hip	NOUN
alkej-746	68	42	joint	joint	NOUN
alkej-746	68	43	(	(	PUNCT
alkej-746	68	44	t1	t1	NUM
alkej-746	68	45	):	):	PUNCT
alkej-746	68	46	t1+m1*g[(l1/2)sinθ1]+m2*g[(l2/2)sin(θ1θ2)+l1sinθ1	t1+m1*g[(l1/2)sinθ1]+m2*g[(l2/2)sin(θ1θ2)+l1sinθ1	PROPN
alkej-746	68	47	]	]	X
alkej-746	68	48	+	+	ADJ
alkej-746	68	49	m3*g[l2sin(θ1	m3*g[l2sin(θ1	ADJ
alkej-746	68	50	-	-	PUNCT
alkej-746	68	51	θ2)+l1sinθ1]=	θ2)+l1sinθ1]=	NOUN
alkej-746	68	52	fx	fx	NOUN
alkej-746	68	53	[	[	X
alkej-746	68	54	l2cos(θ1	l2cos(θ1	X
alkej-746	68	55	-	-	PUNCT
alkej-746	68	56	θ2)+l1cosθ1	θ2)+l1cosθ1	PROPN
alkej-746	68	57	]	]	X
alkej-746	69	1	+	+	NOUN
alkej-746	69	2	fy[l2sin(θ1θ2)+l1sinθ1	fy[l2sin(θ1θ2)+l1sinθ1	X
alkej-746	69	3	]	]	PUNCT
alkej-746	69	4	…	…	PUNCT
alkej-746	69	5	(	(	PUNCT
alkej-746	69	6	2	2	X
alkej-746	69	7	)	)	PUNCT
alkej-746	69	8	fig	fig	NOUN
alkej-746	69	9	.	.	PUNCT
alkej-746	70	1	2	2	X
alkej-746	70	2	.	.	X
alkej-746	70	3	single	single	ADJ
alkej-746	70	4	limb	limb	NOUN
alkej-746	70	5	stance	stance	NOUN
alkej-746	70	6	with	with	ADP
alkej-746	70	7	hip	hip	NOUN
alkej-746	70	8	joint	joint	ADJ
alkej-746	70	9	flexion	flexion	NOUN
alkej-746	70	10	.	.	PUNCT
alkej-746	71	1	3stance	3stance	NUM
alkej-746	71	2	phase	phase	NOUN
alkej-746	71	3	single	single	ADJ
alkej-746	71	4	limb	limb	NOUN
alkej-746	71	5	stance	stance	NOUN
alkej-746	71	6	:	:	PUNCT
alkej-746	71	7	in	in	ADP
alkej-746	71	8	the	the	DET
alkej-746	71	9	case	case	NOUN
alkej-746	71	10	of	of	ADP
alkej-746	71	11	when	when	SCONJ
alkej-746	71	12	the	the	DET
alkej-746	71	13	hip	hip	NOUN
alkej-746	71	14	joint	joint	NOUN
alkej-746	71	15	is	be	AUX
alkej-746	71	16	in	in	ADP
alkej-746	71	17	the	the	DET
alkej-746	71	18	condition	condition	NOUN
alkej-746	71	19	of	of	ADP
alkej-746	71	20	extension	extension	NOUN
alkej-746	71	21	and	and	CCONJ
alkej-746	71	22	the	the	DET
alkej-746	71	23	knee	knee	NOUN
alkej-746	71	24	joint	joint	ADJ
alkej-746	71	25	angle	angle	NOUN
alkej-746	71	26	is	be	AUX
alkej-746	71	27	greater	great	ADJ
alkej-746	71	28	than	than	ADP
alkej-746	71	29	the	the	DET
alkej-746	71	30	hip	hip	NOUN
alkej-746	71	31	joint	joint	NOUN
alkej-746	71	32	as	as	SCONJ
alkej-746	71	33	shown	show	VERB
alkej-746	71	34	in	in	ADP
alkej-746	71	35	figure	figure	NOUN
alkej-746	71	36	3	3	NUM
alkej-746	71	37	.	.	PUNCT
alkej-746	71	38	taking	take	VERB
alkej-746	71	39	moment	moment	NOUN
alkej-746	71	40	about	about	ADP
alkej-746	71	41	hip	hip	NOUN
alkej-746	71	42	joint	joint	ADJ
alkej-746	71	43	(	(	PUNCT
alkej-746	71	44	t1	t1	NOUN
alkej-746	71	45	):	):	PUNCT
alkej-746	71	46	t1	t1	NOUN
alkej-746	71	47	=	=	NOUN
alkej-746	71	48	m1*g[(l1/2)sinθ1]+m2*g[(l2/2)sin(θ1+θ2)+l1s	m1*g[(l1/2)sinθ1]+m2*g[(l2/2)sin(θ1+θ2)+l1s	PART
alkej-746	71	49	inθ1	inθ1	PROPN
alkej-746	71	50	]	]	PUNCT
alkej-746	72	1	+	+	PROPN
alkej-746	72	2	m3*g[l2sin(θ1+θ2)+l1sinθ1]+fx[l2cos(θ1+θ2)+l1	m3*g[l2sin(θ1+θ2)+l1sinθ1]+fx[l2cos(θ1+θ2)+l1	X
alkej-746	72	3	cosθ1]+fy[l2sin(θ1+θ2)+l1sinθ1	cosθ1]+fy[l2sin(θ1+θ2)+l1sinθ1	PROPN
alkej-746	72	4	]	]	X
alkej-746	72	5	…	…	PUNCT
alkej-746	72	6	(	(	PUNCT
alkej-746	72	7	3	3	X
alkej-746	72	8	)	)	PUNCT
alkej-746	72	9	fig	fig	NOUN
alkej-746	72	10	.	.	PUNCT
alkej-746	73	1	3	3	X
alkej-746	73	2	.	.	X
alkej-746	73	3	single	single	ADJ
alkej-746	73	4	limb	limb	NOUN
alkej-746	73	5	stance	stance	NOUN
alkej-746	73	6	with	with	ADP
alkej-746	73	7	hip	hip	NOUN
alkej-746	73	8	joint	joint	ADJ
alkej-746	73	9	extension	extension	NOUN
alkej-746	73	10	.	.	PUNCT
alkej-746	74	1	4stance	4stance	NUM
alkej-746	74	2	phase	phase	NOUN
alkej-746	74	3	2nd	2nd	ADJ
alkej-746	74	4	double	double	ADJ
alkej-746	74	5	support	support	NOUN
alkej-746	74	6	:	:	PUNCT
alkej-746	74	7	throughout	throughout	ADP
alkej-746	74	8	the	the	DET
alkej-746	74	9	2nd	2nd	ADJ
alkej-746	74	10	double	double	ADJ
alkej-746	74	11	support	support	NOUN
alkej-746	74	12	phase	phase	NOUN
alkej-746	74	13	,	,	PUNCT
alkej-746	74	14	the	the	DET
alkej-746	74	15	hip	hip	NOUN
alkej-746	74	16	joint	joint	NOUN
alkej-746	74	17	is	be	AUX
alkej-746	74	18	in	in	ADP
alkej-746	74	19	the	the	DET
alkej-746	74	20	condition	condition	NOUN
alkej-746	74	21	of	of	ADP
alkej-746	74	22	extension	extension	NOUN
alkej-746	74	23	with	with	ADP
alkej-746	74	24	a	a	DET
alkej-746	74	25	negative	negative	ADJ
alkej-746	74	26	joint	joint	ADJ
alkej-746	74	27	angle	angle	NOUN
alkej-746	74	28	,	,	PUNCT
alkej-746	74	29	and	and	CCONJ
alkej-746	74	30	the	the	DET
alkej-746	74	31	knee	knee	NOUN
alkej-746	74	32	joint	joint	NOUN
alkej-746	74	33	is	be	AUX
alkej-746	74	34	in	in	ADP
alkej-746	74	35	the	the	DET
alkej-746	74	36	condition	condition	NOUN
alkej-746	74	37	of	of	ADP
alkej-746	74	38	flexion	flexion	NOUN
alkej-746	74	39	with	with	ADP
alkej-746	74	40	a	a	DET
alkej-746	74	41	positive	positive	ADJ
alkej-746	74	42	joint	joint	ADJ
alkej-746	74	43	angle	angle	NOUN
alkej-746	74	44	as	as	SCONJ
alkej-746	74	45	shown	show	VERB
alkej-746	74	46	in	in	ADP
alkej-746	74	47	figure	figure	NOUN
alkej-746	74	48	4	4	NUM
alkej-746	74	49	.	.	PUNCT
alkej-746	75	1	niaam	niaam	PROPN
alkej-746	75	2	kh	kh	PROPN
alkej-746	75	3	.	.	PUNCT
alkej-746	76	1	al	al	PROPN
alkej-746	76	2	-	-	PUNCT
alkej-746	76	3	hayali	hayali	PROPN
alkej-746	76	4	al	al	PROPN
alkej-746	76	5	-	-	PUNCT
alkej-746	76	6	khwarizmi	khwarizmi	PROPN
alkej-746	76	7	engineering	engineering	NOUN
alkej-746	76	8	journal	journal	PROPN
alkej-746	76	9	,	,	PUNCT
alkej-746	76	10	vol	vol	NOUN
alkej-746	76	11	.	.	PROPN
alkej-746	76	12	17	17	NUM
alkej-746	76	13	,	,	PUNCT
alkej-746	76	14	no	no	INTJ
alkej-746	76	15	.	.	NOUN
alkej-746	76	16	4	4	NUM
alkej-746	76	17	,	,	PUNCT
alkej-746	76	18	p.p	p.p	PROPN
alkej-746	76	19	.	.	NOUN
alkej-746	76	20	3647	3647	NUM
alkej-746	76	21	(	(	PUNCT
alkej-746	76	22	2021	2021	NUM
alkej-746	76	23	)	)	PUNCT
alkej-746	76	24	39	39	NUM
alkej-746	76	25	taking	take	VERB
alkej-746	76	26	moment	moment	NOUN
alkej-746	76	27	about	about	ADP
alkej-746	76	28	hip	hip	NOUN
alkej-746	76	29	joint	joint	NOUN
alkej-746	76	30	(	(	PUNCT
alkej-746	76	31	t1	t1	NOUN
alkej-746	76	32	):	):	PUNCT
alkej-746	76	33	m1*g[(l1/2)sinθ1]+m2*g[(l2/2)sin(θ1+θ2)+l1sinθ1	m1*g[(l1/2)sinθ1]+m2*g[(l2/2)sin(θ1+θ2)+l1sinθ1	PROPN
alkej-746	76	34	]	]	PUNCT
alkej-746	77	1	+	+	PROPN
alkej-746	77	2	m3*g[l2sin(θ1+θ2)+l1sinθ1]+fx	m3*g[l2sin(θ1+θ2)+l1sinθ1]+fx	PROPN
alkej-746	77	3	[	[	X
alkej-746	77	4	l2cos(θ1+θ2)+l1cosθ1]=	l2cos(θ1+θ2)+l1cosθ1]=	NOUN
alkej-746	77	5	fy[l2sin(θ1+θ2)+l1sinθ1]+t1	fy[l2sin(θ1+θ2)+l1sinθ1]+t1	NOUN
alkej-746	77	6	…	…	PUNCT
alkej-746	77	7	(	(	PUNCT
alkej-746	77	8	4	4	X
alkej-746	77	9	)	)	PUNCT
alkej-746	77	10	fig	fig	NOUN
alkej-746	77	11	.	.	PUNCT
alkej-746	78	1	4	4	NUM
alkej-746	78	2	:	:	PUNCT
alkej-746	78	3	2nd	2nd	ADJ
alkej-746	78	4	double	double	ADJ
alkej-746	78	5	support	support	NOUN
alkej-746	78	6	phase	phase	NOUN
alkej-746	78	7	.	.	PUNCT
alkej-746	79	1	5swing	5swing	NUM
alkej-746	79	2	phase	phase	NOUN
alkej-746	79	3	:	:	PUNCT
alkej-746	79	4	in	in	ADP
alkej-746	79	5	the	the	DET
alkej-746	79	6	case	case	NOUN
alkej-746	79	7	of	of	ADP
alkej-746	79	8	when	when	SCONJ
alkej-746	79	9	the	the	DET
alkej-746	79	10	hip	hip	NOUN
alkej-746	79	11	joint	joint	NOUN
alkej-746	79	12	is	be	AUX
alkej-746	79	13	in	in	ADP
alkej-746	79	14	the	the	DET
alkej-746	79	15	condition	condition	NOUN
alkej-746	79	16	of	of	ADP
alkej-746	79	17	extension	extension	NOUN
alkej-746	79	18	and	and	CCONJ
alkej-746	79	19	the	the	DET
alkej-746	79	20	knee	knee	NOUN
alkej-746	79	21	joint	joint	NOUN
alkej-746	79	22	is	be	AUX
alkej-746	79	23	in	in	ADP
alkej-746	79	24	the	the	DET
alkej-746	79	25	condition	condition	NOUN
alkej-746	79	26	of	of	ADP
alkej-746	79	27	flexion	flexion	NOUN
alkej-746	79	28	as	as	SCONJ
alkej-746	79	29	shown	show	VERB
alkej-746	79	30	in	in	ADP
alkej-746	79	31	figure	figure	NOUN
alkej-746	79	32	5	5	NUM
alkej-746	79	33	:	:	PUNCT
alkej-746	79	34	taking	take	VERB
alkej-746	79	35	moment	moment	NOUN
alkej-746	79	36	about	about	ADP
alkej-746	79	37	hip	hip	NOUN
alkej-746	79	38	joint	joint	NOUN
alkej-746	79	39	(	(	PUNCT
alkej-746	79	40	t1	t1	NOUN
alkej-746	79	41	):	):	PUNCT
alkej-746	79	42	m1*g[(l1/2)sinθ1]+m2*g[(l2/2)sin(θ1+θ2)+l1sinθ1	m1*g[(l1/2)sinθ1]+m2*g[(l2/2)sin(θ1+θ2)+l1sinθ1	PROPN
alkej-746	79	43	]	]	PUNCT
alkej-746	80	1	+	+	PROPN
alkej-746	80	2	m3*g[l2sin(θ1+θ2)+l1sinθ1	m3*g[l2sin(θ1+θ2)+l1sinθ1	X
alkej-746	80	3	]	]	X
alkej-746	80	4	=	=	SYM
alkej-746	80	5	t1	t1	NOUN
alkej-746	80	6	…	…	PUNCT
alkej-746	80	7	(	(	PUNCT
alkej-746	80	8	5	5	X
alkej-746	80	9	)	)	PUNCT
alkej-746	80	10	fig	fig	NOUN
alkej-746	80	11	.	.	PUNCT
alkej-746	81	1	5	5	X
alkej-746	81	2	.	.	X
alkej-746	81	3	swing	swing	NOUN
alkej-746	81	4	phase	phase	NOUN
alkej-746	81	5	with	with	ADP
alkej-746	81	6	hip	hip	NOUN
alkej-746	81	7	joint	joint	ADJ
alkej-746	81	8	extension	extension	NOUN
alkej-746	81	9	and	and	CCONJ
alkej-746	81	10	knee	knee	NOUN
alkej-746	81	11	joint	joint	ADJ
alkej-746	81	12	flexion	flexion	NOUN
alkej-746	81	13	.	.	PUNCT
alkej-746	82	1	6swing	6swing	NUM
alkej-746	82	2	phase	phase	NOUN
alkej-746	82	3	:	:	PUNCT
alkej-746	82	4	in	in	ADP
alkej-746	82	5	the	the	DET
alkej-746	82	6	case	case	NOUN
alkej-746	82	7	of	of	ADP
alkej-746	82	8	when	when	SCONJ
alkej-746	82	9	both	both	DET
alkej-746	82	10	joints	joint	NOUN
alkej-746	82	11	are	be	AUX
alkej-746	82	12	in	in	ADP
alkej-746	82	13	the	the	DET
alkej-746	82	14	condition	condition	NOUN
alkej-746	82	15	of	of	ADP
alkej-746	82	16	flexion	flexion	NOUN
alkej-746	82	17	as	as	SCONJ
alkej-746	82	18	shown	show	VERB
alkej-746	82	19	in	in	ADP
alkej-746	82	20	figure	figure	NOUN
alkej-746	82	21	6	6	NUM
alkej-746	82	22	.	.	PUNCT
alkej-746	82	23	taking	take	VERB
alkej-746	82	24	moment	moment	NOUN
alkej-746	82	25	about	about	ADP
alkej-746	82	26	hip	hip	NOUN
alkej-746	82	27	joint	joint	ADJ
alkej-746	82	28	(	(	PUNCT
alkej-746	82	29	t1	t1	NOUN
alkej-746	82	30	):	):	PUNCT
alkej-746	82	31	t1=	t1=	NOUN
alkej-746	82	32	-m1*g[(l1/2)sinθ1]m2*g[l1sinθ1+(l2/2)sin(θ1	-m1*g[(l1/2)sinθ1]m2*g[l1sinθ1+(l2/2)sin(θ1	NOUN
alkej-746	82	33	-	-	PUNCT
alkej-746	82	34	θ2	θ2	PROPN
alkej-746	82	35	)	)	PUNCT
alkej-746	82	36	]	]	PUNCT
alkej-746	83	1	m3*g[l1sinθ1+l2sin(θ1	m3*g[l1sinθ1+l2sin(θ1	PROPN
alkej-746	83	2	-	-	PUNCT
alkej-746	83	3	θ2	θ2	PROPN
alkej-746	83	4	)	)	PUNCT
alkej-746	83	5	]	]	PUNCT
alkej-746	83	6	…	…	PUNCT
alkej-746	83	7	(	(	PUNCT
alkej-746	83	8	6	6	X
alkej-746	83	9	)	)	PUNCT
alkej-746	83	10	fig	fig	NOUN
alkej-746	83	11	.	.	PUNCT
alkej-746	84	1	6	6	NUM
alkej-746	84	2	.	.	X
alkej-746	84	3	swing	swing	NOUN
alkej-746	84	4	phase	phase	NOUN
alkej-746	84	5	with	with	ADP
alkej-746	84	6	hip	hip	NOUN
alkej-746	84	7	and	and	CCONJ
alkej-746	84	8	knee	knee	NOUN
alkej-746	84	9	joints	joint	NOUN
alkej-746	84	10	flexion	flexion	NOUN
alkej-746	84	11	.	.	PUNCT
alkej-746	85	1	in	in	ADP
alkej-746	85	2	order	order	NOUN
alkej-746	85	3	to	to	PART
alkej-746	85	4	calculate	calculate	VERB
alkej-746	85	5	the	the	DET
alkej-746	85	6	torques	torque	NOUN
alkej-746	85	7	at	at	ADP
alkej-746	85	8	lower	low	ADJ
alkej-746	85	9	limb	limb	NOUN
alkej-746	85	10	hip	hip	NOUN
alkej-746	85	11	joint	joint	NOUN
alkej-746	85	12	,	,	PUNCT
alkej-746	85	13	the	the	DET
alkej-746	85	14	variation	variation	NOUN
alkej-746	85	15	of	of	ADP
alkej-746	85	16	the	the	DET
alkej-746	85	17	hip	hip	NOUN
alkej-746	85	18	and	and	CCONJ
alkej-746	85	19	knee	knee	NOUN
alkej-746	85	20	joint	joint	NOUN
alkej-746	85	21	's	's	PART
alkej-746	85	22	angles	angle	NOUN
alkej-746	85	23	,	,	PUNCT
alkej-746	85	24	and	and	CCONJ
alkej-746	85	25	the	the	DET
alkej-746	85	26	vertical	vertical	ADJ
alkej-746	85	27	and	and	CCONJ
alkej-746	85	28	horizontal	horizontal	ADJ
alkej-746	85	29	grfs	grf	NOUN
alkej-746	85	30	throughout	throughout	ADP
alkej-746	85	31	the	the	DET
alkej-746	85	32	gait	gait	ADJ
alkej-746	85	33	cycle	cycle	NOUN
alkej-746	85	34	and	and	CCONJ
alkej-746	85	35	its	its	PRON
alkej-746	85	36	various	various	ADJ
alkej-746	85	37	phases	phase	NOUN
alkej-746	85	38	were	be	AUX
alkej-746	85	39	measured	measure	VERB
alkej-746	85	40	to	to	PART
alkej-746	85	41	be	be	AUX
alkej-746	85	42	used	use	VERB
alkej-746	85	43	as	as	ADP
alkej-746	85	44	an	an	DET
alkej-746	85	45	input	input	NOUN
alkej-746	85	46	data	datum	NOUN
alkej-746	85	47	for	for	ADP
alkej-746	85	48	matlab	matlab	PROPN
alkej-746	85	49	program	program	PROPN
alkej-746	85	50	.	.	PUNCT
alkej-746	86	1	results	result	NOUN
alkej-746	86	2	reveal	reveal	VERB
alkej-746	86	3	that	that	SCONJ
alkej-746	86	4	the	the	DET
alkej-746	86	5	maximum	maximum	ADJ
alkej-746	86	6	calculated	calculate	VERB
alkej-746	86	7	value	value	NOUN
alkej-746	86	8	of	of	ADP
alkej-746	86	9	torque	torque	NOUN
alkej-746	86	10	for	for	ADP
alkej-746	86	11	the	the	DET
alkej-746	86	12	hip	hip	NOUN
alkej-746	86	13	joint	joint	NOUN
alkej-746	86	14	throughout	throughout	ADP
alkej-746	86	15	the	the	DET
alkej-746	86	16	complete	complete	ADJ
alkej-746	86	17	gait	gait	NOUN
alkej-746	86	18	cycle	cycle	NOUN
alkej-746	86	19	is	be	AUX
alkej-746	86	20	64.702n.m	64.702n.m	NUM
alkej-746	86	21	during	during	ADP
alkej-746	86	22	the	the	DET
alkej-746	86	23	stance	stance	NOUN
alkej-746	86	24	phase	phase	NOUN
alkej-746	86	25	.	.	PUNCT
alkej-746	87	1	2.3	2.3	NUM
alkej-746	87	2	.	.	PUNCT
alkej-746	88	1	the	the	DET
alkej-746	88	2	proposed	propose	VERB
alkej-746	88	3	exoskeleton	exoskeleton	NOUN
alkej-746	88	4	a	a	DET
alkej-746	88	5	two	two	NUM
alkej-746	88	6	degree	degree	NOUN
alkej-746	88	7	of	of	ADP
alkej-746	88	8	freedom	freedom	NOUN
alkej-746	88	9	(	(	PUNCT
alkej-746	88	10	dof	dof	NOUN
alkej-746	88	11	)	)	PUNCT
alkej-746	88	12	quasi	quasi	ADJ
alkej-746	88	13	-	-	ADJ
alkej-746	88	14	passive	passive	ADJ
alkej-746	88	15	lower	low	ADJ
alkej-746	88	16	limb	limb	NOUN
alkej-746	88	17	exoskeleton	exoskeleton	NOUN
alkej-746	88	18	is	be	AUX
alkej-746	88	19	designed	design	VERB
alkej-746	88	20	to	to	PART
alkej-746	88	21	improve	improve	VERB
alkej-746	88	22	gait	gait	ADJ
alkej-746	88	23	rehabilitation	rehabilitation	NOUN
alkej-746	88	24	.	.	PUNCT
alkej-746	89	1	the	the	DET
alkej-746	89	2	material	material	NOUN
alkej-746	89	3	design	design	NOUN
alkej-746	89	4	and	and	CCONJ
alkej-746	89	5	selection	selection	NOUN
alkej-746	89	6	tried	try	VERB
alkej-746	89	7	not	not	PART
alkej-746	89	8	to	to	PART
alkej-746	89	9	increase	increase	VERB
alkej-746	89	10	the	the	DET
alkej-746	89	11	weight	weight	NOUN
alkej-746	89	12	of	of	ADP
alkej-746	89	13	the	the	DET
alkej-746	89	14	proposed	propose	VERB
alkej-746	89	15	exoskeleton	exoskeleton	NOUN
alkej-746	89	16	and	and	CCONJ
alkej-746	89	17	its	its	PRON
alkej-746	89	18	components	component	NOUN
alkej-746	89	19	.	.	PUNCT
alkej-746	90	1	in	in	ADP
alkej-746	90	2	addition	addition	NOUN
alkej-746	90	3	to	to	ADP
alkej-746	90	4	its	its	PRON
alkej-746	90	5	light	light	ADJ
alkej-746	90	6	weight	weight	NOUN
alkej-746	90	7	,	,	PUNCT
alkej-746	90	8	the	the	DET
alkej-746	90	9	exoskeleton	exoskeleton	NOUN
alkej-746	90	10	is	be	AUX
alkej-746	90	11	developed	develop	VERB
alkej-746	90	12	to	to	PART
alkej-746	90	13	be	be	AUX
alkej-746	90	14	adjustable	adjustable	ADJ
alkej-746	90	15	to	to	PART
alkej-746	90	16	be	be	AUX
alkej-746	90	17	used	use	VERB
alkej-746	90	18	by	by	ADP
alkej-746	90	19	different	different	ADJ
alkej-746	90	20	users	user	NOUN
alkej-746	90	21	.	.	PUNCT
alkej-746	91	1	all	all	DET
alkej-746	91	2	the	the	DET
alkej-746	91	3	components	component	NOUN
alkej-746	91	4	of	of	ADP
alkej-746	91	5	the	the	DET
alkej-746	91	6	exoskeleton	exoskeleton	PROPN
alkej-746	91	7	frame	frame	NOUN
alkej-746	91	8	were	be	AUX
alkej-746	91	9	made	make	VERB
alkej-746	91	10	from	from	ADP
alkej-746	91	11	strong	strong	ADJ
alkej-746	91	12	lightweight	lightweight	ADJ
alkej-746	91	13	aluminum	aluminum	NOUN
alkej-746	91	14	alloy	alloy	NOUN
alkej-746	91	15	with	with	ADP
alkej-746	91	16	foam	foam	NOUN
alkej-746	91	17	padding	padding	NOUN
alkej-746	91	18	to	to	PART
alkej-746	91	19	provide	provide	VERB
alkej-746	91	20	good	good	ADJ
alkej-746	91	21	ventilation	ventilation	NOUN
alkej-746	91	22	,	,	PUNCT
alkej-746	91	23	firm	firm	ADJ
alkej-746	91	24	support	support	NOUN
alkej-746	91	25	,	,	PUNCT
alkej-746	91	26	and	and	CCONJ
alkej-746	91	27	keep	keep	VERB
alkej-746	91	28	maximum	maximum	ADJ
alkej-746	91	29	comfort	comfort	NOUN
alkej-746	91	30	while	while	SCONJ
alkej-746	91	31	use	use	NOUN
alkej-746	91	32	.	.	PUNCT
alkej-746	92	1	the	the	DET
alkej-746	92	2	elements	element	NOUN
alkej-746	92	3	in	in	ADP
alkej-746	92	4	the	the	DET
alkej-746	92	5	exoskeleton	exoskeleton	NOUN
alkej-746	92	6	were	be	AUX
alkej-746	92	7	chosen	choose	VERB
alkej-746	92	8	based	base	VERB
alkej-746	92	9	on	on	ADP
alkej-746	92	10	an	an	DET
alkej-746	92	11	analysis	analysis	NOUN
alkej-746	92	12	of	of	ADP
alkej-746	92	13	the	the	DET
alkej-746	92	14	kinetics	kinetic	NOUN
alkej-746	92	15	and	and	CCONJ
alkej-746	92	16	kinematics	kinematic	NOUN
alkej-746	92	17	of	of	ADP
alkej-746	92	18	the	the	DET
alkej-746	92	19	human	human	ADJ
alkej-746	92	20	walking	walking	NOUN
alkej-746	92	21	.	.	PUNCT
alkej-746	93	1	the	the	DET
alkej-746	93	2	schematic	schematic	ADJ
alkej-746	93	3	and	and	CCONJ
alkej-746	93	4	overall	overall	ADJ
alkej-746	93	5	mechanical	mechanical	ADJ
alkej-746	93	6	structure	structure	NOUN
alkej-746	93	7	of	of	ADP
alkej-746	93	8	the	the	DET
alkej-746	93	9	proposed	propose	VERB
alkej-746	93	10	exoskeleton	exoskeleton	NOUN
alkej-746	93	11	is	be	AUX
alkej-746	93	12	shown	show	VERB
alkej-746	93	13	in	in	ADP
alkej-746	93	14	figure	figure	NOUN
alkej-746	93	15	7	7	NUM
alkej-746	93	16	.	.	PUNCT
alkej-746	94	1	this	this	DET
alkej-746	94	2	exoskeleton	exoskeleton	NOUN
alkej-746	94	3	consists	consist	VERB
alkej-746	94	4	of	of	ADP
alkej-746	94	5	a	a	DET
alkej-746	94	6	high	high	ADJ
alkej-746	94	7	torque	torque	NOUN
alkej-746	94	8	dc	dc	PROPN
alkej-746	94	9	servo	servo	PROPN
alkej-746	94	10	motor	motor	PROPN
alkej-746	94	11	,	,	PUNCT
alkej-746	94	12	springs	spring	NOUN
alkej-746	94	13	,	,	PUNCT
alkej-746	94	14	links	link	NOUN
alkej-746	94	15	,	,	PUNCT
alkej-746	94	16	belts	belt	NOUN
alkej-746	94	17	,	,	PUNCT
alkej-746	94	18	and	and	CCONJ
alkej-746	94	19	cuffs	cuff	NOUN
alkej-746	94	20	.	.	PUNCT
alkej-746	95	1	the	the	DET
alkej-746	95	2	electrical	electrical	ADJ
alkej-746	95	3	circuits	circuit	NOUN
alkej-746	95	4	of	of	ADP
alkej-746	95	5	the	the	DET
alkej-746	95	6	proposed	propose	VERB
alkej-746	95	7	exoskeleton	exoskeleton	NOUN
alkej-746	95	8	include	include	VERB
alkej-746	95	9	the	the	DET
alkej-746	95	10	motor	motor	NOUN
alkej-746	95	11	drive	drive	NOUN
alkej-746	95	12	and	and	CCONJ
alkej-746	95	13	the	the	DET
alkej-746	95	14	microcontroller	microcontroller	NOUN
alkej-746	95	15	.	.	PUNCT
alkej-746	96	1	the	the	DET
alkej-746	96	2	final	final	ADJ
alkej-746	96	3	device	device	NOUN
alkej-746	96	4	weights	weight	VERB
alkej-746	96	5	about	about	ADV
alkej-746	96	6	2.7	2.7	NUM
alkej-746	96	7	kg	kg	NOUN
alkej-746	96	8	without	without	ADP
alkej-746	96	9	the	the	DET
alkej-746	96	10	power	power	NOUN
alkej-746	96	11	supply	supply	NOUN
alkej-746	96	12	.	.	PUNCT
alkej-746	97	1	niaam	niaam	PROPN
alkej-746	97	2	kh	kh	PROPN
alkej-746	97	3	.	.	PUNCT
alkej-746	98	1	al	al	PROPN
alkej-746	98	2	-	-	PUNCT
alkej-746	98	3	hayali	hayali	PROPN
alkej-746	98	4	al	al	PROPN
alkej-746	98	5	-	-	PUNCT
alkej-746	98	6	khwarizmi	khwarizmi	PROPN
alkej-746	98	7	engineering	engineering	NOUN
alkej-746	98	8	journal	journal	PROPN
alkej-746	98	9	,	,	PUNCT
alkej-746	98	10	vol	vol	NOUN
alkej-746	98	11	.	.	PROPN
alkej-746	98	12	17	17	NUM
alkej-746	98	13	,	,	PUNCT
alkej-746	98	14	no	no	INTJ
alkej-746	98	15	.	.	NOUN
alkej-746	98	16	4	4	NUM
alkej-746	98	17	,	,	PUNCT
alkej-746	98	18	p.p	p.p	PROPN
alkej-746	98	19	.	.	NOUN
alkej-746	98	20	3647	3647	NUM
alkej-746	98	21	(	(	PUNCT
alkej-746	98	22	2021	2021	NUM
alkej-746	98	23	)	)	PUNCT
alkej-746	98	24	40	40	NUM
alkej-746	98	25	(	(	PUNCT
alkej-746	98	26	a	a	NOUN
alkej-746	98	27	)	)	PUNCT
alkej-746	98	28	(	(	PUNCT
alkej-746	98	29	b	b	X
alkej-746	98	30	)	)	PUNCT
alkej-746	98	31	fig.7	fig.7	ADV
alkej-746	98	32	.	.	PUNCT
alkej-746	99	1	the	the	DET
alkej-746	99	2	proposed	propose	VERB
alkej-746	99	3	lower	low	ADJ
alkej-746	99	4	limb	limb	NOUN
alkej-746	99	5	exoskeleton	exoskeleton	NOUN
alkej-746	99	6	components	component	NOUN
alkej-746	99	7	(	(	PUNCT
alkej-746	99	8	a	a	X
alkej-746	99	9	)	)	PUNCT
alkej-746	99	10	the	the	DET
alkej-746	99	11	schematic	schematic	ADJ
alkej-746	99	12	diagram	diagram	NOUN
alkej-746	99	13	of	of	ADP
alkej-746	99	14	proposed	propose	VERB
alkej-746	99	15	exoskeleton	exoskeleton	PROPN
alkej-746	99	16	side	side	NOUN
alkej-746	99	17	and	and	CCONJ
alkej-746	99	18	front	front	ADJ
alkej-746	99	19	view	view	NOUN
alkej-746	99	20	(	(	PUNCT
alkej-746	99	21	all	all	DET
alkej-746	99	22	dimensions	dimension	NOUN
alkej-746	99	23	in	in	ADP
alkej-746	99	24	cm	cm	NOUN
alkej-746	99	25	)	)	PUNCT
alkej-746	99	26	,	,	PUNCT
alkej-746	99	27	(	(	PUNCT
alkej-746	99	28	b	b	X
alkej-746	99	29	)	)	PUNCT
alkej-746	99	30	the	the	DET
alkej-746	99	31	overall	overall	ADJ
alkej-746	99	32	device	device	NOUN
alkej-746	99	33	.	.	PUNCT
alkej-746	100	1	during	during	ADP
alkej-746	100	2	the	the	DET
alkej-746	100	3	design	design	NOUN
alkej-746	100	4	of	of	ADP
alkej-746	100	5	exoskeleton	exoskeleton	PROPN
alkej-746	100	6	,	,	PUNCT
alkej-746	100	7	an	an	DET
alkej-746	100	8	optimal	optimal	ADJ
alkej-746	100	9	set	set	NOUN
alkej-746	100	10	of	of	ADP
alkej-746	100	11	dofs	dof	NOUN
alkej-746	100	12	was	be	AUX
alkej-746	100	13	chosen	choose	VERB
alkej-746	100	14	in	in	ADP
alkej-746	100	15	order	order	NOUN
alkej-746	100	16	to	to	PART
alkej-746	100	17	allow	allow	VERB
alkej-746	100	18	for	for	ADP
alkej-746	100	19	a	a	DET
alkej-746	100	20	user	user	NOUN
alkej-746	100	21	to	to	PART
alkej-746	100	22	walk	walk	VERB
alkej-746	100	23	normally	normally	ADV
alkej-746	100	24	and	and	CCONJ
alkej-746	100	25	safely	safely	ADV
alkej-746	100	26	by	by	ADP
alkej-746	100	27	the	the	DET
alkej-746	100	28	exoskeleton	exoskeleton	PROPN
alkej-746	100	29	.	.	PUNCT
alkej-746	101	1	the	the	DET
alkej-746	101	2	hip	hip	NOUN
alkej-746	101	3	joint	joint	NOUN
alkej-746	101	4	has	have	VERB
alkej-746	101	5	three	three	NUM
alkej-746	101	6	main	main	ADJ
alkej-746	101	7	axes	axis	NOUN
alkej-746	101	8	which	which	PRON
alkej-746	101	9	allow	allow	VERB
alkej-746	101	10	movement	movement	NOUN
alkej-746	101	11	in	in	ADP
alkej-746	101	12	three	three	NUM
alkej-746	101	13	degree	degree	NOUN
alkej-746	101	14	of	of	ADP
alkej-746	101	15	freedom	freedom	NOUN
alkej-746	101	16	.	.	PUNCT
alkej-746	102	1	all	all	DET
alkej-746	102	2	axes	axis	NOUN
alkej-746	102	3	go	go	VERB
alkej-746	102	4	through	through	ADP
alkej-746	102	5	the	the	DET
alkej-746	102	6	rotational	rotational	ADJ
alkej-746	102	7	center	center	NOUN
alkej-746	102	8	of	of	ADP
alkej-746	102	9	the	the	DET
alkej-746	102	10	hip	hip	NOUN
alkej-746	102	11	joint	joint	NOUN
alkej-746	102	12	.	.	PUNCT
alkej-746	103	1	the	the	DET
alkej-746	103	2	flexion	flexion	NOUN
alkej-746	103	3	/	/	SYM
alkej-746	103	4	extension	extension	NOUN
alkej-746	103	5	of	of	ADP
alkej-746	103	6	the	the	DET
alkej-746	103	7	hip	hip	NOUN
alkej-746	103	8	means	mean	VERB
alkej-746	103	9	moving	move	VERB
alkej-746	103	10	the	the	DET
alkej-746	103	11	thigh	thigh	NOUN
alkej-746	103	12	forward	forward	ADV
alkej-746	103	13	/	/	SYM
alkej-746	103	14	backward	backward	ADV
alkej-746	103	15	,	,	PUNCT
alkej-746	103	16	adduction	adduction	NOUN
alkej-746	103	17	/	/	SYM
alkej-746	103	18	abduction	abduction	NOUN
alkej-746	103	19	of	of	ADP
alkej-746	103	20	the	the	DET
alkej-746	103	21	hip	hip	NOUN
alkej-746	103	22	means	mean	VERB
alkej-746	103	23	sideways	sideways	ADJ
alkej-746	103	24	movement	movement	NOUN
alkej-746	103	25	of	of	ADP
alkej-746	103	26	the	the	DET
alkej-746	103	27	leg	leg	NOUN
alkej-746	103	28	away	away	ADV
alkej-746	103	29	from	from	ADP
alkej-746	103	30	the	the	DET
alkej-746	103	31	body	body	NOUN
alkej-746	103	32	/	/	SYM
alkej-746	103	33	inward	inward	ADJ
alkej-746	103	34	movement	movement	NOUN
alkej-746	103	35	of	of	ADP
alkej-746	103	36	the	the	DET
alkej-746	103	37	leg	leg	NOUN
alkej-746	103	38	toward	toward	ADP
alkej-746	103	39	the	the	DET
alkej-746	103	40	midline	midline	NOUN
alkej-746	103	41	of	of	ADP
alkej-746	103	42	the	the	DET
alkej-746	103	43	body	body	NOUN
alkej-746	103	44	,	,	PUNCT
alkej-746	103	45	and	and	CCONJ
alkej-746	103	46	lateral	lateral	ADJ
alkej-746	103	47	/	/	SYM
alkej-746	103	48	medial	medial	ADJ
alkej-746	103	49	rotation	rotation	NOUN
alkej-746	103	50	means	mean	VERB
alkej-746	103	51	rotating	rotate	VERB
alkej-746	103	52	movement	movement	NOUN
alkej-746	103	53	towards	towards	ADP
alkej-746	103	54	the	the	DET
alkej-746	103	55	midline	midline	NOUN
alkej-746	103	56	/	/	SYM
alkej-746	103	57	rotating	rotate	VERB
alkej-746	103	58	movement	movement	NOUN
alkej-746	103	59	away	away	ADV
alkej-746	103	60	from	from	ADP
alkej-746	103	61	the	the	DET
alkej-746	103	62	midline	midline	NOUN
alkej-746	103	63	[	[	X
alkej-746	103	64	25	25	NUM
alkej-746	103	65	]	]	PUNCT
alkej-746	103	66	.	.	PUNCT
alkej-746	104	1	for	for	ADP
alkej-746	104	2	the	the	DET
alkej-746	104	3	hip	hip	NOUN
alkej-746	104	4	joint	joint	NOUN
alkej-746	104	5	,	,	PUNCT
alkej-746	104	6	flexion	flexion	NOUN
alkej-746	104	7	/	/	SYM
alkej-746	104	8	extension	extension	NOUN
alkej-746	104	9	was	be	AUX
alkej-746	104	10	included	include	VERB
alkej-746	104	11	in	in	ADP
alkej-746	104	12	the	the	DET
alkej-746	104	13	exoskeleton	exoskeleton	PROPN
alkej-746	104	14	design	design	NOUN
alkej-746	104	15	while	while	SCONJ
alkej-746	104	16	the	the	DET
alkej-746	104	17	abduction	abduction	NOUN
alkej-746	104	18	/	/	SYM
alkej-746	104	19	adduction	adduction	NOUN
alkej-746	104	20	and	and	CCONJ
alkej-746	104	21	lateral	lateral	ADJ
alkej-746	104	22	/	/	SYM
alkej-746	104	23	medial	medial	ADJ
alkej-746	104	24	rotations	rotation	NOUN
alkej-746	104	25	were	be	AUX
alkej-746	104	26	blocked	block	VERB
alkej-746	104	27	as	as	SCONJ
alkej-746	104	28	shown	show	VERB
alkej-746	104	29	in	in	ADP
alkej-746	104	30	table	table	NOUN
alkej-746	104	31	1	1	NUM
alkej-746	104	32	.	.	PUNCT
alkej-746	105	1	similarly	similarly	ADV
alkej-746	105	2	,	,	PUNCT
alkej-746	105	3	knee	knee	NOUN
alkej-746	105	4	flexion	flexion	NOUN
alkej-746	105	5	/	/	SYM
alkej-746	105	6	extension	extension	NOUN
alkej-746	105	7	was	be	AUX
alkej-746	105	8	included	include	VERB
alkej-746	105	9	in	in	ADP
alkej-746	105	10	the	the	DET
alkej-746	105	11	exoskeleton	exoskeleton	PROPN
alkej-746	105	12	design	design	NOUN
alkej-746	105	13	.	.	PUNCT
alkej-746	106	1	for	for	ADP
alkej-746	106	2	the	the	DET
alkej-746	106	3	ankle	ankle	NOUN
alkej-746	106	4	joint	joint	NOUN
alkej-746	106	5	,	,	PUNCT
alkej-746	106	6	the	the	DET
alkej-746	106	7	joint	joint	NOUN
alkej-746	106	8	was	be	AUX
alkej-746	106	9	locked	lock	VERB
alkej-746	106	10	at	at	ADP
alkej-746	106	11	0o	0o	NUM
alkej-746	106	12	angle	angle	NOUN
alkej-746	106	13	and	and	CCONJ
alkej-746	106	14	motions	motion	NOUN
alkej-746	106	15	in	in	ADP
alkej-746	106	16	all	all	DET
alkej-746	106	17	planes	plane	NOUN
alkej-746	106	18	were	be	AUX
alkej-746	106	19	blocked	block	VERB
alkej-746	106	20	.	.	PUNCT
alkej-746	107	1	table	table	NOUN
alkej-746	107	2	1	1	NUM
alkej-746	107	3	,	,	PUNCT
alkej-746	107	4	allowed	allow	VERB
alkej-746	107	5	and	and	CCONJ
alkej-746	107	6	blocked	block	VERB
alkej-746	107	7	dof	dof	NOUN
alkej-746	107	8	of	of	ADP
alkej-746	107	9	the	the	DET
alkej-746	107	10	proposed	propose	VERB
alkej-746	107	11	lower	low	ADJ
alkej-746	107	12	limb	limb	NOUN
alkej-746	107	13	exoskeleton	exoskeleton	NOUN
alkej-746	107	14	compared	compare	VERB
alkej-746	107	15	with	with	ADP
alkej-746	107	16	natural	natural	ADJ
alkej-746	107	17	human	human	ADJ
alkej-746	107	18	gait	gait	NOUN
alkej-746	107	19	.	.	PUNCT
alkej-746	108	1	as	as	SCONJ
alkej-746	108	2	illustrated	illustrate	VERB
alkej-746	108	3	in	in	ADP
alkej-746	108	4	figure	figure	NOUN
alkej-746	108	5	8	8	NUM
alkej-746	108	6	,	,	PUNCT
alkej-746	108	7	the	the	DET
alkej-746	108	8	exoskeleton	exoskeleton	NOUN
alkej-746	108	9	consists	consist	VERB
alkej-746	108	10	of	of	ADP
alkej-746	108	11	a	a	DET
alkej-746	108	12	high	high	ADJ
alkej-746	108	13	torque	torque	NOUN
alkej-746	108	14	dc	dc	PROPN
alkej-746	108	15	servo	servo	PROPN
alkej-746	108	16	motor	motor	NOUN
alkej-746	108	17	mounted	mount	VERB
alkej-746	108	18	on	on	ADP
alkej-746	108	19	a	a	DET
alkej-746	108	20	metal	metal	NOUN
alkej-746	108	21	plate	plate	NOUN
alkej-746	108	22	above	above	ADP
alkej-746	108	23	the	the	DET
alkej-746	108	24	hip	hip	NOUN
alkej-746	108	25	joint	joint	NOUN
alkej-746	108	26	,	,	PUNCT
alkej-746	108	27	and	and	CCONJ
alkej-746	108	28	a	a	DET
alkej-746	108	29	link	link	NOUN
alkej-746	108	30	that	that	PRON
alkej-746	108	31	transmits	transmit	VERB
alkej-746	108	32	assistance	assistance	NOUN
alkej-746	108	33	torque	torque	NOUN
alkej-746	108	34	from	from	ADP
alkej-746	108	35	the	the	DET
alkej-746	108	36	motor	motor	NOUN
alkej-746	108	37	to	to	ADP
alkej-746	108	38	the	the	DET
alkej-746	108	39	thigh	thigh	NOUN
alkej-746	108	40	.	.	PUNCT
alkej-746	109	1	the	the	DET
alkej-746	109	2	motor	motor	NOUN
alkej-746	109	3	pushes	push	VERB
alkej-746	109	4	or	or	CCONJ
alkej-746	109	5	pulls	pull	VERB
alkej-746	109	6	the	the	DET
alkej-746	109	7	lower	low	ADJ
alkej-746	109	8	part	part	NOUN
alkej-746	109	9	of	of	ADP
alkej-746	109	10	the	the	DET
alkej-746	109	11	thigh	thigh	NOUN
alkej-746	109	12	and	and	CCONJ
alkej-746	109	13	creates	create	VERB
alkej-746	109	14	moments	moment	NOUN
alkej-746	109	15	at	at	ADP
alkej-746	109	16	the	the	DET
alkej-746	109	17	hip	hip	NOUN
alkej-746	109	18	joint	joint	NOUN
alkej-746	109	19	.	.	PUNCT
alkej-746	110	1	these	these	DET
alkej-746	110	2	moments	moment	NOUN
alkej-746	110	3	allow	allow	VERB
alkej-746	110	4	the	the	DET
alkej-746	110	5	hip	hip	NOUN
alkej-746	110	6	to	to	AUX
alkej-746	110	7	flex	flex	ADJ
alkej-746	110	8	or	or	CCONJ
alkej-746	110	9	extend	extend	VERB
alkej-746	110	10	.	.	PUNCT
alkej-746	111	1	the	the	DET
alkej-746	111	2	high	high	ADJ
alkej-746	111	3	torque	torque	NOUN
alkej-746	111	4	dc	dc	PROPN
alkej-746	111	5	servo	servo	PROPN
alkej-746	111	6	motor	motor	NOUN
alkej-746	111	7	is	be	AUX
alkej-746	111	8	used	use	VERB
alkej-746	111	9	for	for	ADP
alkej-746	111	10	robots	robot	NOUN
alkej-746	111	11	and	and	CCONJ
alkej-746	111	12	other	other	ADJ
alkej-746	111	13	fields	field	NOUN
alkej-746	111	14	requiring	require	VERB
alkej-746	111	15	high	high	ADJ
alkej-746	111	16	torque	torque	NOUN
alkej-746	111	17	control	control	NOUN
alkej-746	111	18	.	.	PUNCT
alkej-746	112	1	the	the	DET
alkej-746	112	2	most	most	ADV
alkej-746	112	3	important	important	ADJ
alkej-746	112	4	features	feature	NOUN
alkej-746	112	5	of	of	ADP
alkej-746	112	6	the	the	DET
alkej-746	112	7	high	high	PROPN
alkej-746	112	8	niaam	niaam	PROPN
alkej-746	112	9	kh	kh	PROPN
alkej-746	112	10	.	.	PUNCT
alkej-746	113	1	al	al	PROPN
alkej-746	113	2	-	-	PUNCT
alkej-746	113	3	hayali	hayali	PROPN
alkej-746	113	4	al	al	PROPN
alkej-746	113	5	-	-	PUNCT
alkej-746	113	6	khwarizmi	khwarizmi	PROPN
alkej-746	113	7	engineering	engineering	NOUN
alkej-746	113	8	journal	journal	PROPN
alkej-746	113	9	,	,	PUNCT
alkej-746	113	10	vol	vol	NOUN
alkej-746	113	11	.	.	PROPN
alkej-746	113	12	17	17	NUM
alkej-746	113	13	,	,	PUNCT
alkej-746	113	14	no	no	INTJ
alkej-746	113	15	.	.	NOUN
alkej-746	113	16	4	4	NUM
alkej-746	113	17	,	,	PUNCT
alkej-746	113	18	p.p	p.p	PROPN
alkej-746	113	19	.	.	NOUN
alkej-746	113	20	3647	3647	NUM
alkej-746	113	21	(	(	PUNCT
alkej-746	113	22	2021	2021	NUM
alkej-746	113	23	)	)	PUNCT
alkej-746	113	24	41	41	NUM
alkej-746	113	25	torque	torque	NOUN
alkej-746	113	26	dc	dc	PROPN
alkej-746	113	27	servo	servo	PROPN
alkej-746	113	28	motor	motor	NOUN
alkej-746	113	29	and	and	CCONJ
alkej-746	113	30	the	the	DET
alkej-746	113	31	motor	motor	NOUN
alkej-746	113	32	driver	driver	NOUN
alkej-746	113	33	are	be	AUX
alkej-746	113	34	summarized	summarize	VERB
alkej-746	113	35	in	in	ADP
alkej-746	113	36	table	table	NOUN
alkej-746	113	37	2	2	NUM
alkej-746	113	38	.	.	PUNCT
alkej-746	114	1	the	the	DET
alkej-746	114	2	microcontroller	microcontroller	NOUN
alkej-746	114	3	provides	provide	VERB
alkej-746	114	4	14	14	NUM
alkej-746	114	5	digital	digital	ADJ
alkej-746	114	6	input	input	NOUN
alkej-746	114	7	/	/	SYM
alkej-746	114	8	output	output	NOUN
alkej-746	114	9	pins	pin	NOUN
alkej-746	114	10	of	of	ADP
alkej-746	114	11	which	which	PRON
alkej-746	114	12	six	six	NUM
alkej-746	114	13	can	can	AUX
alkej-746	114	14	be	be	AUX
alkej-746	114	15	used	use	VERB
alkej-746	114	16	as	as	ADP
alkej-746	114	17	pulse	pulse	NOUN
alkej-746	114	18	-	-	PUNCT
alkej-746	114	19	width	width	NOUN
alkej-746	114	20	modulation	modulation	NOUN
alkej-746	114	21	(	(	PUNCT
alkej-746	114	22	pwm	pwm	NOUN
alkej-746	114	23	)	)	PUNCT
alkej-746	114	24	outputs	output	NOUN
alkej-746	114	25	,	,	PUNCT
alkej-746	114	26	and	and	CCONJ
alkej-746	114	27	six	six	NUM
alkej-746	114	28	analog	analog	NOUN
alkej-746	114	29	inputs	input	NOUN
alkej-746	114	30	;	;	PUNCT
alkej-746	114	31	this	this	PRON
alkej-746	114	32	can	can	AUX
alkej-746	114	33	also	also	ADV
alkej-746	114	34	be	be	AUX
alkej-746	114	35	used	use	VERB
alkej-746	114	36	as	as	ADP
alkej-746	114	37	six	six	NUM
alkej-746	114	38	digital	digital	ADJ
alkej-746	114	39	input	input	NOUN
alkej-746	114	40	/	/	SYM
alkej-746	114	41	output	output	NOUN
alkej-746	114	42	pins	pin	NOUN
alkej-746	114	43	.	.	PUNCT
alkej-746	115	1	it	it	PRON
alkej-746	115	2	includes	include	VERB
alkej-746	115	3	5v	5v	PROPN
alkej-746	115	4	linear	linear	ADJ
alkej-746	115	5	regulator	regulator	NOUN
alkej-746	115	6	and	and	CCONJ
alkej-746	115	7	a	a	DET
alkej-746	115	8	16	16	NUM
alkej-746	115	9	mhz	mhz	NOUN
alkej-746	115	10	crystal	crystal	NOUN
alkej-746	115	11	oscillator	oscillator	NOUN
alkej-746	115	12	,	,	PUNCT
alkej-746	115	13	a	a	DET
alkej-746	115	14	usb	usb	NOUN
alkej-746	115	15	connection	connection	NOUN
alkej-746	115	16	,	,	PUNCT
alkej-746	115	17	a	a	DET
alkej-746	115	18	power	power	NOUN
alkej-746	115	19	jack	jack	NOUN
alkej-746	115	20	,	,	PUNCT
alkej-746	115	21	an	an	DET
alkej-746	115	22	icsp	icsp	ADJ
alkej-746	115	23	header	header	NOUN
alkej-746	115	24	,	,	PUNCT
alkej-746	115	25	and	and	CCONJ
alkej-746	115	26	a	a	DET
alkej-746	115	27	reset	reset	ADJ
alkej-746	115	28	button	button	NOUN
alkej-746	115	29	.	.	PUNCT
alkej-746	116	1	the	the	DET
alkej-746	116	2	microcontroller	microcontroller	NOUN
alkej-746	116	3	can	can	AUX
alkej-746	116	4	be	be	AUX
alkej-746	116	5	powered	power	VERB
alkej-746	116	6	by	by	ADP
alkej-746	116	7	a	a	DET
alkej-746	116	8	usb	usb	NOUN
alkej-746	116	9	cable	cable	NOUN
alkej-746	116	10	or	or	CCONJ
alkej-746	116	11	by	by	ADP
alkej-746	116	12	an	an	DET
alkej-746	116	13	external	external	ADJ
alkej-746	116	14	battery	battery	NOUN
alkej-746	116	15	.	.	PUNCT
alkej-746	117	1	fig	fig	NOUN
alkej-746	117	2	.	.	PUNCT
alkej-746	118	1	8	8	X
alkej-746	118	2	.	.	X
alkej-746	118	3	exoskeleton	exoskeleton	PROPN
alkej-746	118	4	hip	hip	NOUN
alkej-746	118	5	joint	joint	ADJ
alkej-746	118	6	mechanism	mechanism	NOUN
alkej-746	118	7	.	.	PUNCT
alkej-746	119	1	table	table	NOUN
alkej-746	119	2	2	2	NUM
alkej-746	119	3	,	,	PUNCT
alkej-746	119	4	high	high	ADJ
alkej-746	119	5	torque	torque	NOUN
alkej-746	119	6	dc	dc	PROPN
alkej-746	119	7	servomotor	servomotor	NOUN
alkej-746	119	8	and	and	CCONJ
alkej-746	119	9	motor	motor	NOUN
alkej-746	119	10	driver	driver	NOUN
alkej-746	119	11	specifications	specification	VERB
alkej-746	119	12	the	the	DET
alkej-746	119	13	flexion	flexion	NOUN
alkej-746	119	14	/	/	SYM
alkej-746	119	15	extension	extension	NOUN
alkej-746	119	16	knee	knee	NOUN
alkej-746	119	17	dof	dof	NOUN
alkej-746	119	18	was	be	AUX
alkej-746	119	19	collocated	collocate	VERB
alkej-746	119	20	with	with	ADP
alkej-746	119	21	the	the	DET
alkej-746	119	22	human	human	ADJ
alkej-746	119	23	knee	knee	NOUN
alkej-746	119	24	.	.	PUNCT
alkej-746	120	1	the	the	DET
alkej-746	120	2	knee	knee	NOUN
alkej-746	120	3	joint	joint	NOUN
alkej-746	120	4	is	be	AUX
alkej-746	120	5	passively	passively	ADV
alkej-746	120	6	actuated	actuate	VERB
alkej-746	120	7	with	with	ADP
alkej-746	120	8	a	a	DET
alkej-746	120	9	spring	spring	NOUN
alkej-746	120	10	.	.	PUNCT
alkej-746	121	1	the	the	DET
alkej-746	121	2	extended	extended	ADJ
alkej-746	121	3	spring	spring	NOUN
alkej-746	121	4	has	have	VERB
alkej-746	121	5	a	a	DET
alkej-746	121	6	large	large	ADJ
alkej-746	121	7	stiffness	stiffness	NOUN
alkej-746	121	8	value	value	NOUN
alkej-746	121	9	of	of	ADP
alkej-746	121	10	266.66	266.66	NUM
alkej-746	121	11	n	n	CCONJ
alkej-746	121	12	/	/	SYM
alkej-746	121	13	m	m	PROPN
alkej-746	121	14	,	,	PUNCT
alkej-746	121	15	and	and	CCONJ
alkej-746	121	16	it	it	PRON
alkej-746	121	17	was	be	AUX
alkej-746	121	18	2	2	NUM
alkej-746	121	19	cm	cm	NOUN
alkej-746	121	20	in	in	ADP
alkej-746	121	21	diameter	diameter	NOUN
alkej-746	121	22	,	,	PUNCT
alkej-746	121	23	and	and	CCONJ
alkej-746	121	24	20	20	NUM
alkej-746	121	25	cm	cm	NOUN
alkej-746	121	26	in	in	ADP
alkej-746	121	27	length	length	NOUN
alkej-746	121	28	.	.	PUNCT
alkej-746	122	1	the	the	DET
alkej-746	122	2	knee	knee	NOUN
alkej-746	122	3	joint	joint	ADJ
alkej-746	122	4	mechanism	mechanism	NOUN
alkej-746	122	5	is	be	AUX
alkej-746	122	6	comprised	comprise	VERB
alkej-746	122	7	of	of	ADP
alkej-746	122	8	an	an	DET
alkej-746	122	9	extension	extension	NOUN
alkej-746	122	10	spring	spring	NOUN
alkej-746	122	11	in	in	ADP
alkej-746	122	12	parallel	parallel	NOUN
alkej-746	122	13	to	to	ADP
alkej-746	122	14	the	the	DET
alkej-746	122	15	leg	leg	NOUN
alkej-746	122	16	as	as	SCONJ
alkej-746	122	17	shown	show	VERB
alkej-746	122	18	in	in	ADP
alkej-746	122	19	figure	figure	NOUN
alkej-746	122	20	9	9	NUM
alkej-746	122	21	that	that	PRON
alkej-746	122	22	is	be	AUX
alkej-746	122	23	designed	design	VERB
alkej-746	122	24	to	to	PART
alkej-746	122	25	operate	operate	VERB
alkej-746	122	26	with	with	ADP
alkej-746	122	27	a	a	DET
alkej-746	122	28	tension	tension	NOUN
alkej-746	122	29	load	load	NOUN
alkej-746	122	30	,	,	PUNCT
alkej-746	122	31	so	so	SCONJ
alkej-746	122	32	the	the	DET
alkej-746	122	33	spring	spring	NOUN
alkej-746	122	34	stored	store	VERB
alkej-746	122	35	energy	energy	NOUN
alkej-746	122	36	during	during	ADP
alkej-746	122	37	knee	knee	NOUN
alkej-746	122	38	flexion	flexion	NOUN
alkej-746	122	39	and	and	CCONJ
alkej-746	122	40	releases	release	NOUN
alkej-746	122	41	that	that	PRON
alkej-746	122	42	energy	energy	NOUN
alkej-746	122	43	to	to	PART
alkej-746	122	44	assist	assist	VERB
alkej-746	122	45	knee	knee	NOUN
alkej-746	122	46	extension	extension	NOUN
alkej-746	122	47	movements	movement	NOUN
alkej-746	122	48	.	.	PUNCT
alkej-746	123	1	this	this	DET
alkej-746	123	2	way	way	NOUN
alkej-746	123	3	,	,	PUNCT
alkej-746	123	4	the	the	DET
alkej-746	123	5	spring	spring	NOUN
alkej-746	123	6	is	be	AUX
alkej-746	123	7	intended	intend	VERB
alkej-746	123	8	to	to	PART
alkej-746	123	9	store	store	VERB
alkej-746	123	10	energy	energy	NOUN
alkej-746	123	11	when	when	SCONJ
alkej-746	123	12	the	the	DET
alkej-746	123	13	heel	heel	NOUN
alkej-746	123	14	strikes	strike	VERB
alkej-746	123	15	the	the	DET
alkej-746	123	16	floor	floor	NOUN
alkej-746	123	17	which	which	PRON
alkej-746	123	18	is	be	AUX
alkej-746	123	19	then	then	ADV
alkej-746	123	20	released	release	VERB
alkej-746	123	21	when	when	SCONJ
alkej-746	123	22	the	the	DET
alkej-746	123	23	heel	heel	NOUN
alkej-746	123	24	leaves	leave	VERB
alkej-746	123	25	the	the	DET
alkej-746	123	26	floor	floor	NOUN
alkej-746	123	27	.	.	PUNCT
alkej-746	124	1	the	the	DET
alkej-746	124	2	action	action	NOUN
alkej-746	124	3	of	of	ADP
alkej-746	124	4	the	the	DET
alkej-746	124	5	passive	passive	ADJ
alkej-746	124	6	component	component	NOUN
alkej-746	124	7	(	(	PUNCT
alkej-746	124	8	spring	spring	NOUN
alkej-746	124	9	)	)	PUNCT
alkej-746	124	10	is	be	AUX
alkej-746	124	11	combined	combine	VERB
alkej-746	124	12	with	with	ADP
alkej-746	124	13	the	the	DET
alkej-746	124	14	mechanical	mechanical	ADJ
alkej-746	124	15	output	output	NOUN
alkej-746	124	16	of	of	ADP
alkej-746	124	17	the	the	DET
alkej-746	124	18	motor	motor	NOUN
alkej-746	124	19	to	to	PART
alkej-746	124	20	provide	provide	VERB
alkej-746	124	21	a	a	DET
alkej-746	124	22	good	good	ADJ
alkej-746	124	23	control	control	NOUN
alkej-746	124	24	on	on	ADP
alkej-746	124	25	the	the	DET
alkej-746	124	26	designed	design	VERB
alkej-746	124	27	exoskeleton	exoskeleton	NOUN
alkej-746	124	28	while	while	SCONJ
alkej-746	124	29	walking	walk	VERB
alkej-746	124	30	.	.	PUNCT
alkej-746	125	1	fig	fig	NOUN
alkej-746	125	2	.	.	PUNCT
alkej-746	126	1	9	9	X
alkej-746	126	2	.	.	X
alkej-746	126	3	exoskeleton	exoskeleton	ADJ
alkej-746	126	4	knee	knee	NOUN
alkej-746	126	5	joint	joint	ADJ
alkej-746	126	6	mechanism	mechanism	NOUN
alkej-746	126	7	.	.	PUNCT
alkej-746	127	1	niaam	niaam	PROPN
alkej-746	127	2	kh	kh	PROPN
alkej-746	127	3	.	.	PUNCT
alkej-746	128	1	al	al	PROPN
alkej-746	128	2	-	-	PUNCT
alkej-746	128	3	hayali	hayali	PROPN
alkej-746	128	4	al	al	PROPN
alkej-746	128	5	-	-	PUNCT
alkej-746	128	6	khwarizmi	khwarizmi	PROPN
alkej-746	128	7	engineering	engineering	NOUN
alkej-746	128	8	journal	journal	PROPN
alkej-746	128	9	,	,	PUNCT
alkej-746	128	10	vol	vol	NOUN
alkej-746	128	11	.	.	PROPN
alkej-746	128	12	17	17	NUM
alkej-746	128	13	,	,	PUNCT
alkej-746	128	14	no	no	INTJ
alkej-746	128	15	.	.	NOUN
alkej-746	128	16	4	4	NUM
alkej-746	128	17	,	,	PUNCT
alkej-746	128	18	p.p	p.p	PROPN
alkej-746	128	19	.	.	NOUN
alkej-746	128	20	3647	3647	NUM
alkej-746	128	21	(	(	PUNCT
alkej-746	128	22	2021	2021	NUM
alkej-746	128	23	)	)	PUNCT
alkej-746	128	24	42	42	NUM
alkej-746	128	25	2.4	2.4	NUM
alkej-746	128	26	electromyographic	electromyographic	ADJ
alkej-746	128	27	activity	activity	NOUN
alkej-746	128	28	the	the	DET
alkej-746	128	29	electromyography	electromyography	NOUN
alkej-746	128	30	(	(	PUNCT
alkej-746	128	31	emg	emg	NOUN
alkej-746	128	32	)	)	PUNCT
alkej-746	128	33	of	of	ADP
alkej-746	128	34	the	the	DET
alkej-746	128	35	right	right	ADJ
alkej-746	128	36	thigh	thigh	NOUN
alkej-746	128	37	and	and	CCONJ
alkej-746	128	38	leg	leg	NOUN
alkej-746	128	39	muscles	muscle	NOUN
alkej-746	128	40	were	be	AUX
alkej-746	128	41	recorded	record	VERB
alkej-746	128	42	and	and	CCONJ
alkej-746	128	43	collected	collect	VERB
alkej-746	128	44	using	use	VERB
alkej-746	128	45	myoresearch	myoresearch	NOUN
alkej-746	128	46	-	-	PUNCT
alkej-746	128	47	xp	xp	NOUN
alkej-746	128	48	clinical	clinical	PROPN
alkej-746	128	49	edition	edition	NOUN
alkej-746	128	50	(	(	PUNCT
alkej-746	128	51	1.07.01	1.07.01	PROPN
alkej-746	128	52	)	)	PUNCT
alkej-746	128	53	standard	standard	ADJ
alkej-746	128	54	emg	emg	NOUN
alkej-746	128	55	analysis	analysis	NOUN
alkej-746	128	56	protocols	protocol	NOUN
alkej-746	128	57	noraxonusa	noraxonusa	PROPN
alkej-746	128	58	as	as	SCONJ
alkej-746	128	59	illustrated	illustrate	VERB
alkej-746	128	60	in	in	ADP
alkej-746	128	61	figure	figure	NOUN
alkej-746	128	62	10	10	NUM
alkej-746	128	63	.	.	PUNCT
alkej-746	129	1	the	the	DET
alkej-746	129	2	disposable	disposable	ADJ
alkej-746	129	3	,	,	PUNCT
alkej-746	129	4	surface	surface	NOUN
alkej-746	129	5	emg	emg	NOUN
alkej-746	129	6	electrodes	electrode	NOUN
alkej-746	129	7	are	be	AUX
alkej-746	129	8	of	of	ADP
alkej-746	129	9	type	type	NOUN
alkej-746	129	10	noraxonusa	noraxonusa	PROPN
alkej-746	130	1	[	[	X
alkej-746	130	2	self	self	NOUN
alkej-746	130	3	-	-	PUNCT
alkej-746	130	4	adhesive	adhesive	ADJ
alkej-746	130	5	silver	silver	NOUN
alkej-746	130	6	/	/	SYM
alkej-746	130	7	silver	silver	NOUN
alkej-746	130	8	chloride	chloride	NOUN
alkej-746	130	9	(	(	PUNCT
alkej-746	130	10	ag	ag	NOUN
alkej-746	130	11	/	/	SYM
alkej-746	130	12	agcl	agcl	NOUN
alkej-746	130	13	)	)	PUNCT
alkej-746	130	14	snap	snap	NOUN
alkej-746	130	15	of	of	ADP
alkej-746	130	16	dual	dual	ADJ
alkej-746	130	17	electrodes	electrode	NOUN
alkej-746	130	18	4	4	NUM
alkej-746	130	19	mm	mm	NOUN
alkej-746	130	20	diameter	diameter	NOUN
alkej-746	130	21	electrode	electrode	NOUN
alkej-746	130	22	,	,	PUNCT
alkej-746	130	23	used	use	VERB
alkej-746	130	24	for	for	ADP
alkej-746	130	25	surface	surface	NOUN
alkej-746	130	26	emg	emg	NOUN
alkej-746	130	27	applications	application	NOUN
alkej-746	130	28	only	only	ADV
alkej-746	130	29	]	]	PUNCT
alkej-746	130	30	.	.	PUNCT
alkej-746	131	1	the	the	DET
alkej-746	131	2	emg	emg	NOUN
alkej-746	131	3	activity	activity	NOUN
alkej-746	131	4	was	be	AUX
alkej-746	131	5	recorded	record	VERB
alkej-746	131	6	from	from	ADP
alkej-746	131	7	four	four	NUM
alkej-746	131	8	muscles	muscle	NOUN
alkej-746	131	9	,	,	PUNCT
alkej-746	131	10	these	these	PRON
alkej-746	131	11	are	be	AUX
alkej-746	131	12	:	:	PUNCT
alkej-746	131	13	rectus	rectus	NOUN
alkej-746	131	14	femoris	femoris	NOUN
alkej-746	131	15	,	,	PUNCT
alkej-746	131	16	biceps	bicep	NOUN
alkej-746	131	17	femoris	femoris	NOUN
alkej-746	131	18	,	,	PUNCT
alkej-746	131	19	tibialis	tibiali	NOUN
alkej-746	131	20	anterior	anterior	ADJ
alkej-746	131	21	,	,	PUNCT
alkej-746	131	22	and	and	CCONJ
alkej-746	131	23	the	the	DET
alkej-746	131	24	med	med	PROPN
alkej-746	131	25	.	.	PUNCT
alkej-746	132	1	gastrocnemius	gastrocnemius	NOUN
alkej-746	132	2	muscles	muscle	NOUN
alkej-746	132	3	.	.	PUNCT
alkej-746	133	1	fig.10	fig.10	PROPN
alkej-746	133	2	.	.	PROPN
alkej-746	133	3	noraxon	noraxon	PROPN
alkej-746	133	4	emg	emg	PROPN
alkej-746	133	5	measurements	measurement	VERB
alkej-746	133	6	device	device	NOUN
alkej-746	133	7	and	and	CCONJ
alkej-746	133	8	its	its	PRON
alkej-746	133	9	accessories	accessory	NOUN
alkej-746	133	10	.	.	PUNCT
alkej-746	134	1	2.5	2.5	NUM
alkej-746	134	2	clinical	clinical	ADJ
alkej-746	134	3	evaluation	evaluation	NOUN
alkej-746	134	4	the	the	DET
alkej-746	134	5	experimental	experimental	ADJ
alkej-746	134	6	tests	test	NOUN
alkej-746	134	7	on	on	ADP
alkej-746	134	8	the	the	DET
alkej-746	134	9	sound	sound	ADJ
alkej-746	134	10	person	person	NOUN
alkej-746	134	11	are	be	AUX
alkej-746	134	12	implemented	implement	VERB
alkej-746	134	13	in	in	ADP
alkej-746	134	14	order	order	NOUN
alkej-746	134	15	to	to	PART
alkej-746	134	16	obtain	obtain	VERB
alkej-746	134	17	the	the	DET
alkej-746	134	18	behavior	behavior	NOUN
alkej-746	134	19	of	of	ADP
alkej-746	134	20	gait	gait	ADJ
alkej-746	134	21	cycle	cycle	NOUN
alkej-746	134	22	components	component	NOUN
alkej-746	134	23	,	,	PUNCT
alkej-746	134	24	the	the	DET
alkej-746	134	25	lower	low	ADJ
alkej-746	134	26	extremity	extremity	NOUN
alkej-746	134	27	joints	joint	NOUN
alkej-746	134	28	’	'	PUNCT
alkej-746	134	29	angles	angle	NOUN
alkej-746	134	30	and	and	CCONJ
alkej-746	134	31	the	the	DET
alkej-746	134	32	activity	activity	NOUN
alkej-746	134	33	of	of	ADP
alkej-746	134	34	the	the	DET
alkej-746	134	35	lower	low	ADJ
alkej-746	134	36	limb	limb	NOUN
alkej-746	134	37	muscles	muscle	NOUN
alkej-746	134	38	,	,	PUNCT
alkej-746	134	39	this	this	DET
alkej-746	134	40	information	information	NOUN
alkej-746	134	41	is	be	AUX
alkej-746	134	42	important	important	ADJ
alkej-746	134	43	in	in	ADP
alkej-746	134	44	building	build	VERB
alkej-746	134	45	technical	technical	ADJ
alkej-746	134	46	data	datum	NOUN
alkej-746	134	47	based	base	VERB
alkej-746	134	48	on	on	ADP
alkej-746	134	49	the	the	DET
alkej-746	134	50	gait	gait	ADJ
alkej-746	134	51	cycle	cycle	NOUN
alkej-746	134	52	analysis	analysis	NOUN
alkej-746	134	53	of	of	ADP
alkej-746	134	54	a	a	DET
alkej-746	134	55	healthy	healthy	ADJ
alkej-746	134	56	person	person	NOUN
alkej-746	134	57	.	.	PUNCT
alkej-746	135	1	the	the	DET
alkej-746	135	2	obtained	obtain	VERB
alkej-746	135	3	information	information	NOUN
alkej-746	135	4	is	be	AUX
alkej-746	135	5	used	use	VERB
alkej-746	135	6	in	in	ADP
alkej-746	135	7	the	the	DET
alkej-746	135	8	analysis	analysis	NOUN
alkej-746	135	9	,	,	PUNCT
alkej-746	135	10	comparison	comparison	NOUN
alkej-746	135	11	,	,	PUNCT
alkej-746	135	12	and	and	CCONJ
alkej-746	135	13	improvement	improvement	NOUN
alkej-746	135	14	indication	indication	NOUN
alkej-746	135	15	in	in	ADP
alkej-746	135	16	the	the	DET
alkej-746	135	17	design	design	NOUN
alkej-746	135	18	and	and	CCONJ
alkej-746	135	19	manufacturing	manufacturing	NOUN
alkej-746	135	20	of	of	ADP
alkej-746	135	21	the	the	DET
alkej-746	135	22	lower	low	ADJ
alkej-746	135	23	limb	limb	NOUN
alkej-746	135	24	exoskeleton	exoskeleton	NOUN
alkej-746	135	25	.	.	PUNCT
alkej-746	136	1	two	two	NUM
alkej-746	136	2	subjects	subject	NOUN
alkej-746	136	3	participated	participate	VERB
alkej-746	136	4	in	in	ADP
alkej-746	136	5	this	this	DET
alkej-746	136	6	study	study	NOUN
alkej-746	136	7	,	,	PUNCT
alkej-746	136	8	a	a	DET
alkej-746	136	9	healthy	healthy	ADJ
alkej-746	136	10	male	male	ADJ
alkej-746	136	11	participant	participant	NOUN
alkej-746	136	12	with	with	ADP
alkej-746	136	13	no	no	DET
alkej-746	136	14	history	history	NOUN
alkej-746	136	15	of	of	ADP
alkej-746	136	16	neurological	neurological	ADJ
alkej-746	136	17	or	or	CCONJ
alkej-746	136	18	muscular	muscular	ADJ
alkej-746	136	19	disease	disease	NOUN
alkej-746	136	20	and	and	CCONJ
alkej-746	136	21	no	no	DET
alkej-746	136	22	symptoms	symptom	NOUN
alkej-746	136	23	of	of	ADP
alkej-746	136	24	orthopedic	orthopedic	NOUN
alkej-746	136	25	,	,	PUNCT
alkej-746	136	26	and	and	CCONJ
alkej-746	136	27	a	a	DET
alkej-746	136	28	subject	subject	NOUN
alkej-746	136	29	with	with	ADP
alkej-746	136	30	unilateral	unilateral	ADJ
alkej-746	136	31	lower	low	ADJ
alkej-746	136	32	limb	limb	NOUN
alkej-746	136	33	weakness	weakness	NOUN
alkej-746	136	34	.	.	PUNCT
alkej-746	137	1	the	the	DET
alkej-746	137	2	participants	participant	NOUN
alkej-746	137	3	were	be	AUX
alkej-746	137	4	given	give	VERB
alkej-746	137	5	a	a	DET
alkej-746	137	6	full	full	ADJ
alkej-746	137	7	explanation	explanation	NOUN
alkej-746	137	8	about	about	ADP
alkej-746	137	9	the	the	DET
alkej-746	137	10	study	study	NOUN
alkej-746	137	11	,	,	PUNCT
alkej-746	137	12	as	as	ADV
alkej-746	137	13	well	well	ADV
alkej-746	137	14	as	as	ADP
alkej-746	137	15	a	a	DET
alkej-746	137	16	brief	brief	ADJ
alkej-746	137	17	explanation	explanation	NOUN
alkej-746	137	18	about	about	ADP
alkej-746	137	19	the	the	DET
alkej-746	137	20	function	function	NOUN
alkej-746	137	21	of	of	ADP
alkej-746	137	22	the	the	DET
alkej-746	137	23	human	human	ADJ
alkej-746	137	24	lower	low	ADJ
alkej-746	137	25	limb	limb	NOUN
alkej-746	137	26	muscles	muscle	NOUN
alkej-746	137	27	,	,	PUNCT
alkej-746	137	28	and	and	CCONJ
alkej-746	137	29	verbal	verbal	ADJ
alkej-746	137	30	instructions	instruction	NOUN
alkej-746	137	31	concerning	concern	VERB
alkej-746	137	32	the	the	DET
alkej-746	137	33	objectives	objective	NOUN
alkej-746	137	34	and	and	CCONJ
alkej-746	137	35	procedures	procedure	NOUN
alkej-746	137	36	of	of	ADP
alkej-746	137	37	the	the	DET
alkej-746	137	38	research	research	NOUN
alkej-746	137	39	.	.	PUNCT
alkej-746	138	1	each	each	DET
alkej-746	138	2	participant	participant	NOUN
alkej-746	138	3	gave	give	VERB
alkej-746	138	4	informed	informed	ADJ
alkej-746	138	5	consent	consent	NOUN
alkej-746	138	6	before	before	ADP
alkej-746	138	7	participating	participate	VERB
alkej-746	138	8	to	to	ADP
alkej-746	138	9	the	the	DET
alkej-746	138	10	research	research	NOUN
alkej-746	138	11	.	.	PUNCT
alkej-746	139	1	some	some	PRON
alkej-746	139	2	of	of	ADP
alkej-746	139	3	the	the	DET
alkej-746	139	4	experimental	experimental	ADJ
alkej-746	139	5	tests	test	NOUN
alkej-746	139	6	are	be	AUX
alkej-746	139	7	done	do	VERB
alkej-746	139	8	in	in	ADP
alkej-746	139	9	biomechanics	biomechanic	NOUN
alkej-746	139	10	laboratory	laboratory	NOUN
alkej-746	139	11	in	in	ADP
alkej-746	139	12	biomedical	biomedical	ADJ
alkej-746	139	13	engineering	engineering	NOUN
alkej-746	139	14	department	department	NOUN
alkej-746	139	15	at	at	ADP
alkej-746	139	16	the	the	DET
alkej-746	139	17	faculty	faculty	NOUN
alkej-746	139	18	of	of	ADP
alkej-746	139	19	engineering	engineering	NOUN
alkej-746	139	20	in	in	ADP
alkej-746	139	21	al	al	PROPN
alkej-746	139	22	-	-	PUNCT
alkej-746	139	23	nahrain	nahrain	PROPN
alkej-746	139	24	university	university	NOUN
alkej-746	139	25	,	,	PUNCT
alkej-746	139	26	while	while	SCONJ
alkej-746	139	27	the	the	DET
alkej-746	139	28	others	other	NOUN
alkej-746	139	29	were	be	AUX
alkej-746	139	30	in	in	ADP
alkej-746	139	31	biomedical	biomedical	ADJ
alkej-746	139	32	engineering	engineering	NOUN
alkej-746	139	33	department	department	NOUN
alkej-746	139	34	at	at	ADP
alkej-746	139	35	the	the	DET
alkej-746	139	36	faculty	faculty	NOUN
alkej-746	139	37	of	of	ADP
alkej-746	139	38	al	al	PROPN
alkej-746	139	39	-	-	PUNCT
alkej-746	139	40	khawarizmi	khawarizmi	PROPN
alkej-746	139	41	college	college	PROPN
alkej-746	139	42	of	of	ADP
alkej-746	139	43	engineering	engineering	PROPN
alkej-746	139	44	,	,	PUNCT
alkej-746	139	45	university	university	NOUN
alkej-746	139	46	of	of	ADP
alkej-746	139	47	baghdad	baghdad	PROPN
alkej-746	139	48	.	.	PUNCT
alkej-746	140	1	experimental	experimental	ADJ
alkej-746	140	2	trials	trial	NOUN
alkej-746	140	3	were	be	AUX
alkej-746	140	4	conducted	conduct	VERB
alkej-746	140	5	in	in	ADP
alkej-746	140	6	order	order	NOUN
alkej-746	140	7	to	to	PART
alkej-746	140	8	verify	verify	VERB
alkej-746	140	9	the	the	DET
alkej-746	140	10	assist	assist	ADJ
alkej-746	140	11	effect	effect	NOUN
alkej-746	140	12	of	of	ADP
alkej-746	140	13	the	the	DET
alkej-746	140	14	proposed	propose	VERB
alkej-746	140	15	exoskeleton	exoskeleton	NOUN
alkej-746	140	16	.	.	PUNCT
alkej-746	141	1	the	the	DET
alkej-746	141	2	main	main	ADJ
alkej-746	141	3	aim	aim	NOUN
alkej-746	141	4	of	of	ADP
alkej-746	141	5	data	datum	NOUN
alkej-746	141	6	analysis	analysis	NOUN
alkej-746	141	7	and	and	CCONJ
alkej-746	141	8	acquisition	acquisition	NOUN
alkej-746	141	9	from	from	ADP
alkej-746	141	10	trials	trial	NOUN
alkej-746	141	11	was	be	AUX
alkej-746	141	12	the	the	DET
alkej-746	141	13	comparison	comparison	NOUN
alkej-746	141	14	of	of	ADP
alkej-746	141	15	the	the	DET
alkej-746	141	16	measured	measured	ADJ
alkej-746	141	17	emg	emg	NOUN
alkej-746	141	18	activity	activity	NOUN
alkej-746	141	19	while	while	SCONJ
alkej-746	141	20	the	the	DET
alkej-746	141	21	subject	subject	NOUN
alkej-746	141	22	was	be	AUX
alkej-746	141	23	walking	walk	VERB
alkej-746	141	24	without	without	ADP
alkej-746	141	25	and	and	CCONJ
alkej-746	141	26	with	with	ADP
alkej-746	141	27	the	the	DET
alkej-746	141	28	exoskeleton	exoskeleton	NOUN
alkej-746	141	29	.	.	PUNCT
alkej-746	142	1	the	the	DET
alkej-746	142	2	exoskeleton	exoskeleton	PROPN
alkej-746	142	3	was	be	AUX
alkej-746	142	4	adjusted	adjust	VERB
alkej-746	142	5	to	to	ADP
alkej-746	142	6	the	the	DET
alkej-746	142	7	subject	subject	NOUN
alkej-746	142	8	’s	’s	PART
alkej-746	142	9	size	size	NOUN
alkej-746	142	10	.	.	PUNCT
alkej-746	143	1	after	after	ADP
alkej-746	143	2	that	that	PRON
alkej-746	143	3	,	,	PUNCT
alkej-746	143	4	the	the	DET
alkej-746	143	5	subject	subject	NOUN
alkej-746	143	6	walked	walk	VERB
alkej-746	143	7	two	two	NUM
alkej-746	143	8	or	or	CCONJ
alkej-746	143	9	three	three	NUM
alkej-746	143	10	practice	practice	NOUN
alkej-746	143	11	trials	trial	NOUN
alkej-746	143	12	to	to	PART
alkej-746	143	13	make	make	VERB
alkej-746	143	14	sure	sure	ADJ
alkej-746	143	15	the	the	DET
alkej-746	143	16	exoskeleton	exoskeleton	NOUN
alkej-746	143	17	had	have	VERB
alkej-746	143	18	a	a	DET
alkej-746	143	19	comfortable	comfortable	ADJ
alkej-746	143	20	fit	fit	NOUN
alkej-746	143	21	to	to	ADP
alkej-746	143	22	the	the	DET
alkej-746	143	23	body	body	NOUN
alkej-746	143	24	and	and	CCONJ
alkej-746	143	25	so	so	SCONJ
alkej-746	143	26	that	that	SCONJ
alkej-746	143	27	the	the	DET
alkej-746	143	28	subject	subject	NOUN
alkej-746	143	29	should	should	AUX
alkej-746	143	30	become	become	VERB
alkej-746	143	31	familiar	familiar	ADJ
alkej-746	143	32	with	with	ADP
alkej-746	143	33	the	the	DET
alkej-746	143	34	exoskeleton	exoskeleton	NOUN
alkej-746	143	35	and	and	CCONJ
alkej-746	143	36	training	training	NOUN
alkej-746	143	37	environment	environment	NOUN
alkej-746	143	38	.	.	PUNCT
alkej-746	144	1	two	two	NUM
alkej-746	144	2	different	different	ADJ
alkej-746	144	3	walking	walking	NOUN
alkej-746	144	4	trials	trial	NOUN
alkej-746	144	5	were	be	AUX
alkej-746	144	6	recorded	record	VERB
alkej-746	144	7	.	.	PUNCT
alkej-746	145	1	after	after	ADP
alkej-746	145	2	each	each	DET
alkej-746	145	3	trial	trial	NOUN
alkej-746	145	4	the	the	DET
alkej-746	145	5	subject	subject	NOUN
alkej-746	145	6	had	have	VERB
alkej-746	145	7	a	a	DET
alkej-746	145	8	ten	ten	NUM
alkej-746	145	9	minute	minute	NOUN
alkej-746	145	10	break	break	NOUN
alkej-746	145	11	.	.	PUNCT
alkej-746	146	1	all	all	DET
alkej-746	146	2	trials	trial	NOUN
alkej-746	146	3	were	be	AUX
alkej-746	146	4	performed	perform	VERB
alkej-746	146	5	on	on	ADP
alkej-746	146	6	a	a	DET
alkej-746	146	7	treadmill	treadmill	NOUN
alkej-746	146	8	,	,	PUNCT
alkej-746	146	9	as	as	SCONJ
alkej-746	146	10	shown	show	VERB
alkej-746	146	11	in	in	ADP
alkej-746	146	12	figure	figure	NOUN
alkej-746	146	13	11	11	NUM
alkej-746	146	14	,	,	PUNCT
alkej-746	146	15	at	at	ADP
alkej-746	146	16	fixed	fix	VERB
alkej-746	146	17	speeds	speed	NOUN
alkej-746	146	18	;	;	PUNCT
alkej-746	146	19	0.8	0.8	NUM
alkej-746	146	20	m/s	m/s	NOUN
alkej-746	146	21	for	for	ADP
alkej-746	146	22	3	3	NUM
alkej-746	146	23	minutes	minute	NOUN
alkej-746	146	24	and	and	CCONJ
alkej-746	146	25	1.2	1.2	NUM
alkej-746	146	26	m/s	m/s	PROPN
alkej-746	146	27	for	for	ADP
alkej-746	146	28	1	1	NUM
alkej-746	146	29	minute	minute	NOUN
alkej-746	146	30	to	to	PART
alkej-746	146	31	simulate	simulate	VERB
alkej-746	146	32	low	low	ADJ
alkej-746	146	33	to	to	ADP
alkej-746	146	34	medium	medium	ADJ
alkej-746	146	35	walking	walking	NOUN
alkej-746	146	36	speed	speed	NOUN
alkej-746	146	37	.	.	PUNCT
alkej-746	147	1	the	the	DET
alkej-746	147	2	basic	basic	ADJ
alkej-746	147	3	information	information	NOUN
alkej-746	147	4	of	of	ADP
alkej-746	147	5	the	the	DET
alkej-746	147	6	participants	participant	NOUN
alkej-746	147	7	and	and	CCONJ
alkej-746	147	8	the	the	DET
alkej-746	147	9	different	different	ADJ
alkej-746	147	10	trials	trial	NOUN
alkej-746	147	11	are	be	AUX
alkej-746	147	12	summarized	summarize	VERB
alkej-746	147	13	in	in	ADP
alkej-746	147	14	tables	table	NOUN
alkej-746	147	15	3	3	NUM
alkej-746	147	16	and	and	CCONJ
alkej-746	147	17	4	4	NUM
alkej-746	147	18	respectively	respectively	ADV
alkej-746	147	19	.	.	PUNCT
alkej-746	148	1	niaam	niaam	PROPN
alkej-746	148	2	kh	kh	PROPN
alkej-746	148	3	.	.	PUNCT
alkej-746	149	1	al	al	PROPN
alkej-746	149	2	-	-	PUNCT
alkej-746	149	3	hayali	hayali	PROPN
alkej-746	149	4	al	al	PROPN
alkej-746	149	5	-	-	PUNCT
alkej-746	149	6	khwarizmi	khwarizmi	PROPN
alkej-746	149	7	engineering	engineering	NOUN
alkej-746	149	8	journal	journal	PROPN
alkej-746	149	9	,	,	PUNCT
alkej-746	149	10	vol	vol	NOUN
alkej-746	149	11	.	.	PROPN
alkej-746	149	12	17	17	NUM
alkej-746	149	13	,	,	PUNCT
alkej-746	149	14	no	no	INTJ
alkej-746	149	15	.	.	NOUN
alkej-746	149	16	4	4	NUM
alkej-746	149	17	,	,	PUNCT
alkej-746	149	18	p.p	p.p	PROPN
alkej-746	149	19	.	.	NOUN
alkej-746	149	20	3647	3647	NUM
alkej-746	149	21	(	(	PUNCT
alkej-746	149	22	2021	2021	NUM
alkej-746	149	23	)	)	PUNCT
alkej-746	149	24	43	43	NUM
alkej-746	149	25	(	(	PUNCT
alkej-746	149	26	a	a	NOUN
alkej-746	149	27	)	)	PUNCT
alkej-746	149	28	(	(	PUNCT
alkej-746	149	29	b	b	NOUN
alkej-746	149	30	)	)	PUNCT
alkej-746	149	31	fig.11	fig.11	PROPN
alkej-746	149	32	.	.	PUNCT
alkej-746	150	1	experimental	experimental	ADJ
alkej-746	150	2	tests	test	NOUN
alkej-746	150	3	on	on	ADP
alkej-746	150	4	participants	participant	NOUN
alkej-746	150	5	(	(	PUNCT
alkej-746	150	6	a	a	X
alkej-746	150	7	)	)	PUNCT
alkej-746	150	8	healthy	healthy	ADJ
alkej-746	150	9	subject	subject	NOUN
alkej-746	150	10	(	(	PUNCT
alkej-746	150	11	b	b	NOUN
alkej-746	150	12	)	)	PUNCT
alkej-746	150	13	subject	subject	NOUN
alkej-746	150	14	with	with	ADP
alkej-746	150	15	unilateral	unilateral	ADJ
alkej-746	150	16	(	(	PUNCT
alkej-746	150	17	right	right	ADJ
alkej-746	150	18	)	)	PUNCT
alkej-746	150	19	lower	low	ADJ
alkej-746	150	20	limb	limb	NOUN
alkej-746	150	21	weakness	weakness	NOUN
alkej-746	150	22	.	.	PUNCT
alkej-746	151	1	table	table	NOUN
alkej-746	151	2	3	3	NUM
alkej-746	151	3	,	,	PUNCT
alkej-746	151	4	participants	participant	VERB
alkej-746	151	5	basic	basic	ADJ
alkej-746	151	6	information	information	NOUN
alkej-746	151	7	.	.	PUNCT
alkej-746	152	1	participant	participant	ADJ
alkej-746	152	2	condition	condition	NOUN
alkej-746	152	3	age	age	NOUN
alkej-746	152	4	gender	gender	NOUN
alkej-746	152	5	body	body	NOUN
alkej-746	152	6	mass	mass	NOUN
alkej-746	152	7	(	(	PUNCT
alkej-746	152	8	kilogram	kilogram	NOUN
alkej-746	152	9	)	)	PUNCT
alkej-746	152	10	body	body	NOUN
alkej-746	152	11	length	length	NOUN
alkej-746	152	12	(	(	PUNCT
alkej-746	152	13	meter	meter	NOUN
alkej-746	152	14	)	)	PUNCT
alkej-746	152	15	healthy	healthy	ADJ
alkej-746	152	16	22	22	NUM
alkej-746	152	17	male	male	NOUN
alkej-746	152	18	63	63	NUM
alkej-746	152	19	1.7	1.7	NUM
alkej-746	152	20	unilateral	unilateral	ADJ
alkej-746	152	21	(	(	PUNCT
alkej-746	152	22	right	right	ADJ
alkej-746	152	23	)	)	PUNCT
alkej-746	152	24	lower	low	ADJ
alkej-746	152	25	limb	limb	NOUN
alkej-746	152	26	weakness	weakness	NOUN
alkej-746	152	27	21	21	NUM
alkej-746	152	28	female	female	NOUN
alkej-746	152	29	59	59	NUM
alkej-746	152	30	1.67	1.67	NUM
alkej-746	152	31	table	table	NOUN
alkej-746	152	32	4	4	NUM
alkej-746	152	33	,	,	PUNCT
alkej-746	152	34	walking	walk	VERB
alkej-746	152	35	conditions	condition	NOUN
alkej-746	152	36	for	for	ADP
alkej-746	152	37	sound	sound	ADJ
alkej-746	152	38	person	person	NOUN
alkej-746	152	39	.	.	PUNCT
alkej-746	153	1	trial	trial	NOUN
alkej-746	153	2	number	number	NOUN
alkej-746	153	3	waling	wale	VERB
alkej-746	153	4	description	description	NOUN
alkej-746	153	5	1st	1st	NOUN
alkej-746	153	6	trial	trial	NOUN
alkej-746	153	7	walking	walk	VERB
alkej-746	153	8	without	without	ADP
alkej-746	153	9	using	use	VERB
alkej-746	153	10	the	the	DET
alkej-746	153	11	exoskeleton	exoskeleton	NOUN
alkej-746	153	12	.	.	PUNCT
alkej-746	154	1	2nd	2nd	ADJ
alkej-746	154	2	trial	trial	NOUN
alkej-746	154	3	walking	walk	VERB
alkej-746	154	4	using	use	VERB
alkej-746	154	5	the	the	DET
alkej-746	154	6	exoskeleton	exoskeleton	NOUN
alkej-746	154	7	.	.	PUNCT
alkej-746	155	1	throughout	throughout	ADP
alkej-746	155	2	all	all	DET
alkej-746	155	3	trials	trial	NOUN
alkej-746	155	4	,	,	PUNCT
alkej-746	155	5	the	the	DET
alkej-746	155	6	emg	emg	NOUN
alkej-746	155	7	signals	signal	VERB
alkej-746	155	8	from	from	ADP
alkej-746	155	9	four	four	NUM
alkej-746	155	10	muscle	muscle	NOUN
alkej-746	155	11	groups	group	NOUN
alkej-746	155	12	on	on	ADP
alkej-746	155	13	the	the	DET
alkej-746	155	14	right	right	ADJ
alkej-746	155	15	leg	leg	NOUN
alkej-746	155	16	were	be	AUX
alkej-746	155	17	recorded	record	VERB
alkej-746	155	18	.	.	PUNCT
alkej-746	156	1	the	the	DET
alkej-746	156	2	tested	test	VERB
alkej-746	156	3	electrodes	electrode	NOUN
alkej-746	156	4	of	of	ADP
alkej-746	156	5	each	each	DET
alkej-746	156	6	selected	select	VERB
alkej-746	156	7	muscle	muscle	NOUN
alkej-746	156	8	are	be	AUX
alkej-746	156	9	placed	place	VERB
alkej-746	156	10	related	relate	VERB
alkej-746	156	11	to	to	ADP
alkej-746	156	12	the	the	DET
alkej-746	156	13	learning	learning	NOUN
alkej-746	156	14	picture	picture	NOUN
alkej-746	156	15	equipped	equip	VERB
alkej-746	156	16	with	with	ADP
alkej-746	156	17	the	the	DET
alkej-746	156	18	noraxon	noraxon	PROPN
alkej-746	156	19	-	-	PUNCT
alkej-746	156	20	usa	usa	PROPN
alkej-746	156	21	software	software	NOUN
alkej-746	156	22	.	.	PUNCT
alkej-746	157	1	signals	signal	NOUN
alkej-746	157	2	from	from	ADP
alkej-746	157	3	the	the	DET
alkej-746	157	4	emg	emg	NOUN
alkej-746	157	5	electrodes	electrode	NOUN
alkej-746	157	6	were	be	AUX
alkej-746	157	7	transmitted	transmit	VERB
alkej-746	157	8	to	to	ADP
alkej-746	157	9	the	the	DET
alkej-746	157	10	special	special	ADJ
alkej-746	157	11	purpose	purpose	NOUN
alkej-746	157	12	software	software	NOUN
alkej-746	157	13	to	to	PART
alkej-746	157	14	be	be	AUX
alkej-746	157	15	recorded	record	VERB
alkej-746	157	16	and	and	CCONJ
alkej-746	157	17	analyzed	analyze	VERB
alkej-746	157	18	.	.	PUNCT
alkej-746	158	1	the	the	DET
alkej-746	158	2	raw	raw	ADJ
alkej-746	158	3	emg	emg	NOUN
alkej-746	158	4	signals	signal	NOUN
alkej-746	158	5	were	be	AUX
alkej-746	158	6	filtered	filter	VERB
alkej-746	158	7	using	use	VERB
alkej-746	158	8	a	a	DET
alkej-746	158	9	notch	notch	ADJ
alkej-746	158	10	filter	filter	NOUN
alkej-746	158	11	(	(	PUNCT
alkej-746	158	12	50hz	50hz	NOUN
alkej-746	158	13	)	)	PUNCT
alkej-746	158	14	to	to	PART
alkej-746	158	15	minimize	minimize	VERB
alkej-746	158	16	the	the	DET
alkej-746	158	17	effects	effect	NOUN
alkej-746	158	18	of	of	ADP
alkej-746	158	19	the	the	DET
alkej-746	158	20	alternating	alternate	VERB
alkej-746	158	21	current	current	NOUN
alkej-746	158	22	.	.	PUNCT
alkej-746	159	1	then	then	ADV
alkej-746	159	2	,	,	PUNCT
alkej-746	159	3	a	a	DET
alkej-746	159	4	band	band	NOUN
alkej-746	159	5	-	-	PUNCT
alkej-746	159	6	pass	pass	NOUN
alkej-746	159	7	filter	filter	NOUN
alkej-746	159	8	(	(	PUNCT
alkej-746	159	9	80	80	NUM
alkej-746	159	10	-	-	PUNCT
alkej-746	159	11	250hz	250hz	NOUN
alkej-746	159	12	)	)	PUNCT
alkej-746	159	13	was	be	AUX
alkej-746	159	14	used	use	VERB
alkej-746	159	15	to	to	PART
alkej-746	159	16	remove	remove	VERB
alkej-746	159	17	motion	motion	NOUN
alkej-746	159	18	artifacts	artifact	NOUN
alkej-746	159	19	.	.	PUNCT
alkej-746	160	1	the	the	DET
alkej-746	160	2	emg	emg	NOUN
alkej-746	160	3	signals	signal	NOUN
alkej-746	160	4	were	be	AUX
alkej-746	160	5	then	then	ADV
alkej-746	160	6	rectified	rectify	VERB
alkej-746	160	7	and	and	CCONJ
alkej-746	160	8	the	the	DET
alkej-746	160	9	emg	emg	NOUN
alkej-746	160	10	mean	mean	VERB
alkej-746	160	11	values	value	NOUN
alkej-746	160	12	were	be	AUX
alkej-746	160	13	obtained	obtain	VERB
alkej-746	160	14	.	.	PUNCT
alkej-746	161	1	3	3	X
alkej-746	161	2	.	.	NOUN
alkej-746	161	3	results	result	NOUN
alkej-746	161	4	and	and	CCONJ
alkej-746	161	5	discussion	discussion	VERB
alkej-746	161	6	the	the	DET
alkej-746	161	7	results	result	NOUN
alkej-746	161	8	of	of	ADP
alkej-746	161	9	emg	emg	NOUN
alkej-746	161	10	activity	activity	NOUN
alkej-746	161	11	of	of	ADP
alkej-746	161	12	the	the	DET
alkej-746	161	13	right	right	ADJ
alkej-746	161	14	leg	leg	NOUN
alkej-746	161	15	muscles	muscle	NOUN
alkej-746	161	16	of	of	ADP
alkej-746	161	17	the	the	DET
alkej-746	161	18	healthy	healthy	ADJ
alkej-746	161	19	subject	subject	NOUN
alkej-746	161	20	while	while	SCONJ
alkej-746	161	21	walking	walk	VERB
alkej-746	161	22	on	on	ADP
alkej-746	161	23	the	the	DET
alkej-746	161	24	treadmill	treadmill	NOUN
alkej-746	161	25	at	at	ADP
alkej-746	161	26	fixed	fix	VERB
alkej-746	161	27	speeds	speed	NOUN
alkej-746	161	28	of	of	ADP
alkej-746	161	29	0.8	0.8	NUM
alkej-746	161	30	m/s	m/s	NOUN
alkej-746	161	31	for	for	ADP
alkej-746	161	32	3	3	NUM
alkej-746	161	33	minutes	minute	NOUN
alkej-746	161	34	and	and	CCONJ
alkej-746	161	35	1.2	1.2	NUM
alkej-746	161	36	m/s	m/s	PROPN
alkej-746	161	37	for	for	ADP
alkej-746	161	38	1	1	NUM
alkej-746	161	39	minute	minute	NOUN
alkej-746	161	40	are	be	AUX
alkej-746	161	41	presented	present	VERB
alkej-746	161	42	in	in	ADP
alkej-746	161	43	figures	figure	NOUN
alkej-746	161	44	12	12	NUM
alkej-746	161	45	and	and	CCONJ
alkej-746	161	46	13	13	NUM
alkej-746	161	47	,	,	PUNCT
alkej-746	161	48	respectively	respectively	ADV
alkej-746	161	49	.	.	PUNCT
alkej-746	162	1	the	the	DET
alkej-746	162	2	figures	figure	NOUN
alkej-746	162	3	reveal	reveal	VERB
alkej-746	162	4	the	the	DET
alkej-746	162	5	mean	mean	ADJ
alkej-746	162	6	emg	emg	NOUN
alkej-746	162	7	activity	activity	NOUN
alkej-746	162	8	of	of	ADP
alkej-746	162	9	the	the	DET
alkej-746	162	10	med	med	PROPN
alkej-746	162	11	.	.	PUNCT
alkej-746	163	1	gastrocnemius	gastrocnemius	PROPN
alkej-746	163	2	,	,	PUNCT
alkej-746	163	3	tibialis	tibiali	NOUN
alkej-746	163	4	anterior	anterior	ADJ
alkej-746	163	5	,	,	PUNCT
alkej-746	163	6	biceps	bicep	NOUN
alkej-746	163	7	femoris	femoris	NOUN
alkej-746	163	8	,	,	PUNCT
alkej-746	163	9	and	and	CCONJ
alkej-746	163	10	rectus	rectus	NOUN
alkej-746	163	11	femoris	femoris	NOUN
alkej-746	163	12	muscles	muscle	NOUN
alkej-746	163	13	while	while	SCONJ
alkej-746	163	14	walking	walk	VERB
alkej-746	163	15	without	without	ADP
alkej-746	163	16	and	and	CCONJ
alkej-746	163	17	with	with	ADP
alkej-746	163	18	the	the	DET
alkej-746	163	19	exoskeleton	exoskeleton	PROPN
alkej-746	163	20	.	.	PUNCT
alkej-746	164	1	walking	walk	VERB
alkej-746	164	2	using	use	VERB
alkej-746	164	3	the	the	DET
alkej-746	164	4	proposed	propose	VERB
alkej-746	164	5	exoskeleton	exoskeleton	NOUN
alkej-746	164	6	has	have	VERB
alkej-746	164	7	an	an	DET
alkej-746	164	8	effect	effect	NOUN
alkej-746	164	9	on	on	ADP
alkej-746	164	10	muscle	muscle	NOUN
alkej-746	164	11	(	(	PUNCT
alkej-746	164	12	emg	emg	NOUN
alkej-746	164	13	)	)	PUNCT
alkej-746	164	14	activation	activation	NOUN
alkej-746	164	15	,	,	PUNCT
alkej-746	164	16	when	when	SCONJ
alkej-746	164	17	compared	compare	VERB
alkej-746	164	18	to	to	ADP
alkej-746	164	19	free	free	ADJ
alkej-746	164	20	walking	walking	NOUN
alkej-746	164	21	(	(	PUNCT
alkej-746	164	22	walking	walk	VERB
alkej-746	164	23	without	without	ADP
alkej-746	164	24	the	the	DET
alkej-746	164	25	exoskeleton	exoskeleton	NOUN
alkej-746	164	26	)	)	PUNCT
alkej-746	164	27	.	.	PUNCT
alkej-746	165	1	the	the	DET
alkej-746	165	2	exoskeleton	exoskeleton	PROPN
alkej-746	165	3	has	have	VERB
alkej-746	165	4	different	different	ADJ
alkej-746	165	5	impact	impact	NOUN
alkej-746	165	6	on	on	ADP
alkej-746	165	7	each	each	DET
alkej-746	165	8	muscle	muscle	NOUN
alkej-746	165	9	depends	depend	VERB
alkej-746	165	10	on	on	ADP
alkej-746	165	11	the	the	DET
alkej-746	165	12	location	location	NOUN
alkej-746	165	13	and	and	CCONJ
alkej-746	165	14	tendons	tendon	NOUN
alkej-746	165	15	of	of	ADP
alkej-746	165	16	these	these	DET
alkej-746	165	17	muscles	muscle	NOUN
alkej-746	165	18	.	.	PUNCT
alkej-746	166	1	the	the	DET
alkej-746	166	2	four	four	NUM
alkej-746	166	3	muscles	muscle	NOUN
alkej-746	166	4	'	'	PART
alkej-746	166	5	efforts	effort	NOUN
alkej-746	166	6	on	on	ADP
alkej-746	166	7	both	both	CCONJ
alkej-746	166	8	the	the	DET
alkej-746	166	9	front	front	NOUN
alkej-746	166	10	and	and	CCONJ
alkej-746	166	11	the	the	DET
alkej-746	166	12	back	back	ADJ
alkej-746	166	13	sides	side	NOUN
alkej-746	166	14	of	of	ADP
alkej-746	166	15	the	the	DET
alkej-746	166	16	user	user	NOUN
alkej-746	166	17	's	's	PART
alkej-746	166	18	leg	leg	NOUN
alkej-746	166	19	were	be	AUX
alkej-746	166	20	decreased	decrease	VERB
alkej-746	166	21	when	when	SCONJ
alkej-746	166	22	walking	walk	VERB
alkej-746	166	23	using	use	VERB
alkej-746	166	24	the	the	DET
alkej-746	166	25	exoskeleton	exoskeleton	NOUN
alkej-746	166	26	.	.	PUNCT
alkej-746	167	1	the	the	DET
alkej-746	167	2	motor	motor	NOUN
alkej-746	167	3	supports	support	VERB
alkej-746	167	4	and	and	CCONJ
alkej-746	167	5	drives	drive	VERB
alkej-746	167	6	the	the	DET
alkej-746	167	7	leg	leg	NOUN
alkej-746	167	8	through	through	ADP
alkej-746	167	9	the	the	DET
alkej-746	167	10	appropriate	appropriate	ADJ
alkej-746	167	11	step	step	NOUN
alkej-746	167	12	pattern	pattern	NOUN
alkej-746	167	13	during	during	ADP
alkej-746	167	14	the	the	DET
alkej-746	167	15	gait	gait	ADJ
alkej-746	167	16	cycle	cycle	NOUN
alkej-746	167	17	by	by	ADP
alkej-746	167	18	adding	add	VERB
alkej-746	167	19	power	power	NOUN
alkej-746	167	20	at	at	ADP
alkej-746	167	21	the	the	DET
alkej-746	167	22	hip	hip	NOUN
alkej-746	167	23	joint	joint	NOUN
alkej-746	167	24	,	,	PUNCT
alkej-746	167	25	while	while	SCONJ
alkej-746	167	26	the	the	DET
alkej-746	167	27	knee	knee	NOUN
alkej-746	167	28	flexion	flexion	NOUN
alkej-746	167	29	/	/	SYM
alkej-746	167	30	extension	extension	NOUN
alkej-746	167	31	has	have	AUX
alkej-746	167	32	spring	spring	NOUN
alkej-746	167	33	loaded	load	VERB
alkej-746	167	34	which	which	PRON
alkej-746	167	35	provides	provide	VERB
alkej-746	167	36	an	an	DET
alkej-746	167	37	extension	extension	NOUN
alkej-746	167	38	torque	torque	NOUN
alkej-746	167	39	and	and	CCONJ
alkej-746	167	40	assists	assist	VERB
alkej-746	167	41	knee	knee	NOUN
alkej-746	167	42	movements	movement	NOUN
alkej-746	167	43	resulting	result	VERB
alkej-746	167	44	in	in	ADP
alkej-746	167	45	a	a	DET
alkej-746	167	46	strong	strong	ADJ
alkej-746	167	47	effect	effect	NOUN
alkej-746	167	48	on	on	ADP
alkej-746	167	49	the	the	DET
alkej-746	167	50	leg	leg	NOUN
alkej-746	167	51	muscles	muscle	NOUN
alkej-746	167	52	which	which	PRON
alkej-746	167	53	contribute	contribute	VERB
alkej-746	167	54	in	in	ADP
alkej-746	167	55	knee	knee	NOUN
alkej-746	167	56	flexion	flexion	NOUN
alkej-746	167	57	/	/	SYM
alkej-746	167	58	extension	extension	NOUN
alkej-746	167	59	when	when	SCONJ
alkej-746	167	60	walking	walk	VERB
alkej-746	167	61	.	.	PUNCT
alkej-746	168	1	the	the	DET
alkej-746	168	2	output	output	NOUN
alkej-746	168	3	of	of	ADP
alkej-746	168	4	the	the	DET
alkej-746	168	5	four	four	NUM
alkej-746	168	6	leg	leg	NOUN
alkej-746	168	7	muscles	muscle	NOUN
alkej-746	168	8	was	be	AUX
alkej-746	168	9	decreased	decrease	VERB
alkej-746	168	10	significantly	significantly	ADV
alkej-746	168	11	.	.	PUNCT
alkej-746	169	1	this	this	PRON
alkej-746	169	2	indicates	indicate	VERB
alkej-746	169	3	less	less	ADJ
alkej-746	169	4	muscle	muscle	NOUN
alkej-746	169	5	effort	effort	NOUN
alkej-746	169	6	is	be	AUX
alkej-746	169	7	required	require	VERB
alkej-746	169	8	to	to	PART
alkej-746	169	9	hold	hold	VERB
alkej-746	169	10	the	the	DET
alkej-746	169	11	niaam	niaam	NOUN
alkej-746	169	12	kh	kh	PROPN
alkej-746	169	13	.	.	PUNCT
alkej-746	170	1	al	al	PROPN
alkej-746	170	2	-	-	PUNCT
alkej-746	170	3	hayali	hayali	PROPN
alkej-746	170	4	al	al	PROPN
alkej-746	170	5	-	-	PUNCT
alkej-746	170	6	khwarizmi	khwarizmi	PROPN
alkej-746	170	7	engineering	engineering	NOUN
alkej-746	170	8	journal	journal	PROPN
alkej-746	170	9	,	,	PUNCT
alkej-746	170	10	vol	vol	NOUN
alkej-746	170	11	.	.	PROPN
alkej-746	170	12	17	17	NUM
alkej-746	170	13	,	,	PUNCT
alkej-746	170	14	no	no	INTJ
alkej-746	170	15	.	.	NOUN
alkej-746	170	16	4	4	NUM
alkej-746	170	17	,	,	PUNCT
alkej-746	170	18	p.p	p.p	PROPN
alkej-746	170	19	.	.	NOUN
alkej-746	170	20	3647	3647	NUM
alkej-746	170	21	(	(	PUNCT
alkej-746	170	22	2021	2021	NUM
alkej-746	170	23	)	)	PUNCT
alkej-746	170	24	44	44	NUM
alkej-746	170	25	limb	limb	NOUN
alkej-746	170	26	while	while	SCONJ
alkej-746	170	27	walking	walk	VERB
alkej-746	170	28	.	.	PUNCT
alkej-746	171	1	the	the	DET
alkej-746	171	2	most	most	ADV
alkej-746	171	3	affected	affect	VERB
alkej-746	171	4	muscles	muscle	NOUN
alkej-746	171	5	were	be	AUX
alkej-746	171	6	the	the	DET
alkej-746	171	7	med	med	PROPN
alkej-746	171	8	.	.	PUNCT
alkej-746	172	1	gastrocnemius	gastrocnemius	PROPN
alkej-746	172	2	and	and	CCONJ
alkej-746	172	3	the	the	DET
alkej-746	172	4	rectus	rectus	NOUN
alkej-746	172	5	femoris	femoris	NOUN
alkej-746	172	6	muscle	muscle	NOUN
alkej-746	172	7	which	which	PRON
alkej-746	172	8	were	be	AUX
alkej-746	172	9	decreased	decrease	VERB
alkej-746	172	10	by	by	ADP
alkej-746	172	11	47.17	47.17	NUM
alkej-746	172	12	%	%	NOUN
alkej-746	172	13	and	and	CCONJ
alkej-746	172	14	45.95	45.95	NUM
alkej-746	172	15	%	%	NOUN
alkej-746	172	16	,	,	PUNCT
alkej-746	172	17	respectively	respectively	ADV
alkej-746	172	18	.	.	PUNCT
alkej-746	173	1	as	as	SCONJ
alkej-746	173	2	the	the	DET
alkej-746	173	3	contraction	contraction	NOUN
alkej-746	173	4	of	of	ADP
alkej-746	173	5	the	the	DET
alkej-746	173	6	rectus	rectus	NOUN
alkej-746	173	7	femoris	femoris	NOUN
alkej-746	173	8	muscle	muscle	NOUN
alkej-746	173	9	contributes	contribute	VERB
alkej-746	173	10	to	to	ADP
alkej-746	173	11	hip	hip	VERB
alkej-746	173	12	flexion	flexion	NOUN
alkej-746	173	13	as	as	ADV
alkej-746	173	14	well	well	ADV
alkej-746	173	15	as	as	ADP
alkej-746	173	16	knee	knee	NOUN
alkej-746	173	17	extension	extension	NOUN
alkej-746	173	18	,	,	PUNCT
alkej-746	173	19	and	and	CCONJ
alkej-746	173	20	contraction	contraction	NOUN
alkej-746	173	21	of	of	ADP
alkej-746	173	22	the	the	DET
alkej-746	173	23	med	med	PROPN
alkej-746	173	24	.	.	PUNCT
alkej-746	174	1	gastrocnemius	gastrocnemius	PROPN
alkej-746	174	2	muscle	muscle	NOUN
alkej-746	174	3	contributes	contribute	VERB
alkej-746	174	4	to	to	ADP
alkej-746	174	5	knee	knee	NOUN
alkej-746	174	6	flexion	flexion	NOUN
alkej-746	174	7	,	,	PUNCT
alkej-746	174	8	it	it	PRON
alkej-746	174	9	is	be	AUX
alkej-746	174	10	not	not	PART
alkej-746	174	11	surprising	surprising	ADJ
alkej-746	174	12	that	that	SCONJ
alkej-746	174	13	the	the	DET
alkej-746	174	14	muscle	muscle	NOUN
alkej-746	174	15	activity	activity	NOUN
alkej-746	174	16	is	be	AUX
alkej-746	174	17	down	down	ADV
alkej-746	174	18	when	when	SCONJ
alkej-746	174	19	walking	walk	VERB
alkej-746	174	20	using	use	VERB
alkej-746	174	21	the	the	DET
alkej-746	174	22	entire	entire	ADJ
alkej-746	174	23	exoskeleton	exoskeleton	NOUN
alkej-746	174	24	with	with	ADP
alkej-746	174	25	the	the	DET
alkej-746	174	26	motor	motor	NOUN
alkej-746	174	27	and	and	CCONJ
alkej-746	174	28	spring	spring	NOUN
alkej-746	174	29	installed	instal	VERB
alkej-746	174	30	.	.	PUNCT
alkej-746	175	1	fig	fig	NOUN
alkej-746	175	2	.	.	PUNCT
alkej-746	176	1	12	12	NUM
alkej-746	176	2	.	.	PUNCT
alkej-746	177	1	mean	mean	PROPN
alkej-746	177	2	emg	emg	NOUN
alkej-746	177	3	activities	activity	NOUN
alkej-746	177	4	of	of	ADP
alkej-746	177	5	the	the	DET
alkej-746	177	6	right	right	ADJ
alkej-746	177	7	leg	leg	NOUN
alkej-746	177	8	muscles	muscle	NOUN
alkej-746	177	9	of	of	ADP
alkej-746	177	10	the	the	DET
alkej-746	177	11	healthy	healthy	ADJ
alkej-746	177	12	subject	subject	NOUN
alkej-746	177	13	during	during	ADP
alkej-746	177	14	walking	walk	VERB
alkej-746	177	15	on	on	ADP
alkej-746	177	16	treadmill	treadmill	NOUN
alkej-746	177	17	at	at	ADP
alkej-746	177	18	fixed	fix	VERB
alkej-746	177	19	speed	speed	NOUN
alkej-746	177	20	0.8	0.8	NUM
alkej-746	177	21	m	m	NOUN
alkej-746	177	22	/	/	SYM
alkej-746	177	23	s	s	PROPN
alkej-746	177	24	for	for	ADP
alkej-746	177	25	3	3	NUM
alkej-746	177	26	minutes	minute	NOUN
alkej-746	177	27	without	without	ADP
alkej-746	177	28	and	and	CCONJ
alkej-746	177	29	with	with	ADP
alkej-746	177	30	the	the	DET
alkej-746	177	31	exoskeleton	exoskeleton	NOUN
alkej-746	177	32	.	.	PUNCT
alkej-746	178	1	fig.13	fig.13	ADJ
alkej-746	178	2	:	:	PUNCT
alkej-746	179	1	mean	mean	VERB
alkej-746	179	2	emg	emg	NOUN
alkej-746	179	3	activities	activity	NOUN
alkej-746	179	4	of	of	ADP
alkej-746	179	5	the	the	DET
alkej-746	179	6	right	right	ADJ
alkej-746	179	7	leg	leg	NOUN
alkej-746	179	8	muscles	muscle	NOUN
alkej-746	179	9	of	of	ADP
alkej-746	179	10	the	the	DET
alkej-746	179	11	healthy	healthy	ADJ
alkej-746	179	12	subject	subject	NOUN
alkej-746	179	13	during	during	ADP
alkej-746	179	14	walking	walk	VERB
alkej-746	179	15	on	on	ADP
alkej-746	179	16	treadmill	treadmill	NOUN
alkej-746	179	17	at	at	ADP
alkej-746	179	18	fixed	fix	VERB
alkej-746	179	19	speed	speed	NOUN
alkej-746	179	20	1.2	1.2	NUM
alkej-746	179	21	m	m	NOUN
alkej-746	179	22	/	/	SYM
alkej-746	179	23	s	s	PROPN
alkej-746	179	24	for	for	ADP
alkej-746	179	25	1	1	NUM
alkej-746	179	26	minute	minute	NOUN
alkej-746	179	27	without	without	ADP
alkej-746	179	28	and	and	CCONJ
alkej-746	179	29	with	with	ADP
alkej-746	179	30	the	the	DET
alkej-746	179	31	exoskeleton	exoskeleton	NOUN
alkej-746	179	32	.	.	PUNCT
alkej-746	180	1	the	the	DET
alkej-746	180	2	emg	emg	NOUN
alkej-746	180	3	activity	activity	NOUN
alkej-746	180	4	tests	test	NOUN
alkej-746	180	5	are	be	AUX
alkej-746	180	6	applied	apply	VERB
alkej-746	180	7	on	on	ADP
alkej-746	180	8	the	the	DET
alkej-746	180	9	subject	subject	NOUN
alkej-746	180	10	with	with	ADP
alkej-746	180	11	unilateral	unilateral	ADJ
alkej-746	180	12	lower	low	ADJ
alkej-746	180	13	limb	limb	NOUN
alkej-746	180	14	weakness	weakness	NOUN
alkej-746	180	15	while	while	SCONJ
alkej-746	180	16	walking	walk	VERB
alkej-746	180	17	on	on	ADP
alkej-746	180	18	a	a	DET
alkej-746	180	19	treadmill	treadmill	NOUN
alkej-746	180	20	at	at	ADP
alkej-746	180	21	two	two	NUM
alkej-746	180	22	fixed	fix	VERB
alkej-746	180	23	walking	walking	NOUN
alkej-746	180	24	speeds	speed	NOUN
alkej-746	180	25	0.8	0.8	NUM
alkej-746	180	26	m/s	m/s	PROPN
alkej-746	180	27	and	and	CCONJ
alkej-746	180	28	1.2	1.2	NUM
alkej-746	180	29	m/s	m/s	PROPN
alkej-746	180	30	for	for	ADP
alkej-746	180	31	3	3	NUM
alkej-746	180	32	and	and	CCONJ
alkej-746	180	33	1	1	NUM
alkej-746	180	34	minutes	minute	NOUN
alkej-746	180	35	,	,	PUNCT
alkej-746	180	36	respectively	respectively	ADV
alkej-746	180	37	.	.	PUNCT
alkej-746	181	1	the	the	DET
alkej-746	181	2	emg	emg	NOUN
alkej-746	181	3	signals	signal	NOUN
alkej-746	181	4	of	of	ADP
alkej-746	181	5	the	the	DET
alkej-746	181	6	muscles	muscle	NOUN
alkej-746	181	7	contributed	contribute	VERB
alkej-746	181	8	in	in	ADP
alkej-746	181	9	the	the	DET
alkej-746	181	10	motion	motion	NOUN
alkej-746	181	11	of	of	ADP
alkej-746	181	12	the	the	DET
alkej-746	181	13	leg	leg	NOUN
alkej-746	181	14	were	be	AUX
alkej-746	181	15	collected	collect	VERB
alkej-746	181	16	and	and	CCONJ
alkej-746	181	17	analyzed	analyze	VERB
alkej-746	181	18	.	.	PUNCT
alkej-746	182	1	the	the	DET
alkej-746	182	2	mean	mean	PROPN
alkej-746	182	3	emg	emg	NOUN
alkej-746	182	4	signals	signal	NOUN
alkej-746	182	5	when	when	SCONJ
alkej-746	182	6	walking	walk	VERB
alkej-746	182	7	without	without	ADP
alkej-746	182	8	and	and	CCONJ
alkej-746	182	9	with	with	ADP
alkej-746	182	10	the	the	DET
alkej-746	182	11	exoskeleton	exoskeleton	NOUN
alkej-746	182	12	are	be	AUX
alkej-746	182	13	shown	show	VERB
alkej-746	182	14	in	in	ADP
alkej-746	182	15	figure	figure	NOUN
alkej-746	182	16	14	14	NUM
alkej-746	182	17	and	and	CCONJ
alkej-746	182	18	15	15	NUM
alkej-746	182	19	.	.	PUNCT
alkej-746	183	1	the	the	DET
alkej-746	183	2	four	four	NUM
alkej-746	183	3	muscles	muscle	NOUN
alkej-746	183	4	'	'	PART
alkej-746	183	5	efforts	effort	NOUN
alkej-746	183	6	of	of	ADP
alkej-746	183	7	the	the	DET
alkej-746	183	8	patient	patient	NOUN
alkej-746	183	9	's	's	PART
alkej-746	183	10	leg	leg	NOUN
alkej-746	183	11	were	be	AUX
alkej-746	183	12	decreased	decrease	VERB
alkej-746	183	13	when	when	SCONJ
alkej-746	183	14	walking	walk	VERB
alkej-746	183	15	on	on	ADP
alkej-746	183	16	a	a	DET
alkej-746	183	17	treadmill	treadmill	NOUN
alkej-746	183	18	for	for	ADP
alkej-746	183	19	3	3	NUM
alkej-746	183	20	and	and	CCONJ
alkej-746	183	21	1	1	NUM
alkej-746	183	22	minutes	minute	NOUN
alkej-746	183	23	at	at	ADP
alkej-746	183	24	two	two	NUM
alkej-746	183	25	fixed	fix	VERB
alkej-746	183	26	speeds	speed	NOUN
alkej-746	183	27	0.8	0.8	NUM
alkej-746	183	28	m/s	m/s	PROPN
alkej-746	183	29	and	and	CCONJ
alkej-746	183	30	1.2	1.2	NUM
alkej-746	183	31	m/s	m/s	NOUN
alkej-746	183	32	using	use	VERB
alkej-746	183	33	the	the	DET
alkej-746	183	34	entire	entire	ADJ
alkej-746	183	35	exoskeleton	exoskeleton	NOUN
alkej-746	183	36	with	with	ADP
alkej-746	183	37	the	the	DET
alkej-746	183	38	motor	motor	NOUN
alkej-746	183	39	and	and	CCONJ
alkej-746	183	40	spring	spring	NOUN
alkej-746	183	41	installation	installation	NOUN
alkej-746	183	42	.	.	PUNCT
alkej-746	184	1	the	the	DET
alkej-746	184	2	motor	motor	NOUN
alkej-746	184	3	supports	support	VERB
alkej-746	184	4	the	the	DET
alkej-746	184	5	patient	patient	NOUN
alkej-746	184	6	's	's	PART
alkej-746	184	7	leg	leg	NOUN
alkej-746	184	8	and	and	CCONJ
alkej-746	184	9	drives	drive	VERB
alkej-746	184	10	it	it	PRON
alkej-746	184	11	through	through	ADP
alkej-746	184	12	appropriate	appropriate	ADJ
alkej-746	184	13	step	step	NOUN
alkej-746	184	14	pattern	pattern	NOUN
alkej-746	184	15	while	while	SCONJ
alkej-746	184	16	walking	walk	VERB
alkej-746	184	17	by	by	ADP
alkej-746	184	18	providing	provide	VERB
alkej-746	184	19	torque	torque	NOUN
alkej-746	184	20	at	at	ADP
alkej-746	184	21	the	the	DET
alkej-746	184	22	hip	hip	NOUN
alkej-746	184	23	joint	joint	NOUN
alkej-746	184	24	,	,	PUNCT
alkej-746	184	25	while	while	SCONJ
alkej-746	184	26	the	the	DET
alkej-746	184	27	knee	knee	NOUN
alkej-746	184	28	flexion	flexion	NOUN
alkej-746	184	29	/	/	SYM
alkej-746	184	30	extension	extension	NOUN
alkej-746	184	31	was	be	AUX
alkej-746	184	32	spring	spring	NOUN
alkej-746	184	33	loaded	load	VERB
alkej-746	184	34	which	which	PRON
alkej-746	184	35	provides	provide	VERB
alkej-746	184	36	an	an	DET
alkej-746	184	37	extension	extension	NOUN
alkej-746	184	38	torque	torque	NOUN
alkej-746	184	39	and	and	CCONJ
alkej-746	184	40	assists	assist	VERB
alkej-746	184	41	knee	knee	NOUN
alkej-746	184	42	movements	movement	NOUN
alkej-746	184	43	resulting	result	VERB
alkej-746	184	44	in	in	ADP
alkej-746	184	45	an	an	DET
alkej-746	184	46	effect	effect	NOUN
alkej-746	184	47	on	on	ADP
alkej-746	184	48	the	the	DET
alkej-746	184	49	leg	leg	NOUN
alkej-746	184	50	muscles	muscle	NOUN
alkej-746	184	51	which	which	PRON
alkej-746	184	52	are	be	AUX
alkej-746	184	53	contributed	contribute	VERB
alkej-746	184	54	in	in	ADP
alkej-746	184	55	knee	knee	NOUN
alkej-746	184	56	flexion	flexion	NOUN
alkej-746	184	57	/	/	SYM
alkej-746	184	58	extension	extension	NOUN
alkej-746	184	59	while	while	SCONJ
alkej-746	184	60	walking	walk	VERB
alkej-746	184	61	.	.	PUNCT
alkej-746	185	1	the	the	DET
alkej-746	185	2	reduction	reduction	NOUN
alkej-746	185	3	in	in	ADP
alkej-746	185	4	emg	emg	NOUN
alkej-746	185	5	signals	signal	NOUN
alkej-746	185	6	indicates	indicate	VERB
alkej-746	185	7	less	less	ADJ
alkej-746	185	8	muscle	muscle	NOUN
alkej-746	185	9	effort	effort	NOUN
alkej-746	185	10	is	be	AUX
alkej-746	185	11	required	require	VERB
alkej-746	185	12	by	by	ADP
alkej-746	185	13	the	the	DET
alkej-746	185	14	patient	patient	NOUN
alkej-746	185	15	to	to	PART
alkej-746	185	16	hold	hold	VERB
alkej-746	185	17	the	the	DET
alkej-746	185	18	limb	limb	NOUN
alkej-746	185	19	while	while	SCONJ
alkej-746	185	20	walking	walk	VERB
alkej-746	185	21	using	use	VERB
alkej-746	185	22	the	the	DET
alkej-746	185	23	exoskeleton	exoskeleton	NOUN
alkej-746	185	24	.	.	PUNCT
alkej-746	186	1	the	the	DET
alkej-746	186	2	most	most	ADV
alkej-746	186	3	affected	affect	VERB
alkej-746	186	4	muscles	muscle	NOUN
alkej-746	186	5	were	be	AUX
alkej-746	186	6	the	the	DET
alkej-746	186	7	rectus	rectus	NOUN
alkej-746	186	8	femoris	femoris	NOUN
alkej-746	186	9	and	and	CCONJ
alkej-746	186	10	tibialis	tibialis	NOUN
alkej-746	186	11	anterior	anterior	ADJ
alkej-746	186	12	on	on	ADP
alkej-746	186	13	the	the	DET
alkej-746	186	14	front	front	ADJ
alkej-746	186	15	sides	side	NOUN
alkej-746	186	16	of	of	ADP
alkej-746	186	17	the	the	DET
alkej-746	186	18	user	user	NOUN
alkej-746	186	19	's	's	PART
alkej-746	186	20	leg	leg	NOUN
alkej-746	186	21	which	which	PRON
alkej-746	186	22	are	be	AUX
alkej-746	186	23	decreased	decrease	VERB
alkej-746	186	24	by	by	ADP
alkej-746	186	25	20.755	20.755	NUM
alkej-746	186	26	%	%	NOUN
alkej-746	186	27	,	,	PUNCT
alkej-746	186	28	and	and	CCONJ
alkej-746	186	29	29.41	29.41	NUM
alkej-746	186	30	%	%	NOUN
alkej-746	186	31	,	,	PUNCT
alkej-746	186	32	when	when	SCONJ
alkej-746	186	33	walking	walk	VERB
alkej-746	186	34	at	at	ADP
alkej-746	186	35	0.8	0.8	NUM
alkej-746	186	36	m/s	m/s	NUM
alkej-746	186	37	for	for	ADP
alkej-746	186	38	3	3	NUM
alkej-746	186	39	minutes	minute	NOUN
alkej-746	186	40	,	,	PUNCT
alkej-746	186	41	and	and	CCONJ
alkej-746	186	42	38.89	38.89	NUM
alkej-746	186	43	%	%	NOUN
alkej-746	186	44	,	,	PUNCT
alkej-746	186	45	and	and	CCONJ
alkej-746	186	46	28.1	28.1	NUM
alkej-746	186	47	%	%	NOUN
alkej-746	186	48	,	,	PUNCT
alkej-746	186	49	when	when	SCONJ
alkej-746	186	50	walking	walk	VERB
alkej-746	186	51	at	at	ADP
alkej-746	186	52	1.2	1.2	NUM
alkej-746	186	53	m/s	m/s	NOUN
alkej-746	186	54	for	for	ADP
alkej-746	186	55	1	1	NUM
alkej-746	186	56	minute	minute	NOUN
alkej-746	186	57	,	,	PUNCT
alkej-746	186	58	respectively	respectively	ADV
alkej-746	186	59	.	.	PUNCT
alkej-746	187	1	as	as	SCONJ
alkej-746	187	2	contraction	contraction	NOUN
alkej-746	187	3	of	of	ADP
alkej-746	187	4	the	the	DET
alkej-746	187	5	rectus	rectus	NOUN
alkej-746	187	6	femoris	femoris	NOUN
alkej-746	187	7	muscle	muscle	NOUN
alkej-746	187	8	contributes	contribute	VERB
alkej-746	187	9	to	to	ADP
alkej-746	187	10	hip	hip	VERB
alkej-746	187	11	flexion	flexion	NOUN
alkej-746	187	12	as	as	ADV
alkej-746	187	13	well	well	ADV
alkej-746	187	14	as	as	ADP
alkej-746	187	15	knee	knee	NOUN
alkej-746	187	16	extension	extension	NOUN
alkej-746	187	17	,	,	PUNCT
alkej-746	187	18	it	it	PRON
alkej-746	187	19	is	be	AUX
alkej-746	187	20	not	not	PART
alkej-746	187	21	surprising	surprising	ADJ
alkej-746	187	22	that	that	SCONJ
alkej-746	187	23	the	the	DET
alkej-746	187	24	muscle	muscle	NOUN
alkej-746	187	25	activity	activity	NOUN
alkej-746	187	26	is	be	AUX
alkej-746	187	27	down	down	ADV
alkej-746	187	28	when	when	SCONJ
alkej-746	187	29	walking	walk	VERB
alkej-746	187	30	using	use	VERB
alkej-746	187	31	the	the	DET
alkej-746	187	32	entire	entire	ADJ
alkej-746	187	33	exoskeleton	exoskeleton	NOUN
alkej-746	187	34	with	with	ADP
alkej-746	187	35	motor	motor	NOUN
alkej-746	187	36	and	and	CCONJ
alkej-746	187	37	spring	spring	NOUN
alkej-746	187	38	installation	installation	NOUN
alkej-746	187	39	.	.	PUNCT
alkej-746	188	1	providing	provide	VERB
alkej-746	188	2	adequate	adequate	ADJ
alkej-746	188	3	foot	foot	NOUN
alkej-746	188	4	clearance	clearance	NOUN
alkej-746	188	5	during	during	ADP
alkej-746	188	6	the	the	DET
alkej-746	188	7	swing	swing	NOUN
alkej-746	188	8	of	of	ADP
alkej-746	188	9	the	the	DET
alkej-746	188	10	limb	limb	NOUN
alkej-746	188	11	when	when	SCONJ
alkej-746	188	12	walking	walk	VERB
alkej-746	188	13	with	with	ADP
alkej-746	188	14	the	the	DET
alkej-746	188	15	entire	entire	ADJ
alkej-746	188	16	exoskeleton	exoskeleton	NOUN
alkej-746	188	17	can	can	AUX
alkej-746	188	18	be	be	AUX
alkej-746	188	19	a	a	DET
alkej-746	188	20	reason	reason	NOUN
alkej-746	188	21	for	for	ADP
alkej-746	188	22	decreasing	decrease	VERB
alkej-746	188	23	in	in	ADP
alkej-746	188	24	emg	emg	NOUN
alkej-746	188	25	signals	signal	NOUN
alkej-746	188	26	of	of	ADP
alkej-746	188	27	the	the	DET
alkej-746	188	28	tibialis	tibialis	PROPN
alkej-746	188	29	anterior	anterior	ADJ
alkej-746	188	30	muscle	muscle	NOUN
alkej-746	188	31	.	.	PUNCT
alkej-746	189	1	fig	fig	NOUN
alkej-746	189	2	.	.	PUNCT
alkej-746	190	1	14	14	NUM
alkej-746	190	2	.	.	PUNCT
alkej-746	191	1	mean	mean	PROPN
alkej-746	191	2	emg	emg	NOUN
alkej-746	191	3	activity	activity	NOUN
alkej-746	191	4	of	of	ADP
alkej-746	191	5	the	the	DET
alkej-746	191	6	right	right	ADJ
alkej-746	191	7	leg	leg	NOUN
alkej-746	191	8	muscles	muscle	NOUN
alkej-746	191	9	of	of	ADP
alkej-746	191	10	the	the	DET
alkej-746	191	11	subject	subject	NOUN
alkej-746	191	12	with	with	ADP
alkej-746	191	13	lower	low	ADJ
alkej-746	191	14	limb	limb	NOUN
alkej-746	191	15	weakness	weakness	NOUN
alkej-746	191	16	during	during	ADP
alkej-746	191	17	walking	walk	VERB
alkej-746	191	18	on	on	ADP
alkej-746	191	19	treadmill	treadmill	NOUN
alkej-746	191	20	at	at	ADP
alkej-746	191	21	fixed	fix	VERB
alkej-746	191	22	speed	speed	NOUN
alkej-746	191	23	0.8	0.8	NUM
alkej-746	191	24	m/s	m/s	NOUN
alkej-746	191	25	for	for	ADP
alkej-746	191	26	3	3	NUM
alkej-746	191	27	minutes	minute	NOUN
alkej-746	191	28	.	.	PUNCT
alkej-746	192	1	niaam	niaam	PROPN
alkej-746	192	2	kh	kh	PROPN
alkej-746	192	3	.	.	PUNCT
alkej-746	193	1	al	al	PROPN
alkej-746	193	2	-	-	PUNCT
alkej-746	193	3	hayali	hayali	PROPN
alkej-746	193	4	al	al	PROPN
alkej-746	193	5	-	-	PUNCT
alkej-746	193	6	khwarizmi	khwarizmi	PROPN
alkej-746	193	7	engineering	engineering	NOUN
alkej-746	193	8	journal	journal	PROPN
alkej-746	193	9	,	,	PUNCT
alkej-746	193	10	vol	vol	NOUN
alkej-746	193	11	.	.	PROPN
alkej-746	193	12	17	17	NUM
alkej-746	193	13	,	,	PUNCT
alkej-746	193	14	no	no	INTJ
alkej-746	193	15	.	.	NOUN
alkej-746	193	16	4	4	NUM
alkej-746	193	17	,	,	PUNCT
alkej-746	193	18	p.p	p.p	PROPN
alkej-746	193	19	.	.	NOUN
alkej-746	193	20	3647	3647	NUM
alkej-746	193	21	(	(	PUNCT
alkej-746	193	22	2021	2021	NUM
alkej-746	193	23	)	)	PUNCT
alkej-746	193	24	45	45	NUM
alkej-746	193	25	fig	fig	NOUN
alkej-746	193	26	.	.	PUNCT
alkej-746	194	1	15	15	NUM
alkej-746	194	2	.	.	PUNCT
alkej-746	195	1	mean	mean	PROPN
alkej-746	195	2	emg	emg	NOUN
alkej-746	195	3	activity	activity	NOUN
alkej-746	195	4	of	of	ADP
alkej-746	195	5	the	the	DET
alkej-746	195	6	right	right	ADJ
alkej-746	195	7	leg	leg	NOUN
alkej-746	195	8	muscles	muscle	NOUN
alkej-746	195	9	of	of	ADP
alkej-746	195	10	the	the	DET
alkej-746	195	11	subject	subject	NOUN
alkej-746	195	12	with	with	ADP
alkej-746	195	13	lower	low	ADJ
alkej-746	195	14	limb	limb	NOUN
alkej-746	195	15	weakness	weakness	NOUN
alkej-746	195	16	during	during	ADP
alkej-746	195	17	walking	walk	VERB
alkej-746	195	18	on	on	ADP
alkej-746	195	19	treadmill	treadmill	NOUN
alkej-746	195	20	at	at	ADP
alkej-746	195	21	fixed	fix	VERB
alkej-746	195	22	speed	speed	NOUN
alkej-746	195	23	1.2	1.2	NUM
alkej-746	195	24	m/s	m/s	NOUN
alkej-746	195	25	for	for	ADP
alkej-746	195	26	1	1	NUM
alkej-746	195	27	minute	minute	NOUN
alkej-746	195	28	.	.	PUNCT
alkej-746	196	1	4	4	X
alkej-746	196	2	.	.	X
alkej-746	196	3	conclusion	conclusion	NOUN
alkej-746	196	4	quasi	quasi	ADJ
alkej-746	196	5	-	-	ADJ
alkej-746	196	6	passive	passive	ADJ
alkej-746	196	7	lower	low	ADJ
alkej-746	196	8	limb	limb	NOUN
alkej-746	196	9	exoskeletons	exoskeleton	NOUN
alkej-746	196	10	usually	usually	ADV
alkej-746	196	11	employ	employ	VERB
alkej-746	196	12	a	a	DET
alkej-746	196	13	reduced	reduced	ADJ
alkej-746	196	14	number	number	NOUN
alkej-746	196	15	of	of	ADP
alkej-746	196	16	actuators	actuator	NOUN
alkej-746	196	17	and	and	CCONJ
alkej-746	196	18	require	require	VERB
alkej-746	196	19	relatively	relatively	ADV
alkej-746	196	20	a	a	DET
alkej-746	196	21	straight	straight	ADJ
alkej-746	196	22	forward	forward	NOUN
alkej-746	196	23	control	control	NOUN
alkej-746	196	24	strategy	strategy	NOUN
alkej-746	196	25	,	,	PUNCT
alkej-746	196	26	resulting	result	VERB
alkej-746	196	27	in	in	ADP
alkej-746	196	28	energy	energy	NOUN
alkej-746	196	29	efficient	efficient	ADJ
alkej-746	196	30	,	,	PUNCT
alkej-746	196	31	lightweight	lightweight	ADJ
alkej-746	196	32	,	,	PUNCT
alkej-746	196	33	and	and	CCONJ
alkej-746	196	34	operationally	operationally	ADV
alkej-746	196	35	quiet	quiet	ADJ
alkej-746	196	36	lower	low	ADJ
alkej-746	196	37	limb	limb	NOUN
alkej-746	196	38	devices	device	NOUN
alkej-746	196	39	.	.	PUNCT
alkej-746	197	1	in	in	ADP
alkej-746	197	2	this	this	DET
alkej-746	197	3	paper	paper	NOUN
alkej-746	197	4	the	the	DET
alkej-746	197	5	analysis	analysis	NOUN
alkej-746	197	6	and	and	CCONJ
alkej-746	197	7	development	development	NOUN
alkej-746	197	8	of	of	ADP
alkej-746	197	9	a	a	DET
alkej-746	197	10	2	2	NUM
alkej-746	197	11	dofs	dof	NOUN
alkej-746	197	12	,	,	PUNCT
alkej-746	197	13	autonomous	autonomous	ADJ
alkej-746	197	14	,	,	PUNCT
alkej-746	197	15	lightweight	lightweight	ADJ
alkej-746	197	16	,	,	PUNCT
alkej-746	197	17	and	and	CCONJ
alkej-746	197	18	quasi	quasi	ADJ
alkej-746	197	19	-	-	ADJ
alkej-746	197	20	passive	passive	ADJ
alkej-746	197	21	lower	low	ADJ
alkej-746	197	22	limb	limb	NOUN
alkej-746	197	23	exoskeleton	exoskeleton	NOUN
alkej-746	197	24	was	be	AUX
alkej-746	197	25	presented	present	VERB
alkej-746	197	26	to	to	PART
alkej-746	197	27	improve	improve	VERB
alkej-746	197	28	the	the	DET
alkej-746	197	29	human	human	ADJ
alkej-746	197	30	gait	gait	PROPN
alkej-746	197	31	cycle	cycle	NOUN
alkej-746	197	32	.	.	PUNCT
alkej-746	198	1	the	the	DET
alkej-746	198	2	linkage	linkage	NOUN
alkej-746	198	3	type	type	NOUN
alkej-746	198	4	selection	selection	NOUN
alkej-746	198	5	is	be	AUX
alkej-746	198	6	justified	justify	VERB
alkej-746	198	7	.	.	PUNCT
alkej-746	199	1	a	a	DET
alkej-746	199	2	mathematical	mathematical	ADJ
alkej-746	199	3	model	model	NOUN
alkej-746	199	4	of	of	ADP
alkej-746	199	5	the	the	DET
alkej-746	199	6	human	human	PROPN
alkej-746	199	7	gait	gait	PROPN
alkej-746	199	8	cycle	cycle	NOUN
alkej-746	199	9	was	be	AUX
alkej-746	199	10	developed	develop	VERB
alkej-746	199	11	for	for	ADP
alkej-746	199	12	calculating	calculate	VERB
alkej-746	199	13	the	the	DET
alkej-746	199	14	torques	torque	NOUN
alkej-746	199	15	at	at	ADP
alkej-746	199	16	the	the	DET
alkej-746	199	17	hip	hip	NOUN
alkej-746	199	18	joint	joint	NOUN
alkej-746	199	19	.	.	PUNCT
alkej-746	200	1	the	the	DET
alkej-746	200	2	mathematical	mathematical	ADJ
alkej-746	200	3	model	model	NOUN
alkej-746	200	4	was	be	AUX
alkej-746	200	5	based	base	VERB
alkej-746	200	6	on	on	ADP
alkej-746	200	7	the	the	DET
alkej-746	200	8	theoretical	theoretical	ADJ
alkej-746	200	9	analysis	analysis	NOUN
alkej-746	200	10	of	of	ADP
alkej-746	200	11	the	the	DET
alkej-746	200	12	human	human	ADJ
alkej-746	200	13	extremity	extremity	NOUN
alkej-746	200	14	limb	limb	NOUN
alkej-746	200	15	throughout	throughout	ADP
alkej-746	200	16	a	a	DET
alkej-746	200	17	full	full	ADJ
alkej-746	200	18	gait	gait	NOUN
alkej-746	200	19	cycle	cycle	NOUN
alkej-746	200	20	consisting	consist	VERB
alkej-746	200	21	of	of	ADP
alkej-746	200	22	both	both	CCONJ
alkej-746	200	23	the	the	DET
alkej-746	200	24	stance	stance	NOUN
alkej-746	200	25	and	and	CCONJ
alkej-746	200	26	swing	swing	NOUN
alkej-746	200	27	phases	phase	NOUN
alkej-746	200	28	and	and	CCONJ
alkej-746	200	29	the	the	DET
alkej-746	200	30	gait	gait	NOUN
alkej-746	200	31	subphases	subphase	NOUN
alkej-746	200	32	,	,	PUNCT
alkej-746	200	33	by	by	ADP
alkej-746	200	34	investigating	investigate	VERB
alkej-746	200	35	the	the	DET
alkej-746	200	36	behavior	behavior	NOUN
alkej-746	200	37	of	of	ADP
alkej-746	200	38	the	the	DET
alkej-746	200	39	lower	low	ADJ
alkej-746	200	40	limb	limb	NOUN
alkej-746	200	41	joints	joint	NOUN
alkej-746	200	42	,	,	PUNCT
alkej-746	200	43	the	the	DET
alkej-746	200	44	length	length	NOUN
alkej-746	200	45	and	and	CCONJ
alkej-746	200	46	weights	weight	NOUN
alkej-746	200	47	of	of	ADP
alkej-746	200	48	the	the	DET
alkej-746	200	49	lower	low	ADJ
alkej-746	200	50	limb	limb	NOUN
alkej-746	200	51	components	component	NOUN
alkej-746	200	52	,	,	PUNCT
alkej-746	200	53	and	and	CCONJ
alkej-746	200	54	the	the	DET
alkej-746	200	55	grfs	grfs	PROPN
alkej-746	200	56	.	.	PUNCT
alkej-746	201	1	for	for	ADP
alkej-746	201	2	the	the	DET
alkej-746	201	3	proposed	propose	VERB
alkej-746	201	4	exoskeleton	exoskeleton	NOUN
alkej-746	201	5	,	,	PUNCT
alkej-746	201	6	the	the	DET
alkej-746	201	7	spring	spring	NOUN
alkej-746	201	8	in	in	ADP
alkej-746	201	9	combination	combination	NOUN
alkej-746	201	10	with	with	ADP
alkej-746	201	11	the	the	DET
alkej-746	201	12	motor	motor	NOUN
alkej-746	201	13	can	can	AUX
alkej-746	201	14	support	support	VERB
alkej-746	201	15	and	and	CCONJ
alkej-746	201	16	assist	assist	VERB
alkej-746	201	17	the	the	DET
alkej-746	201	18	user	user	NOUN
alkej-746	201	19	's	's	PART
alkej-746	201	20	lower	low	ADJ
alkej-746	201	21	limb	limb	NOUN
alkej-746	201	22	to	to	PART
alkej-746	201	23	walk	walk	VERB
alkej-746	201	24	in	in	ADP
alkej-746	201	25	an	an	DET
alkej-746	201	26	appropriate	appropriate	ADJ
alkej-746	201	27	step	step	NOUN
alkej-746	201	28	pattern	pattern	NOUN
alkej-746	201	29	.	.	PUNCT
alkej-746	202	1	the	the	DET
alkej-746	202	2	results	result	NOUN
alkej-746	202	3	showed	show	VERB
alkej-746	202	4	that	that	SCONJ
alkej-746	202	5	the	the	DET
alkej-746	202	6	presented	present	VERB
alkej-746	202	7	exoskeleton	exoskeleton	NOUN
alkej-746	202	8	reduces	reduce	VERB
alkej-746	202	9	lower	low	ADJ
alkej-746	202	10	limb	limb	NOUN
alkej-746	202	11	muscles	muscle	NOUN
alkej-746	202	12	'	'	PART
alkej-746	202	13	effort	effort	NOUN
alkej-746	202	14	for	for	ADP
alkej-746	202	15	both	both	CCONJ
alkej-746	202	16	the	the	DET
alkej-746	202	17	healthy	healthy	ADJ
alkej-746	202	18	and	and	CCONJ
alkej-746	202	19	disabled	disabled	ADJ
alkej-746	202	20	subjects	subject	NOUN
alkej-746	202	21	,	,	PUNCT
alkej-746	202	22	as	as	ADP
alkej-746	202	23	an	an	DET
alkej-746	202	24	indication	indication	NOUN
alkej-746	202	25	that	that	SCONJ
alkej-746	202	26	the	the	DET
alkej-746	202	27	proposed	propose	VERB
alkej-746	202	28	exoskeleton	exoskeleton	NOUN
alkej-746	202	29	can	can	AUX
alkej-746	202	30	be	be	AUX
alkej-746	202	31	used	use	VERB
alkej-746	202	32	as	as	ADP
alkej-746	202	33	an	an	DET
alkej-746	202	34	assistive	assistive	ADJ
alkej-746	202	35	device	device	NOUN
alkej-746	202	36	to	to	PART
alkej-746	202	37	give	give	VERB
alkej-746	202	38	better	well	ADJ
alkej-746	202	39	mobility	mobility	NOUN
alkej-746	202	40	for	for	ADP
alkej-746	202	41	both	both	CCONJ
alkej-746	202	42	healthy	healthy	ADJ
alkej-746	202	43	and	and	CCONJ
alkej-746	202	44	disabled	disabled	ADJ
alkej-746	202	45	people	people	NOUN
alkej-746	202	46	.	.	PUNCT
alkej-746	203	1	for	for	ADP
alkej-746	203	2	further	further	ADJ
alkej-746	203	3	improvements	improvement	NOUN
alkej-746	203	4	of	of	ADP
alkej-746	203	5	the	the	DET
alkej-746	203	6	current	current	ADJ
alkej-746	203	7	quasi	quasi	ADJ
alkej-746	203	8	-	-	ADJ
alkej-746	203	9	passive	passive	ADJ
alkej-746	203	10	exoskeleton	exoskeleton	NOUN
alkej-746	203	11	for	for	ADP
alkej-746	203	12	future	future	ADJ
alkej-746	203	13	applications	application	NOUN
alkej-746	203	14	in	in	ADP
alkej-746	203	15	rehabilitation	rehabilitation	NOUN
alkej-746	203	16	fields	field	NOUN
alkej-746	203	17	,	,	PUNCT
alkej-746	203	18	efforts	effort	NOUN
alkej-746	203	19	should	should	AUX
alkej-746	203	20	be	be	AUX
alkej-746	203	21	concentrated	concentrate	VERB
alkej-746	203	22	on	on	ADP
alkej-746	203	23	the	the	DET
alkej-746	203	24	types	type	NOUN
alkej-746	203	25	of	of	ADP
alkej-746	203	26	materials	material	NOUN
alkej-746	203	27	,	,	PUNCT
alkej-746	203	28	actuators	actuator	NOUN
alkej-746	203	29	,	,	PUNCT
alkej-746	203	30	controllers	controller	NOUN
alkej-746	203	31	,	,	PUNCT
alkej-746	203	32	energy	energy	NOUN
alkej-746	203	33	efficient	efficient	ADJ
alkej-746	203	34	,	,	PUNCT
alkej-746	203	35	safety	safety	NOUN
alkej-746	203	36	,	,	PUNCT
alkej-746	203	37	and	and	CCONJ
alkej-746	203	38	cost	cost	NOUN
alkej-746	203	39	effectiveness	effectiveness	NOUN
alkej-746	203	40	of	of	ADP
alkej-746	203	41	the	the	DET
alkej-746	203	42	exoskeletons	exoskeleton	NOUN
alkej-746	203	43	.	.	PUNCT
alkej-746	204	1	5	5	X
alkej-746	204	2	.	.	NUM
alkej-746	204	3	references	reference	NOUN
alkej-746	204	4	[	[	X
alkej-746	204	5	1	1	NUM
alkej-746	204	6	]	]	PUNCT
alkej-746	204	7	g.	g.	PROPN
alkej-746	204	8	m.	m.	PROPN
alkej-746	204	9	cestari	cestari	PROPN
alkej-746	204	10	,	,	PUNCT
alkej-746	204	11	d.	d.	PROPN
alkej-746	204	12	sanz	sanz	PROPN
alkej-746	204	13	-	-	PUNCT
alkej-746	204	14	merodio	merodio	PROPN
alkej-746	204	15	,	,	PUNCT
alkej-746	204	16	f.c	f.c	PROPN
alkej-746	204	17	.	.	PROPN
alkej-746	204	18	arevalo	arevalo	PROPN
alkej-746	204	19	,	,	PUNCT
alkej-746	204	20	e	e	PROPN
alkej-746	204	21	,	,	PUNCT
alkej-746	204	22	“	"	PUNCT
alkej-746	204	23	ares	are	NOUN
alkej-746	204	24	,	,	PUNCT
alkej-746	204	25	a	a	DET
alkej-746	204	26	variable	variable	ADJ
alkej-746	204	27	stiffness	stiffness	NOUN
alkej-746	204	28	actuator	actuator	NOUN
alkej-746	204	29	with	with	ADP
alkej-746	204	30	embedded	embed	VERB
alkej-746	204	31	force	force	NOUN
alkej-746	204	32	sensor	sensor	NOUN
alkej-746	204	33	for	for	ADP
alkej-746	204	34	the	the	DET
alkej-746	204	35	atlas	atlas	PROPN
alkej-746	204	36	exoskeleton	exoskeleton	PROPN
alkej-746	204	37	.	.	PUNCT
alkej-746	204	38	”	"	PUNCT
alkej-746	205	1	industrial	industrial	ADJ
alkej-746	205	2	robot	robot	NOUN
alkej-746	205	3	:	:	PUNCT
alkej-746	205	4	an	an	DET
alkej-746	205	5	international	international	ADJ
alkej-746	205	6	journal	journal	NOUN
alkej-746	205	7	,	,	PUNCT
alkej-746	205	8	pp	pp	X
alkej-746	205	9	.	.	PUNCT
alkej-746	206	1	518–526	518–526	NUM
alkej-746	206	2	,	,	PUNCT
alkej-746	206	3	2014	2014	NUM
alkej-746	206	4	.	.	PUNCT
alkej-746	207	1	[	[	X
alkej-746	207	2	2	2	NUM
alkej-746	207	3	]	]	PUNCT
alkej-746	207	4	k.	k.	PROPN
alkej-746	207	5	kong	kong	PROPN
alkej-746	207	6	and	and	CCONJ
alkej-746	207	7	d.	d.	PROPN
alkej-746	207	8	jeon	jeon	PROPN
alkej-746	207	9	,	,	PUNCT
alkej-746	207	10	“	"	PUNCT
alkej-746	207	11	design	design	NOUN
alkej-746	207	12	and	and	CCONJ
alkej-746	207	13	control	control	NOUN
alkej-746	207	14	of	of	ADP
alkej-746	207	15	an	an	DET
alkej-746	207	16	exoskeleton	exoskeleton	NOUN
alkej-746	207	17	for	for	ADP
alkej-746	207	18	the	the	DET
alkej-746	207	19	elderly	elderly	ADJ
alkej-746	207	20	and	and	CCONJ
alkej-746	207	21	patients	patient	NOUN
alkej-746	207	22	,	,	PUNCT
alkej-746	207	23	”	"	PUNCT
alkej-746	207	24	ieee	ieee	PROPN
alkej-746	207	25	/	/	SYM
alkej-746	207	26	asme	asme	PROPN
alkej-746	207	27	trans	trans	PROPN
alkej-746	207	28	.	.	PUNCT
alkej-746	208	1	mechatronics	mechatronic	NOUN
alkej-746	208	2	,	,	PUNCT
alkej-746	208	3	vol	vol	NOUN
alkej-746	208	4	.	.	PROPN
alkej-746	208	5	11	11	NUM
alkej-746	208	6	,	,	PUNCT
alkej-746	208	7	no	no	INTJ
alkej-746	208	8	.	.	NOUN
alkej-746	208	9	4	4	NUM
alkej-746	208	10	,	,	PUNCT
alkej-746	208	11	pp	pp	ADJ
alkej-746	208	12	.	.	PUNCT
alkej-746	209	1	428–432	428–432	NUM
alkej-746	209	2	,	,	PUNCT
alkej-746	209	3	2006	2006	NUM
alkej-746	209	4	,	,	PUNCT
alkej-746	209	5	doi	doi	NOUN
alkej-746	209	6	:	:	PUNCT
alkej-746	209	7	10.1109	10.1109	NUM
alkej-746	209	8	/	/	SYM
alkej-746	209	9	tmech.2006.878550	tmech.2006.878550	X
alkej-746	209	10	.	.	PUNCT
alkej-746	210	1	[	[	X
alkej-746	210	2	3	3	X
alkej-746	210	3	]	]	PUNCT
alkej-746	210	4	m.	m.	PROPN
alkej-746	210	5	d.	d.	PROPN
alkej-746	210	6	c.	c.	PROPN
alkej-746	210	7	sanchez	sanchez	PROPN
alkej-746	210	8	-	-	PUNCT
alkej-746	210	9	villamañan	villamañan	PROPN
alkej-746	210	10	,	,	PUNCT
alkej-746	210	11	j.	j.	PROPN
alkej-746	210	12	gonzalezvargas	gonzalezvargas	PROPN
alkej-746	210	13	,	,	PUNCT
alkej-746	210	14	d.	d.	PROPN
alkej-746	210	15	torricelli	torricelli	PROPN
alkej-746	210	16	,	,	PUNCT
alkej-746	210	17	j.	j.	PROPN
alkej-746	210	18	c.	c.	PROPN
alkej-746	210	19	moreno	moreno	PROPN
alkej-746	210	20	,	,	PUNCT
alkej-746	210	21	and	and	CCONJ
alkej-746	210	22	j.	j.	PROPN
alkej-746	210	23	l.	l.	PROPN
alkej-746	210	24	pons	pons	PROPN
alkej-746	210	25	,	,	PUNCT
alkej-746	210	26	“	"	PUNCT
alkej-746	210	27	compliant	compliant	ADJ
alkej-746	210	28	lower	low	ADJ
alkej-746	210	29	limb	limb	NOUN
alkej-746	210	30	exoskeletons	exoskeleton	NOUN
alkej-746	210	31	:	:	PUNCT
alkej-746	210	32	a	a	DET
alkej-746	210	33	comprehensive	comprehensive	ADJ
alkej-746	210	34	review	review	NOUN
alkej-746	210	35	on	on	ADP
alkej-746	210	36	mechanical	mechanical	ADJ
alkej-746	210	37	design	design	NOUN
alkej-746	210	38	principles	principle	NOUN
alkej-746	210	39	,	,	PUNCT
alkej-746	210	40	”	"	PUNCT
alkej-746	210	41	j.	j.	PROPN
alkej-746	210	42	neuroeng	neuroeng	PROPN
alkej-746	210	43	.	.	PUNCT
alkej-746	211	1	rehabil	rehabil	PROPN
alkej-746	211	2	.	.	PUNCT
alkej-746	211	3	,	,	PUNCT
alkej-746	211	4	vol	vol	NOUN
alkej-746	211	5	.	.	PROPN
alkej-746	212	1	16	16	NUM
alkej-746	212	2	,	,	PUNCT
alkej-746	212	3	no	no	INTJ
alkej-746	212	4	.	.	NOUN
alkej-746	212	5	1	1	NUM
alkej-746	212	6	,	,	PUNCT
alkej-746	212	7	pp	pp	PROPN
alkej-746	212	8	.	.	PUNCT
alkej-746	213	1	1–16	1–16	NOUN
alkej-746	213	2	,	,	PUNCT
alkej-746	213	3	2019	2019	NUM
alkej-746	213	4	,	,	PUNCT
alkej-746	213	5	doi	doi	NOUN
alkej-746	213	6	:	:	PUNCT
alkej-746	213	7	10.1186	10.1186	NUM
alkej-746	213	8	/	/	SYM
alkej-746	213	9	s12984	s12984	NOUN
alkej-746	213	10	-	-	PUNCT
alkej-746	213	11	019	019	NUM
alkej-746	213	12	-	-	PUNCT
alkej-746	213	13	0517	0517	NUM
alkej-746	213	14	-	-	SYM
alkej-746	213	15	9	9	NUM
alkej-746	213	16	.	.	PUNCT
alkej-746	214	1	[	[	X
alkej-746	214	2	4	4	NUM
alkej-746	214	3	]	]	X
alkej-746	214	4	r.	r.	PROPN
alkej-746	214	5	stopforth	stopforth	PROPN
alkej-746	214	6	,	,	PUNCT
alkej-746	214	7	“	"	PUNCT
alkej-746	214	8	customizable	customizable	ADJ
alkej-746	214	9	rehabilitation	rehabilitation	NOUN
alkej-746	214	10	lower	low	ADJ
alkej-746	214	11	limb	limb	NOUN
alkej-746	214	12	exoskeleton	exoskeleton	NOUN
alkej-746	214	13	system	system	NOUN
alkej-746	214	14	,	,	PUNCT
alkej-746	214	15	”	"	PUNCT
alkej-746	214	16	int	int	NOUN
alkej-746	214	17	.	.	PUNCT
alkej-746	215	1	j.	j.	PROPN
alkej-746	215	2	adv	adv	PROPN
alkej-746	215	3	.	.	PUNCT
alkej-746	215	4	robot	robot	PROPN
alkej-746	215	5	.	.	PUNCT
alkej-746	216	1	syst	syst	PROPN
alkej-746	216	2	.	.	PUNCT
alkej-746	216	3	,	,	PUNCT
alkej-746	216	4	vol	vol	NOUN
alkej-746	216	5	.	.	PROPN
alkej-746	216	6	9	9	NUM
alkej-746	216	7	,	,	PUNCT
alkej-746	216	8	pp	pp	ADJ
alkej-746	216	9	.	.	PUNCT
alkej-746	217	1	1–7	1–7	NUM
alkej-746	217	2	,	,	PUNCT
alkej-746	217	3	2012	2012	NUM
alkej-746	217	4	,	,	PUNCT
alkej-746	217	5	doi	doi	NOUN
alkej-746	217	6	:	:	PUNCT
alkej-746	217	7	10.5772/53087	10.5772/53087	NUM
alkej-746	217	8	.	.	PUNCT
alkej-746	218	1	[	[	X
alkej-746	218	2	5	5	X
alkej-746	218	3	]	]	PUNCT
alkej-746	218	4	s.	s.	PROPN
alkej-746	218	5	krut	krut	PROPN
alkej-746	218	6	,	,	PUNCT
alkej-746	218	7	m.	m.	NOUN
alkej-746	218	8	benoit	benoit	PROPN
alkej-746	218	9	,	,	PUNCT
alkej-746	218	10	e.	e.	PROPN
alkej-746	218	11	dombre	dombre	PROPN
alkej-746	218	12	,	,	PUNCT
alkej-746	218	13	and	and	CCONJ
alkej-746	218	14	f.	f.	PROPN
alkej-746	218	15	pierrot	pierrot	PROPN
alkej-746	218	16	,	,	PUNCT
alkej-746	218	17	“	"	PUNCT
alkej-746	218	18	moonwalker	moonwalker	NOUN
alkej-746	218	19	,	,	PUNCT
alkej-746	218	20	a	a	DET
alkej-746	218	21	lower	low	ADJ
alkej-746	218	22	limb	limb	NOUN
alkej-746	218	23	exoskeleton	exoskeleton	NOUN
alkej-746	218	24	able	able	ADJ
alkej-746	218	25	to	to	PART
alkej-746	218	26	sustain	sustain	VERB
alkej-746	218	27	bodyweight	bodyweight	NOUN
alkej-746	218	28	using	use	VERB
alkej-746	218	29	a	a	DET
alkej-746	218	30	passive	passive	ADJ
alkej-746	218	31	force	force	NOUN
alkej-746	218	32	balancer	balancer	NOUN
alkej-746	218	33	,	,	PUNCT
alkej-746	218	34	”	"	PUNCT
alkej-746	218	35	proc	proc	NOUN
alkej-746	218	36	.	.	PUNCT
alkej-746	219	1	ieee	ieee	PROPN
alkej-746	219	2	int	int	PROPN
alkej-746	219	3	.	.	PUNCT
alkej-746	220	1	conf	conf	PROPN
alkej-746	220	2	.	.	PUNCT
alkej-746	221	1	robot	robot	NOUN
alkej-746	221	2	.	.	PUNCT
alkej-746	222	1	autom	autom	PROPN
alkej-746	222	2	.	.	PUNCT
alkej-746	223	1	,	,	PUNCT
alkej-746	223	2	pp	pp	PROPN
alkej-746	223	3	.	.	PUNCT
alkej-746	224	1	2215–2220	2215–2220	NUM
alkej-746	224	2	,	,	PUNCT
alkej-746	224	3	2010	2010	NUM
alkej-746	224	4	,	,	PUNCT
alkej-746	224	5	doi	doi	NOUN
alkej-746	224	6	:	:	PUNCT
alkej-746	224	7	10.1109	10.1109	NUM
alkej-746	224	8	/	/	SYM
alkej-746	224	9	robot.2010.5509961	robot.2010.5509961	NOUN
alkej-746	224	10	.	.	PUNCT
alkej-746	225	1	[	[	X
alkej-746	225	2	6	6	NUM
alkej-746	225	3	]	]	PUNCT
alkej-746	225	4	m.	m.	NOUN
alkej-746	225	5	lyu	lyu	NOUN
alkej-746	225	6	,	,	PUNCT
alkej-746	225	7	w.	w.	PROPN
alkej-746	225	8	chen	chen	PROPN
alkej-746	225	9	,	,	PUNCT
alkej-746	225	10	x.	x.	PROPN
alkej-746	225	11	ding	ding	PROPN
alkej-746	225	12	,	,	PUNCT
alkej-746	225	13	j.	j.	PROPN
alkej-746	225	14	wang	wang	PROPN
alkej-746	225	15	,	,	PUNCT
alkej-746	225	16	s.	s.	PROPN
alkej-746	225	17	bai	bai	PROPN
alkej-746	225	18	,	,	PUNCT
alkej-746	225	19	and	and	CCONJ
alkej-746	225	20	h.	h.	PROPN
alkej-746	225	21	ren	ren	PROPN
alkej-746	225	22	,	,	PUNCT
alkej-746	225	23	“	"	PUNCT
alkej-746	225	24	design	design	NOUN
alkej-746	225	25	of	of	ADP
alkej-746	225	26	a	a	DET
alkej-746	225	27	biologically	biologically	ADV
alkej-746	225	28	inspired	inspire	VERB
alkej-746	225	29	lower	low	ADJ
alkej-746	225	30	limb	limb	NOUN
alkej-746	225	31	exoskeleton	exoskeleton	NOUN
alkej-746	225	32	for	for	ADP
alkej-746	225	33	human	human	PROPN
alkej-746	225	34	gait	gait	PROPN
alkej-746	225	35	rehabilitation	rehabilitation	NOUN
alkej-746	225	36	,	,	PUNCT
alkej-746	225	37	”	"	PUNCT
alkej-746	225	38	review	review	NOUN
alkej-746	225	39	of	of	ADP
alkej-746	225	40	scientific	scientific	ADJ
alkej-746	225	41	instruments	instrument	NOUN
alkej-746	225	42	,	,	PUNCT
alkej-746	225	43	vol	vol	NOUN
alkej-746	225	44	.	.	PROPN
alkej-746	225	45	87	87	NUM
alkej-746	225	46	,	,	PUNCT
alkej-746	225	47	no	no	INTJ
alkej-746	225	48	.	.	NOUN
alkej-746	225	49	10	10	NUM
alkej-746	225	50	.	.	X
alkej-746	226	1	american	american	PROPN
alkej-746	226	2	institute	institute	PROPN
alkej-746	226	3	of	of	ADP
alkej-746	226	4	physics	physics	PROPN
alkej-746	226	5	inc	inc	PROPN
alkej-746	226	6	.	.	PROPN
alkej-746	226	7	,	,	PUNCT
alkej-746	226	8	01	01	NUM
alkej-746	226	9	-	-	PUNCT
alkej-746	226	10	oct-2016	oct-2016	NOUN
alkej-746	226	11	,	,	PUNCT
alkej-746	226	12	doi	doi	PROPN
alkej-746	226	13	:	:	PUNCT
alkej-746	226	14	10.1063/1.4964136	10.1063/1.4964136	NUM
alkej-746	226	15	.	.	PUNCT
alkej-746	227	1	[	[	X
alkej-746	227	2	7	7	X
alkej-746	227	3	]	]	X
alkej-746	227	4	w.	w.	PROPN
alkej-746	227	5	huo	huo	PROPN
alkej-746	227	6	,	,	PUNCT
alkej-746	227	7	s.	s.	PROPN
alkej-746	227	8	mohammed	mohammed	PROPN
alkej-746	227	9	,	,	PUNCT
alkej-746	227	10	y.	y.	PROPN
alkej-746	227	11	amirat	amirat	PROPN
alkej-746	227	12	,	,	PUNCT
alkej-746	227	13	and	and	CCONJ
alkej-746	227	14	k.	k.	PROPN
alkej-746	227	15	kong	kong	PROPN
alkej-746	227	16	,	,	PUNCT
alkej-746	227	17	“	"	PUNCT
alkej-746	227	18	active	active	ADJ
alkej-746	227	19	impedance	impedance	NOUN
alkej-746	227	20	control	control	NOUN
alkej-746	227	21	of	of	ADP
alkej-746	227	22	a	a	DET
alkej-746	227	23	lower	low	ADJ
alkej-746	227	24	limb	limb	NOUN
alkej-746	227	25	exoskeleton	exoskeleton	NOUN
alkej-746	227	26	to	to	PART
alkej-746	227	27	assist	assist	VERB
alkej-746	227	28	sit	sit	VERB
alkej-746	227	29	-	-	PUNCT
alkej-746	227	30	to	to	ADP
alkej-746	227	31	-	-	PUNCT
alkej-746	227	32	stand	stand	NOUN
alkej-746	227	33	movement	movement	NOUN
alkej-746	227	34	,	,	PUNCT
alkej-746	227	35	”	"	PUNCT
alkej-746	227	36	proc	proc	NOUN
alkej-746	227	37	.	.	PUNCT
alkej-746	228	1	ieee	ieee	PROPN
alkej-746	228	2	int	int	PROPN
alkej-746	228	3	.	.	PUNCT
alkej-746	229	1	conf	conf	PROPN
alkej-746	229	2	.	.	PUNCT
alkej-746	230	1	robot	robot	NOUN
alkej-746	230	2	.	.	PUNCT
alkej-746	231	1	autom	autom	PROPN
alkej-746	231	2	.	.	PUNCT
alkej-746	232	1	,	,	PUNCT
alkej-746	232	2	vol	vol	NOUN
alkej-746	232	3	.	.	PROPN
alkej-746	233	1	2016	2016	NUM
alkej-746	233	2	-	-	SYM
alkej-746	233	3	june	june	PROPN
alkej-746	233	4	,	,	PUNCT
alkej-746	233	5	pp	pp	PROPN
alkej-746	233	6	.	.	PUNCT
alkej-746	234	1	3530–3536	3530–3536	NUM
alkej-746	234	2	,	,	PUNCT
alkej-746	234	3	2016	2016	NUM
alkej-746	234	4	,	,	PUNCT
alkej-746	234	5	doi	doi	NOUN
alkej-746	234	6	:	:	PUNCT
alkej-746	234	7	10.1109	10.1109	NUM
alkej-746	234	8	/	/	SYM
alkej-746	234	9	icra.2016.7487534	icra.2016.7487534	NOUN
alkej-746	234	10	.	.	PUNCT
alkej-746	235	1	[	[	X
alkej-746	235	2	8	8	NUM
alkej-746	235	3	]	]	PUNCT
alkej-746	235	4	b.	b.	PROPN
alkej-746	235	5	chen	chen	PROPN
alkej-746	235	6	et	et	PROPN
alkej-746	235	7	al	al	PROPN
alkej-746	235	8	.	.	PROPN
alkej-746	235	9	,	,	PUNCT
alkej-746	235	10	“	"	PUNCT
alkej-746	235	11	recent	recent	ADJ
alkej-746	235	12	developments	development	NOUN
alkej-746	235	13	and	and	CCONJ
alkej-746	235	14	challenges	challenge	NOUN
alkej-746	235	15	of	of	ADP
alkej-746	235	16	lower	low	ADJ
alkej-746	235	17	extremity	extremity	NOUN
alkej-746	235	18	exoskeletons	exoskeleton	NOUN
alkej-746	235	19	,	,	PUNCT
alkej-746	235	20	”	"	PUNCT
alkej-746	235	21	j.	j.	PROPN
alkej-746	235	22	orthop	orthop	PROPN
alkej-746	235	23	.	.	PUNCT
alkej-746	236	1	transl	transl	PROPN
alkej-746	236	2	.	.	PUNCT
alkej-746	237	1	,	,	PUNCT
alkej-746	237	2	vol	vol	NOUN
alkej-746	237	3	.	.	PROPN
alkej-746	237	4	5	5	NUM
alkej-746	237	5	,	,	PUNCT
alkej-746	237	6	pp	pp	ADJ
alkej-746	237	7	.	.	PUNCT
alkej-746	238	1	26–37	26–37	NUM
alkej-746	238	2	,	,	PUNCT
alkej-746	238	3	2016	2016	NUM
alkej-746	238	4	,	,	PUNCT
alkej-746	238	5	doi	doi	NOUN
alkej-746	238	6	:	:	PUNCT
alkej-746	238	7	10.1016	10.1016	NUM
alkej-746	238	8	/	/	SYM
alkej-746	238	9	j.jot.2015.09.007	j.jot.2015.09.007	NOUN
alkej-746	238	10	.	.	PUNCT
alkej-746	239	1	[	[	X
alkej-746	239	2	9	9	NUM
alkej-746	239	3	]	]	X
alkej-746	239	4	g.	g.	PROPN
alkej-746	239	5	chen	chen	PROPN
alkej-746	239	6	,	,	PUNCT
alkej-746	239	7	c.	c.	PROPN
alkej-746	239	8	k.	k.	PROPN
alkej-746	239	9	chan	chan	PROPN
alkej-746	239	10	,	,	PUNCT
alkej-746	239	11	z.	z.	PROPN
alkej-746	239	12	guo	guo	PROPN
alkej-746	239	13	,	,	PUNCT
alkej-746	239	14	and	and	CCONJ
alkej-746	239	15	h.	h.	PROPN
alkej-746	239	16	yu	yu	PROPN
alkej-746	239	17	,	,	PUNCT
alkej-746	239	18	“	"	PUNCT
alkej-746	239	19	a	a	DET
alkej-746	239	20	review	review	NOUN
alkej-746	239	21	of	of	ADP
alkej-746	239	22	lower	low	ADJ
alkej-746	239	23	extremity	extremity	NOUN
alkej-746	239	24	assistive	assistive	ADJ
alkej-746	239	25	robotic	robotic	ADJ
alkej-746	239	26	exoskeletons	exoskeleton	NOUN
alkej-746	239	27	in	in	ADP
alkej-746	239	28	rehabilitation	rehabilitation	NOUN
alkej-746	239	29	therapy	therapy	NOUN
alkej-746	239	30	,	,	PUNCT
alkej-746	239	31	”	"	PUNCT
alkej-746	239	32	crit	crit	PROPN
alkej-746	239	33	.	.	PUNCT
alkej-746	239	34	rev	rev	PROPN
alkej-746	239	35	.	.	PROPN
alkej-746	239	36	biomed	biome	VERB
alkej-746	239	37	.	.	PUNCT
alkej-746	240	1	eng	eng	PROPN
alkej-746	240	2	.	.	PROPN
alkej-746	240	3	,	,	PUNCT
alkej-746	240	4	vol	vol	NOUN
alkej-746	240	5	.	.	PROPN
alkej-746	240	6	41	41	NUM
alkej-746	240	7	,	,	PUNCT
alkej-746	240	8	no	no	INTJ
alkej-746	240	9	.	.	PUNCT
alkej-746	241	1	4–5	4–5	NUM
alkej-746	241	2	,	,	PUNCT
alkej-746	241	3	pp	pp	ADJ
alkej-746	241	4	.	.	PUNCT
alkej-746	242	1	343–363	343–363	NUM
alkej-746	242	2	,	,	PUNCT
alkej-746	242	3	2013	2013	NUM
alkej-746	242	4	,	,	PUNCT
alkej-746	242	5	doi	doi	NOUN
alkej-746	242	6	:	:	PUNCT
alkej-746	242	7	10.1615	10.1615	NUM
alkej-746	242	8	/	/	SYM
alkej-746	242	9	critrevbiomedeng.2014010453	critrevbiomedeng.2014010453	NOUN
alkej-746	242	10	.	.	PUNCT
alkej-746	243	1	[	[	X
alkej-746	243	2	10	10	NUM
alkej-746	243	3	]	]	PUNCT
alkej-746	243	4	j.	j.	PROPN
alkej-746	243	5	zhou	zhou	PROPN
alkej-746	243	6	,	,	PUNCT
alkej-746	243	7	s.	s.	PROPN
alkej-746	243	8	yang	yang	PROPN
alkej-746	243	9	,	,	PUNCT
alkej-746	243	10	and	and	CCONJ
alkej-746	243	11	q.	q.	PROPN
alkej-746	243	12	xue	xue	PROPN
alkej-746	243	13	,	,	PUNCT
alkej-746	243	14	“	"	PUNCT
alkej-746	243	15	lower	low	ADJ
alkej-746	243	16	limb	limb	NOUN
alkej-746	243	17	rehabilitation	rehabilitation	NOUN
alkej-746	243	18	exoskeleton	exoskeleton	PROPN
alkej-746	243	19	robot	robot	NOUN
alkej-746	243	20	 	 	SPACE
alkej-746	243	21	:	:	PUNCT
alkej-746	243	22	a	a	DET
alkej-746	243	23	review	review	NOUN
alkej-746	243	24	,	,	PUNCT
alkej-746	243	25	”	"	PUNCT
alkej-746	243	26	vol	vol	NOUN
alkej-746	243	27	.	.	PROPN
alkej-746	243	28	13	13	NUM
alkej-746	243	29	,	,	PUNCT
alkej-746	243	30	no	no	INTJ
alkej-746	243	31	.	.	NOUN
alkej-746	243	32	1038	1038	NUM
alkej-746	243	33	,	,	PUNCT
alkej-746	243	34	pp	pp	ADP
alkej-746	243	35	.	.	PUNCT
alkej-746	244	1	1–17	1–17	NOUN
alkej-746	244	2	,	,	PUNCT
alkej-746	244	3	2021	2021	NUM
alkej-746	244	4	,	,	PUNCT
alkej-746	244	5	doi	doi	PROPN
alkej-746	244	6	:	:	PUNCT
alkej-746	244	7	niaam	niaam	PROPN
alkej-746	244	8	kh	kh	PROPN
alkej-746	244	9	.	.	PUNCT
alkej-746	245	1	al	al	PROPN
alkej-746	245	2	-	-	PUNCT
alkej-746	245	3	hayali	hayali	PROPN
alkej-746	245	4	al	al	PROPN
alkej-746	245	5	-	-	PUNCT
alkej-746	245	6	khwarizmi	khwarizmi	PROPN
alkej-746	245	7	engineering	engineering	NOUN
alkej-746	245	8	journal	journal	PROPN
alkej-746	245	9	,	,	PUNCT
alkej-746	245	10	vol	vol	NOUN
alkej-746	245	11	.	.	PROPN
alkej-746	245	12	17	17	NUM
alkej-746	245	13	,	,	PUNCT
alkej-746	245	14	no	no	INTJ
alkej-746	245	15	.	.	NOUN
alkej-746	245	16	4	4	NUM
alkej-746	245	17	,	,	PUNCT
alkej-746	245	18	p.p	p.p	PROPN
alkej-746	245	19	.	.	NOUN
alkej-746	245	20	3647	3647	NUM
alkej-746	245	21	(	(	PUNCT
alkej-746	245	22	2021	2021	NUM
alkej-746	245	23	)	)	PUNCT
alkej-746	245	24	46	46	NUM
alkej-746	245	25	10.1177/16878140211011862	10.1177/16878140211011862	NUM
alkej-746	245	26	.	.	PUNCT
alkej-746	246	1	[	[	X
alkej-746	246	2	11	11	NUM
alkej-746	246	3	]	]	PUNCT
alkej-746	246	4	t.	t.	NOUN
alkej-746	246	5	mikolajczyk	mikolajczyk	PROPN
alkej-746	246	6	et	et	PROPN
alkej-746	246	7	al	al	PROPN
alkej-746	246	8	.	.	PROPN
alkej-746	246	9	,	,	PUNCT
alkej-746	246	10	“	"	PUNCT
alkej-746	246	11	advanced	advanced	ADJ
alkej-746	246	12	technology	technology	NOUN
alkej-746	246	13	for	for	ADP
alkej-746	246	14	gait	gait	ADJ
alkej-746	246	15	rehabilitation	rehabilitation	NOUN
alkej-746	246	16	:	:	PUNCT
alkej-746	246	17	an	an	DET
alkej-746	246	18	overview	overview	NOUN
alkej-746	246	19	,	,	PUNCT
alkej-746	246	20	”	"	PUNCT
alkej-746	246	21	adv	adv	PROPN
alkej-746	246	22	.	.	PROPN
alkej-746	246	23	mech	mech	PROPN
alkej-746	246	24	.	.	PUNCT
alkej-746	247	1	eng	eng	PROPN
alkej-746	247	2	.	.	PROPN
alkej-746	247	3	,	,	PUNCT
alkej-746	247	4	vol	vol	NOUN
alkej-746	247	5	.	.	PROPN
alkej-746	248	1	10	10	NUM
alkej-746	248	2	,	,	PUNCT
alkej-746	248	3	no	no	INTJ
alkej-746	248	4	.	.	NOUN
alkej-746	248	5	7	7	NUM
alkej-746	248	6	,	,	PUNCT
alkej-746	248	7	pp	pp	ADJ
alkej-746	248	8	.	.	PUNCT
alkej-746	249	1	1–19	1–19	NOUN
alkej-746	249	2	,	,	PUNCT
alkej-746	249	3	2018	2018	NUM
alkej-746	249	4	,	,	PUNCT
alkej-746	249	5	doi	doi	NOUN
alkej-746	249	6	:	:	PUNCT
alkej-746	249	7	10.1177/1687814018783627	10.1177/1687814018783627	NUM
alkej-746	249	8	.	.	PUNCT
alkej-746	250	1	[	[	X
alkej-746	250	2	12	12	NUM
alkej-746	250	3	]	]	X
alkej-746	250	4	n.	n.	PROPN
alkej-746	250	5	k.	k.	PROPN
alkej-746	250	6	al	al	PROPN
alkej-746	250	7	-	-	PUNCT
alkej-746	250	8	hayali	hayali	PROPN
alkej-746	250	9	,	,	PUNCT
alkej-746	250	10	j.	j.	PROPN
alkej-746	250	11	s.	s.	PROPN
alkej-746	250	12	chiad	chiad	PROPN
alkej-746	250	13	,	,	PUNCT
alkej-746	250	14	s.	s.	PROPN
alkej-746	250	15	m.	m.	PROPN
alkej-746	250	16	nacy	nacy	PROPN
alkej-746	250	17	,	,	PUNCT
alkej-746	250	18	and	and	CCONJ
alkej-746	250	19	o.	o.	PROPN
alkej-746	250	20	hussein	hussein	PROPN
alkej-746	250	21	,	,	PUNCT
alkej-746	250	22	“	"	PUNCT
alkej-746	250	23	a	a	DET
alkej-746	250	24	review	review	NOUN
alkej-746	250	25	of	of	ADP
alkej-746	250	26	passive	passive	ADJ
alkej-746	250	27	and	and	CCONJ
alkej-746	250	28	quasi	quasi	ADJ
alkej-746	250	29	-	-	ADJ
alkej-746	250	30	passive	passive	ADJ
alkej-746	250	31	lower	low	ADJ
alkej-746	250	32	limb	limb	NOUN
alkej-746	250	33	exoskeletons	exoskeleton	NOUN
alkej-746	250	34	for	for	ADP
alkej-746	250	35	gait	gait	NOUN
alkej-746	250	36	rehabilitation	rehabilitation	NOUN
alkej-746	250	37	,	,	PUNCT
alkej-746	250	38	”	"	PUNCT
alkej-746	250	39	vol	vol	NOUN
alkej-746	250	40	.	.	PROPN
alkej-746	250	41	44	44	NUM
alkej-746	250	42	,	,	PUNCT
alkej-746	250	43	no	no	INTJ
alkej-746	250	44	.	.	NOUN
alkej-746	250	45	9	9	NUM
alkej-746	250	46	,	,	PUNCT
alkej-746	250	47	pp	pp	ADJ
alkej-746	250	48	.	.	PUNCT
alkej-746	251	1	428	428	NUM
alkej-746	251	2	–	–	PUNCT
alkej-746	251	3	439	439	NUM
alkej-746	251	4	,	,	PUNCT
alkej-746	251	5	2021	2021	NUM
alkej-746	251	6	.	.	PUNCT
alkej-746	252	1	[	[	X
alkej-746	252	2	13	13	NUM
alkej-746	252	3	]	]	X
alkej-746	252	4	h.	h.	PROPN
alkej-746	252	5	kawamoto	kawamoto	PROPN
alkej-746	252	6	,	,	PUNCT
alkej-746	252	7	s.	s.	PROPN
alkej-746	252	8	lee	lee	PROPN
alkej-746	252	9	,	,	PUNCT
alkej-746	252	10	s.	s.	PROPN
alkej-746	252	11	kanbe	kanbe	PROPN
alkej-746	252	12	,	,	PUNCT
alkej-746	252	13	and	and	CCONJ
alkej-746	252	14	y.	y.	PROPN
alkej-746	252	15	sankai	sankai	PROPN
alkej-746	252	16	,	,	PUNCT
alkej-746	252	17	“	"	PUNCT
alkej-746	252	18	power	power	NOUN
alkej-746	252	19	assist	assist	NOUN
alkej-746	252	20	method	method	NOUN
alkej-746	252	21	for	for	ADP
alkej-746	252	22	hal-3	hal-3	VERB
alkej-746	252	23	using	use	VERB
alkej-746	252	24	emg	emg	NOUN
alkej-746	252	25	-	-	PUNCT
alkej-746	252	26	based	base	VERB
alkej-746	252	27	feedback	feedback	NOUN
alkej-746	252	28	controller	controller	NOUN
alkej-746	252	29	,	,	PUNCT
alkej-746	252	30	”	"	PUNCT
alkej-746	252	31	proc	proc	NOUN
alkej-746	252	32	.	.	PUNCT
alkej-746	253	1	ieee	ieee	PROPN
alkej-746	253	2	int	int	PROPN
alkej-746	253	3	.	.	PUNCT
alkej-746	254	1	conf	conf	PROPN
alkej-746	254	2	.	.	PUNCT
alkej-746	255	1	syst	syst	PROPN
alkej-746	255	2	.	.	PUNCT
alkej-746	256	1	man	man	PROPN
alkej-746	256	2	cybern	cybern	PROPN
alkej-746	256	3	.	.	PUNCT
alkej-746	257	1	,	,	PUNCT
alkej-746	257	2	vol	vol	NOUN
alkej-746	257	3	.	.	PROPN
alkej-746	258	1	2	2	NUM
alkej-746	258	2	,	,	PUNCT
alkej-746	258	3	pp	pp	ADJ
alkej-746	258	4	.	.	PUNCT
alkej-746	259	1	1648–1653	1648–1653	NUM
alkej-746	259	2	,	,	PUNCT
alkej-746	259	3	2003	2003	NUM
alkej-746	259	4	,	,	PUNCT
alkej-746	259	5	doi	doi	NOUN
alkej-746	259	6	:	:	PUNCT
alkej-746	259	7	10.1109	10.1109	NUM
alkej-746	259	8	/	/	SYM
alkej-746	259	9	icsmc.2003.1244649	icsmc.2003.1244649	NOUN
alkej-746	259	10	.	.	PUNCT
alkej-746	260	1	[	[	X
alkej-746	260	2	14	14	NUM
alkej-746	260	3	]	]	X
alkej-746	260	4	y.	y.	NOUN
alkej-746	260	5	he	he	PRON
alkej-746	260	6	,	,	PUNCT
alkej-746	260	7	d.	d.	PROPN
alkej-746	260	8	eguren	eguren	PROPN
alkej-746	260	9	,	,	PUNCT
alkej-746	260	10	t.	t.	PROPN
alkej-746	260	11	p.	p.	PROPN
alkej-746	260	12	luu	luu	PROPN
alkej-746	260	13	,	,	PUNCT
alkej-746	260	14	and	and	CCONJ
alkej-746	260	15	j.	j.	PROPN
alkej-746	260	16	l.	l.	PROPN
alkej-746	260	17	contreras	contreras	PROPN
alkej-746	260	18	-	-	PUNCT
alkej-746	260	19	vidal	vidal	NOUN
alkej-746	260	20	,	,	PUNCT
alkej-746	260	21	“	"	PUNCT
alkej-746	260	22	risk	risk	NOUN
alkej-746	260	23	management	management	NOUN
alkej-746	260	24	and	and	CCONJ
alkej-746	260	25	regulations	regulation	NOUN
alkej-746	260	26	for	for	ADP
alkej-746	260	27	lower	low	ADJ
alkej-746	260	28	limb	limb	NOUN
alkej-746	260	29	medical	medical	ADJ
alkej-746	260	30	exoskeletons	exoskeleton	NOUN
alkej-746	260	31	:	:	PUNCT
alkej-746	260	32	a	a	DET
alkej-746	260	33	review	review	NOUN
alkej-746	260	34	,	,	PUNCT
alkej-746	260	35	”	"	PUNCT
alkej-746	260	36	med	med	PROPN
alkej-746	260	37	.	.	PUNCT
alkej-746	260	38	devices	devices	PROPN
alkej-746	260	39	evid	evid	PROPN
alkej-746	260	40	.	.	PUNCT
alkej-746	261	1	res	re	NOUN
alkej-746	261	2	.	.	PROPN
alkej-746	261	3	,	,	PUNCT
alkej-746	261	4	vol	vol	NOUN
alkej-746	261	5	.	.	PROPN
alkej-746	261	6	10	10	NUM
alkej-746	261	7	,	,	PUNCT
alkej-746	261	8	pp	pp	ADJ
alkej-746	261	9	.	.	PUNCT
alkej-746	262	1	89–107	89–107	NUM
alkej-746	262	2	,	,	PUNCT
alkej-746	262	3	2017	2017	NUM
alkej-746	262	4	,	,	PUNCT
alkej-746	262	5	doi	doi	NOUN
alkej-746	262	6	:	:	PUNCT
alkej-746	262	7	10.2147	10.2147	NUM
alkej-746	262	8	/	/	SYM
alkej-746	262	9	mder.s107134	mder.s107134	NOUN
alkej-746	262	10	.	.	PUNCT
alkej-746	263	1	[	[	X
alkej-746	263	2	15	15	NUM
alkej-746	263	3	]	]	PUNCT
alkej-746	263	4	x.	x.	PROPN
alkej-746	263	5	zhang	zhang	PROPN
alkej-746	263	6	,	,	PUNCT
alkej-746	263	7	z.	z.	PROPN
alkej-746	263	8	yue	yue	PROPN
alkej-746	263	9	,	,	PUNCT
alkej-746	263	10	and	and	CCONJ
alkej-746	263	11	j.	j.	PROPN
alkej-746	263	12	wang	wang	PROPN
alkej-746	263	13	,	,	PUNCT
alkej-746	263	14	“	"	PUNCT
alkej-746	263	15	robotics	robotic	NOUN
alkej-746	263	16	in	in	ADP
alkej-746	263	17	lower	low	ADJ
alkej-746	263	18	-	-	PUNCT
alkej-746	263	19	limb	limb	NOUN
alkej-746	263	20	rehabilitation	rehabilitation	NOUN
alkej-746	263	21	after	after	ADP
alkej-746	263	22	stroke	stroke	NOUN
alkej-746	263	23	,	,	PUNCT
alkej-746	263	24	”	"	PUNCT
alkej-746	263	25	behav	behav	NOUN
alkej-746	263	26	.	.	PUNCT
alkej-746	264	1	neurol	neurol	NOUN
alkej-746	264	2	.	.	PUNCT
alkej-746	265	1	,	,	PUNCT
alkej-746	265	2	vol	vol	NOUN
alkej-746	265	3	.	.	PROPN
alkej-746	265	4	2017	2017	NUM
alkej-746	265	5	,	,	PUNCT
alkej-746	265	6	2017	2017	NUM
alkej-746	265	7	,	,	PUNCT
alkej-746	265	8	doi	doi	NOUN
alkej-746	265	9	:	:	PUNCT
alkej-746	265	10	10.1155/2017/3731802	10.1155/2017/3731802	NUM
alkej-746	265	11	.	.	PUNCT
alkej-746	266	1	[	[	X
alkej-746	266	2	16	16	NUM
alkej-746	266	3	]	]	PUNCT
alkej-746	266	4	z.	z.	PROPN
alkej-746	266	5	yang	yang	PROPN
alkej-746	266	6	,	,	PUNCT
alkej-746	266	7	w.	w.	PROPN
alkej-746	266	8	gu	gu	PROPN
alkej-746	266	9	,	,	PUNCT
alkej-746	266	10	j.	j.	PROPN
alkej-746	266	11	zhang	zhang	PROPN
alkej-746	266	12	,	,	PUNCT
alkej-746	266	13	and	and	CCONJ
alkej-746	266	14	l.	l.	PROPN
alkej-746	266	15	gui	gui	PROPN
alkej-746	266	16	,	,	PUNCT
alkej-746	266	17	force	force	NOUN
alkej-746	266	18	control	control	NOUN
alkej-746	266	19	theory	theory	NOUN
alkej-746	266	20	and	and	CCONJ
alkej-746	266	21	method	method	NOUN
alkej-746	266	22	of	of	ADP
alkej-746	266	23	human	human	ADJ
alkej-746	266	24	load	load	NOUN
alkej-746	266	25	carrying	carry	VERB
alkej-746	266	26	exoskeleton	exoskeleton	NOUN
alkej-746	266	27	suit	suit	NOUN
alkej-746	266	28	.	.	PUNCT
alkej-746	267	1	2017	2017	NUM
alkej-746	267	2	.	.	PUNCT
alkej-746	268	1	[	[	X
alkej-746	268	2	17	17	NUM
alkej-746	268	3	]	]	X
alkej-746	268	4	c.	c.	NOUN
alkej-746	268	5	woods	woods	PROPN
alkej-746	268	6	,	,	PUNCT
alkej-746	268	7	l.	l.	PROPN
alkej-746	268	8	callagher	callagher	PROPN
alkej-746	268	9	,	,	PUNCT
alkej-746	268	10	and	and	CCONJ
alkej-746	268	11	t.	t.	PROPN
alkej-746	268	12	jaffray	jaffray	NOUN
alkej-746	268	13	,	,	PUNCT
alkej-746	268	14	“	"	PUNCT
alkej-746	268	15	walk	walk	VERB
alkej-746	268	16	tall	tall	ADJ
alkej-746	268	17	:	:	PUNCT
alkej-746	268	18	the	the	DET
alkej-746	268	19	story	story	NOUN
alkej-746	268	20	of	of	ADP
alkej-746	268	21	rex	rex	PROPN
alkej-746	268	22	bionics	bionic	NOUN
alkej-746	268	23	,	,	PUNCT
alkej-746	268	24	”	"	PUNCT
alkej-746	268	25	j.	j.	PROPN
alkej-746	268	26	manag	manag	PROPN
alkej-746	268	27	.	.	PUNCT
alkej-746	269	1	organ	organ	PROPN
alkej-746	269	2	.	.	PUNCT
alkej-746	269	3	,	,	PUNCT
alkej-746	269	4	no	no	INTJ
alkej-746	269	5	.	.	PUNCT
alkej-746	269	6	december	december	PROPN
alkej-746	269	7	,	,	PUNCT
alkej-746	269	8	pp	pp	PROPN
alkej-746	269	9	.	.	PUNCT
alkej-746	270	1	1–14	1–14	PROPN
alkej-746	270	2	,	,	PUNCT
alkej-746	270	3	2018	2018	NUM
alkej-746	270	4	,	,	PUNCT
alkej-746	270	5	doi	doi	NOUN
alkej-746	270	6	:	:	PUNCT
alkej-746	270	7	10.1017	10.1017	NUM
alkej-746	270	8	/	/	SYM
alkej-746	270	9	jmo.2018.68	jmo.2018.68	NOUN
alkej-746	270	10	.	.	PUNCT
alkej-746	271	1	[	[	X
alkej-746	271	2	18	18	NUM
alkej-746	271	3	]	]	X
alkej-746	271	4	g.	g.	PROPN
alkej-746	271	5	barbareschi	barbareschi	PROPN
alkej-746	271	6	,	,	PUNCT
alkej-746	271	7	r.	r.	PROPN
alkej-746	271	8	richards	richards	PROPN
alkej-746	271	9	,	,	PUNCT
alkej-746	271	10	m.	m.	NOUN
alkej-746	271	11	thornton	thornton	PROPN
alkej-746	271	12	,	,	PUNCT
alkej-746	271	13	t.	t.	PROPN
alkej-746	271	14	carlson	carlson	PROPN
alkej-746	271	15	,	,	PUNCT
alkej-746	271	16	and	and	CCONJ
alkej-746	271	17	c.	c.	PROPN
alkej-746	271	18	holloway	holloway	PROPN
alkej-746	271	19	,	,	PUNCT
alkej-746	271	20	“	"	PUNCT
alkej-746	271	21	statically	statically	ADV
alkej-746	271	22	vs	vs	ADP
alkej-746	271	23	dynamically	dynamically	ADV
alkej-746	271	24	balanced	balance	VERB
alkej-746	271	25	gait	gait	NOUN
alkej-746	271	26	:	:	PUNCT
alkej-746	271	27	analysis	analysis	NOUN
alkej-746	271	28	of	of	ADP
alkej-746	271	29	a	a	DET
alkej-746	271	30	robotic	robotic	ADJ
alkej-746	271	31	exoskeleton	exoskeleton	NOUN
alkej-746	271	32	compared	compare	VERB
alkej-746	271	33	with	with	ADP
alkej-746	271	34	a	a	DET
alkej-746	271	35	human	human	NOUN
alkej-746	271	36	,	,	PUNCT
alkej-746	271	37	”	"	PUNCT
alkej-746	271	38	proc	proc	NOUN
alkej-746	271	39	.	.	PUNCT
alkej-746	272	1	annu	annu	PROPN
alkej-746	272	2	.	.	PUNCT
alkej-746	273	1	int	int	NOUN
alkej-746	273	2	.	.	PUNCT
alkej-746	273	3	conf	conf	PROPN
alkej-746	273	4	.	.	PUNCT
alkej-746	274	1	ieee	ieee	PROPN
alkej-746	274	2	eng	eng	PROPN
alkej-746	274	3	.	.	PROPN
alkej-746	274	4	med	med	PROPN
alkej-746	274	5	.	.	PUNCT
alkej-746	275	1	biol	biol	PROPN
alkej-746	275	2	.	.	PUNCT
alkej-746	276	1	soc	soc	PROPN
alkej-746	276	2	.	.	PUNCT
alkej-746	277	1	embs	emb	NOUN
alkej-746	277	2	,	,	PUNCT
alkej-746	277	3	vol	vol	NOUN
alkej-746	277	4	.	.	NOUN
alkej-746	278	1	2015	2015	NUM
alkej-746	278	2	-	-	PUNCT
alkej-746	278	3	novem	novem	NOUN
alkej-746	278	4	,	,	PUNCT
alkej-746	278	5	no	no	INTJ
alkej-746	278	6	.	.	PUNCT
alkej-746	279	1	september	september	PROPN
alkej-746	279	2	,	,	PUNCT
alkej-746	279	3	pp	pp	ADP
alkej-746	279	4	.	.	PUNCT
alkej-746	280	1	6728–6731	6728–6731	NUM
alkej-746	280	2	,	,	PUNCT
alkej-746	280	3	2015	2015	NUM
alkej-746	280	4	,	,	PUNCT
alkej-746	280	5	doi	doi	NOUN
alkej-746	280	6	:	:	PUNCT
alkej-746	280	7	10.1109	10.1109	NUM
alkej-746	280	8	/	/	SYM
alkej-746	280	9	embc.2015.7319937	embc.2015.7319937	NOUN
alkej-746	280	10	.	.	PUNCT
alkej-746	281	1	[	[	X
alkej-746	281	2	19	19	NUM
alkej-746	281	3	]	]	X
alkej-746	281	4	v.	v.	ADP
alkej-746	281	5	lajeunesse	lajeunesse	INTJ
alkej-746	281	6	,	,	PUNCT
alkej-746	281	7	c.	c.	PROPN
alkej-746	281	8	vincent	vincent	PROPN
alkej-746	281	9	,	,	PUNCT
alkej-746	281	10	f.	f.	PROPN
alkej-746	281	11	routhier	routhier	PROPN
alkej-746	281	12	,	,	PUNCT
alkej-746	281	13	e.	e.	PROPN
alkej-746	281	14	careau	careau	PROPN
alkej-746	281	15	,	,	PUNCT
alkej-746	281	16	and	and	CCONJ
alkej-746	281	17	f.	f.	PROPN
alkej-746	281	18	michaud	michaud	PROPN
alkej-746	281	19	,	,	PUNCT
alkej-746	281	20	“	"	PUNCT
alkej-746	281	21	exoskeletons	exoskeleton	NOUN
alkej-746	281	22	’	'	PUNCT
alkej-746	281	23	design	design	NOUN
alkej-746	281	24	and	and	CCONJ
alkej-746	281	25	usefulness	usefulness	NOUN
alkej-746	281	26	evidence	evidence	NOUN
alkej-746	281	27	according	accord	VERB
alkej-746	281	28	to	to	ADP
alkej-746	281	29	a	a	DET
alkej-746	281	30	systematic	systematic	ADJ
alkej-746	281	31	review	review	NOUN
alkej-746	281	32	of	of	ADP
alkej-746	281	33	lower	low	ADJ
alkej-746	281	34	limb	limb	NOUN
alkej-746	281	35	exoskeletons	exoskeleton	NOUN
alkej-746	281	36	used	use	VERB
alkej-746	281	37	for	for	ADP
alkej-746	281	38	functional	functional	ADJ
alkej-746	281	39	mobility	mobility	NOUN
alkej-746	281	40	by	by	ADP
alkej-746	281	41	people	people	NOUN
alkej-746	281	42	with	with	ADP
alkej-746	281	43	spinal	spinal	ADJ
alkej-746	281	44	cord	cord	NOUN
alkej-746	281	45	injury	injury	NOUN
alkej-746	281	46	,	,	PUNCT
alkej-746	281	47	”	"	PUNCT
alkej-746	281	48	disabil	disabil	PROPN
alkej-746	281	49	.	.	PUNCT
alkej-746	281	50	rehabil	rehabil	PROPN
alkej-746	281	51	.	.	PUNCT
alkej-746	282	1	assist	assist	VERB
alkej-746	282	2	.	.	PUNCT
alkej-746	283	1	technol	technol	PROPN
alkej-746	283	2	.	.	PROPN
alkej-746	283	3	,	,	PUNCT
alkej-746	283	4	vol	vol	NOUN
alkej-746	283	5	.	.	PROPN
alkej-746	284	1	11	11	NUM
alkej-746	284	2	,	,	PUNCT
alkej-746	284	3	no	no	INTJ
alkej-746	284	4	.	.	NOUN
alkej-746	284	5	7	7	NUM
alkej-746	284	6	,	,	PUNCT
alkej-746	284	7	pp	pp	ADJ
alkej-746	284	8	.	.	PUNCT
alkej-746	285	1	535–547	535–547	NUM
alkej-746	285	2	,	,	PUNCT
alkej-746	285	3	2016	2016	NUM
alkej-746	285	4	,	,	PUNCT
alkej-746	285	5	doi	doi	NOUN
alkej-746	285	6	:	:	PUNCT
alkej-746	285	7	10.3109/17483107.2015.1080766	10.3109/17483107.2015.1080766	NUM
alkej-746	285	8	.	.	PUNCT
alkej-746	286	1	[	[	X
alkej-746	286	2	20	20	NUM
alkej-746	286	3	]	]	PUNCT
alkej-746	286	4	s.	s.	PROPN
alkej-746	286	5	k.	k.	PROPN
alkej-746	286	6	banala	banala	PROPN
alkej-746	286	7	,	,	PUNCT
alkej-746	286	8	s.	s.	PROPN
alkej-746	286	9	k.	k.	PROPN
alkej-746	286	10	agrawal	agrawal	PROPN
alkej-746	286	11	,	,	PUNCT
alkej-746	286	12	and	and	CCONJ
alkej-746	286	13	j.	j.	PROPN
alkej-746	286	14	p.	p.	PROPN
alkej-746	286	15	scholz	scholz	PROPN
alkej-746	286	16	,	,	PUNCT
alkej-746	286	17	“	"	PUNCT
alkej-746	286	18	active	active	ADJ
alkej-746	286	19	leg	leg	NOUN
alkej-746	286	20	exoskeleton	exoskeleton	NOUN
alkej-746	286	21	(	(	PUNCT
alkej-746	286	22	alex	alex	PROPN
alkej-746	286	23	)	)	PUNCT
alkej-746	286	24	for	for	ADP
alkej-746	286	25	gait	gait	ADJ
alkej-746	286	26	rehabilitation	rehabilitation	NOUN
alkej-746	286	27	of	of	ADP
alkej-746	286	28	motor	motor	NOUN
alkej-746	286	29	-	-	PUNCT
alkej-746	286	30	impaired	impair	VERB
alkej-746	286	31	patients	patient	NOUN
alkej-746	286	32	,	,	PUNCT
alkej-746	286	33	”	"	PUNCT
alkej-746	286	34	in	in	ADP
alkej-746	286	35	2007	2007	NUM
alkej-746	286	36	ieee	ieee	NOUN
alkej-746	286	37	10th	10th	ADJ
alkej-746	286	38	international	international	ADJ
alkej-746	286	39	conference	conference	NOUN
alkej-746	286	40	on	on	ADP
alkej-746	286	41	rehabilitation	rehabilitation	NOUN
alkej-746	286	42	robotics	robotic	NOUN
alkej-746	286	43	,	,	PUNCT
alkej-746	286	44	icorr’07	icorr’07	NOUN
alkej-746	286	45	,	,	PUNCT
alkej-746	286	46	2007	2007	NUM
alkej-746	286	47	,	,	PUNCT
alkej-746	286	48	pp	pp	ADJ
alkej-746	286	49	.	.	PUNCT
alkej-746	287	1	401–407	401–407	NUM
alkej-746	287	2	,	,	PUNCT
alkej-746	287	3	doi	doi	NOUN
alkej-746	287	4	:	:	PUNCT
alkej-746	287	5	10.1109	10.1109	NUM
alkej-746	287	6	/	/	SYM
alkej-746	287	7	icorr.2007.4428456	icorr.2007.4428456	NOUN
alkej-746	287	8	.	.	PUNCT
alkej-746	288	1	[	[	X
alkej-746	288	2	21	21	NUM
alkej-746	288	3	]	]	PUNCT
alkej-746	288	4	s.	s.	PROPN
alkej-746	288	5	k.	k.	PROPN
alkej-746	288	6	banala	banala	PROPN
alkej-746	288	7	,	,	PUNCT
alkej-746	288	8	s.	s.	PROPN
alkej-746	288	9	k.	k.	PROPN
alkej-746	288	10	agrawal	agrawal	PROPN
alkej-746	288	11	,	,	PUNCT
alkej-746	288	12	s.	s.	PROPN
alkej-746	288	13	h.	h.	PROPN
alkej-746	288	14	kim	kim	PROPN
alkej-746	288	15	,	,	PUNCT
alkej-746	288	16	and	and	CCONJ
alkej-746	288	17	j.	j.	PROPN
alkej-746	288	18	p.	p.	PROPN
alkej-746	288	19	scholz	scholz	PROPN
alkej-746	288	20	,	,	PUNCT
alkej-746	288	21	“	"	PUNCT
alkej-746	288	22	novel	novel	ADJ
alkej-746	288	23	gait	gait	NOUN
alkej-746	288	24	adaptation	adaptation	NOUN
alkej-746	288	25	and	and	CCONJ
alkej-746	288	26	neuromotor	neuromotor	NOUN
alkej-746	288	27	training	training	NOUN
alkej-746	288	28	results	result	NOUN
alkej-746	288	29	using	use	VERB
alkej-746	288	30	an	an	DET
alkej-746	288	31	active	active	ADJ
alkej-746	288	32	leg	leg	NOUN
alkej-746	288	33	exoskeleton	exoskeleton	NOUN
alkej-746	288	34	,	,	PUNCT
alkej-746	288	35	”	"	PUNCT
alkej-746	288	36	ieee	ieee	PROPN
alkej-746	288	37	/	/	SYM
alkej-746	288	38	asme	asme	PROPN
alkej-746	288	39	trans	trans	PROPN
alkej-746	288	40	.	.	PUNCT
alkej-746	289	1	mechatronics	mechatronic	NOUN
alkej-746	289	2	,	,	PUNCT
alkej-746	289	3	vol	vol	NOUN
alkej-746	289	4	.	.	PROPN
alkej-746	289	5	15	15	NUM
alkej-746	289	6	,	,	PUNCT
alkej-746	289	7	no	no	INTJ
alkej-746	289	8	.	.	NOUN
alkej-746	289	9	2	2	NUM
alkej-746	289	10	,	,	PUNCT
alkej-746	289	11	pp	pp	ADJ
alkej-746	289	12	.	.	PUNCT
alkej-746	290	1	216–225	216–225	NUM
alkej-746	290	2	,	,	PUNCT
alkej-746	290	3	2010	2010	NUM
alkej-746	290	4	,	,	PUNCT
alkej-746	290	5	doi	doi	NOUN
alkej-746	290	6	:	:	PUNCT
alkej-746	290	7	10.1109	10.1109	NUM
alkej-746	290	8	/	/	SYM
alkej-746	290	9	tmech.2010.2041245	tmech.2010.2041245	VERB
alkej-746	290	10	.	.	PUNCT
alkej-746	291	1	[	[	X
alkej-746	291	2	22	22	NUM
alkej-746	291	3	]	]	PUNCT
alkej-746	291	4	s.	s.	PROPN
alkej-746	291	5	k.	k.	PROPN
alkej-746	291	6	banala	banala	PROPN
alkej-746	291	7	,	,	PUNCT
alkej-746	291	8	s.	s.	PROPN
alkej-746	291	9	h.	h.	PROPN
alkej-746	291	10	kim	kim	PROPN
alkej-746	291	11	,	,	PUNCT
alkej-746	291	12	s.	s.	PROPN
alkej-746	291	13	k.	k.	PROPN
alkej-746	291	14	agrawal	agrawal	PROPN
alkej-746	291	15	,	,	PUNCT
alkej-746	291	16	and	and	CCONJ
alkej-746	291	17	j.	j.	PROPN
alkej-746	291	18	p.	p.	PROPN
alkej-746	291	19	scholz	scholz	PROPN
alkej-746	291	20	,	,	PUNCT
alkej-746	291	21	“	"	PUNCT
alkej-746	291	22	robot	robot	NOUN
alkej-746	291	23	assisted	assist	VERB
alkej-746	291	24	gait	gait	NOUN
alkej-746	291	25	training	training	NOUN
alkej-746	291	26	with	with	ADP
alkej-746	291	27	active	active	ADJ
alkej-746	291	28	leg	leg	NOUN
alkej-746	291	29	exoskeleton	exoskeleton	NOUN
alkej-746	291	30	(	(	PUNCT
alkej-746	291	31	alex	alex	PROPN
alkej-746	291	32	)	)	PUNCT
alkej-746	291	33	,	,	PUNCT
alkej-746	291	34	”	"	PUNCT
alkej-746	291	35	proc	proc	NOUN
alkej-746	291	36	.	.	PUNCT
alkej-746	292	1	2nd	2nd	ADJ
alkej-746	292	2	bienn	bienn	PROPN
alkej-746	292	3	.	.	PUNCT
alkej-746	293	1	ieee	ieee	PROPN
alkej-746	293	2	/	/	SYM
alkej-746	293	3	rasembs	rasembs	PROPN
alkej-746	293	4	int	int	NOUN
alkej-746	293	5	.	.	PUNCT
alkej-746	294	1	conf	conf	PROPN
alkej-746	294	2	.	.	PUNCT
alkej-746	294	3	biomed	biome	VERB
alkej-746	294	4	.	.	PUNCT
alkej-746	295	1	robot	robot	NOUN
alkej-746	295	2	.	.	PUNCT
alkej-746	296	1	biomechatronics	biomechatronic	NOUN
alkej-746	296	2	,	,	PUNCT
alkej-746	296	3	biorob	biorob	PROPN
alkej-746	296	4	2008	2008	NUM
alkej-746	296	5	,	,	PUNCT
alkej-746	296	6	vol	vol	NOUN
alkej-746	296	7	.	.	PROPN
alkej-746	297	1	17	17	NUM
alkej-746	297	2	,	,	PUNCT
alkej-746	297	3	no	no	INTJ
alkej-746	297	4	.	.	NOUN
alkej-746	297	5	1	1	NUM
alkej-746	297	6	,	,	PUNCT
alkej-746	297	7	pp	pp	ADJ
alkej-746	297	8	.	.	PUNCT
alkej-746	298	1	653–658	653–658	NUM
alkej-746	298	2	,	,	PUNCT
alkej-746	298	3	2008	2008	NUM
alkej-746	298	4	,	,	PUNCT
alkej-746	298	5	doi	doi	NOUN
alkej-746	298	6	:	:	PUNCT
alkej-746	298	7	10.1109	10.1109	NUM
alkej-746	298	8	/	/	SYM
alkej-746	298	9	biorob.2008.4762885	biorob.2008.4762885	NOUN
alkej-746	298	10	.	.	PUNCT
alkej-746	299	1	[	[	X
alkej-746	299	2	23	23	NUM
alkej-746	299	3	]	]	PUNCT
alkej-746	299	4	“	"	PUNCT
alkej-746	299	5	ekso	ekso	NOUN
alkej-746	299	6	bionics	bionic	NOUN
alkej-746	299	7	.	.	PUNCT
alkej-746	299	8	”	"	PUNCT
alkej-746	300	1	[	[	X
alkej-746	300	2	online	online	X
alkej-746	300	3	]	]	X
alkej-746	300	4	.	.	PUNCT
alkej-746	301	1	available	available	ADJ
alkej-746	301	2	:	:	PUNCT
alkej-746	301	3	https://eksobionics.com/[accessed	https://eksobionics.com/[accessed	ADJ
alkej-746	301	4	04.10.15	04.10.15	PROPN
alkej-746	301	5	]	]	X
alkej-746	301	6	.	.	PUNCT
alkej-746	302	1	[	[	X
alkej-746	302	2	accessed	access	VERB
alkej-746	302	3	:	:	PUNCT
alkej-746	302	4	05	05	NUM
alkej-746	302	5	-	-	PUNCT
alkej-746	302	6	feb-2020	feb-2020	NOUN
alkej-746	302	7	]	]	PUNCT
alkej-746	302	8	.	.	PUNCT
alkej-746	303	1	[	[	X
alkej-746	303	2	24	24	NUM
alkej-746	303	3	]	]	X
alkej-746	303	4	y.	y.	PROPN
alkej-746	303	5	m.	m.	NOUN
alkej-746	303	6	pirjade	pirjade	NOUN
alkej-746	303	7	,	,	PUNCT
alkej-746	303	8	d.	d.	PROPN
alkej-746	303	9	r.	r.	PROPN
alkej-746	303	10	londhe	londhe	PROPN
alkej-746	303	11	,	,	PUNCT
alkej-746	303	12	n.	n.	PROPN
alkej-746	303	13	m.	m.	NOUN
alkej-746	303	14	patwardhan	patwardhan	PROPN
alkej-746	303	15	,	,	PUNCT
alkej-746	303	16	a.	a.	PROPN
alkej-746	303	17	u.	u.	PROPN
alkej-746	303	18	kotkar	kotkar	PROPN
alkej-746	303	19	,	,	PUNCT
alkej-746	303	20	t.	t.	PROPN
alkej-746	303	21	p.	p.	PROPN
alkej-746	303	22	shelke	shelke	NOUN
alkej-746	303	23	,	,	PUNCT
alkej-746	303	24	and	and	CCONJ
alkej-746	303	25	s.	s.	PROPN
alkej-746	303	26	s.	s.	PROPN
alkej-746	303	27	ohol	ohol	PROPN
alkej-746	303	28	,	,	PUNCT
alkej-746	303	29	“	"	PUNCT
alkej-746	303	30	design	design	NOUN
alkej-746	303	31	and	and	CCONJ
alkej-746	303	32	fabrication	fabrication	NOUN
alkej-746	303	33	of	of	ADP
alkej-746	303	34	a	a	DET
alkej-746	303	35	low	low	ADJ
alkej-746	303	36	-	-	PUNCT
alkej-746	303	37	cost	cost	NOUN
alkej-746	303	38	human	human	ADJ
alkej-746	303	39	body	body	NOUN
alkej-746	303	40	lower	low	ADJ
alkej-746	303	41	limb	limb	PROPN
alkej-746	303	42	exoskeleton	exoskeleton	NOUN
alkej-746	303	43	,	,	PUNCT
alkej-746	303	44	”	"	PUNCT
alkej-746	303	45	2020	2020	NUM
alkej-746	303	46	6th	6th	ADJ
alkej-746	303	47	int	int	NOUN
alkej-746	303	48	.	.	PUNCT
alkej-746	304	1	conf	conf	NOUN
alkej-746	304	2	.	.	PUNCT
alkej-746	305	1	mechatronics	mechatronic	NOUN
alkej-746	305	2	robot	robot	NOUN
alkej-746	305	3	.	.	PUNCT
alkej-746	306	1	eng	eng	PROPN
alkej-746	306	2	.	.	PUNCT
alkej-746	307	1	icmre	icmre	PROPN
alkej-746	307	2	2020	2020	NUM
alkej-746	307	3	,	,	PUNCT
alkej-746	307	4	pp	pp	ADV
alkej-746	307	5	.	.	PUNCT
alkej-746	308	1	32–37	32–37	NUM
alkej-746	308	2	,	,	PUNCT
alkej-746	308	3	2020	2020	NUM
alkej-746	308	4	,	,	PUNCT
alkej-746	308	5	doi	doi	NOUN
alkej-746	308	6	:	:	PUNCT
alkej-746	308	7	10.1109	10.1109	NUM
alkej-746	308	8	/	/	SYM
alkej-746	308	9	icmre49073.2020.9065128	icmre49073.2020.9065128	PROPN
alkej-746	308	10	.	.	PUNCT
alkej-746	309	1	[	[	X
alkej-746	309	2	25	25	NUM
alkej-746	309	3	]	]	PUNCT
alkej-746	309	4	m.	m.	NOUN
alkej-746	309	5	cardona	cardona	PROPN
alkej-746	309	6	and	and	CCONJ
alkej-746	309	7	c.	c.	PROPN
alkej-746	309	8	e.	e.	PROPN
alkej-746	309	9	garcía	garcía	PROPN
alkej-746	309	10	cena	cena	PROPN
alkej-746	309	11	,	,	PUNCT
alkej-746	309	12	“	"	PUNCT
alkej-746	309	13	biomechanical	biomechanical	ADJ
alkej-746	309	14	analysis	analysis	NOUN
alkej-746	309	15	of	of	ADP
alkej-746	309	16	the	the	DET
alkej-746	309	17	lower	low	ADJ
alkej-746	309	18	limb	limb	NOUN
alkej-746	309	19	:	:	PUNCT
alkej-746	309	20	a	a	DET
alkej-746	309	21	full	full	ADJ
alkej-746	309	22	-	-	PUNCT
alkej-746	309	23	body	body	NOUN
alkej-746	309	24	musculoskeletal	musculoskeletal	ADJ
alkej-746	309	25	model	model	NOUN
alkej-746	309	26	for	for	ADP
alkej-746	309	27	muscle	muscle	NOUN
alkej-746	309	28	-	-	PUNCT
alkej-746	309	29	driven	drive	VERB
alkej-746	309	30	simulation	simulation	NOUN
alkej-746	309	31	,	,	PUNCT
alkej-746	309	32	”	"	PUNCT
alkej-746	309	33	ieee	ieee	NOUN
alkej-746	309	34	access	access	NOUN
alkej-746	309	35	,	,	PUNCT
alkej-746	309	36	vol	vol	NOUN
alkej-746	309	37	.	.	PROPN
alkej-746	309	38	7	7	NUM
alkej-746	309	39	,	,	PUNCT
alkej-746	309	40	pp	pp	ADJ
alkej-746	309	41	.	.	PUNCT
alkej-746	309	42	92709–92723	92709–92723	NUM
alkej-746	309	43	,	,	PUNCT
alkej-746	309	44	2019	2019	NUM
alkej-746	309	45	,	,	PUNCT
alkej-746	309	46	doi	doi	NOUN
alkej-746	309	47	:	:	PUNCT
alkej-746	309	48	10.1109	10.1109	NUM
alkej-746	309	49	/	/	SYM
alkej-746	309	50	access.2019.2927515	access.2019.2927515	NOUN
alkej-746	309	51	.	.	PUNCT
alkej-746	309	52	)	)	PUNCT
alkej-746	309	53	2021	2021	NUM
alkej-746	309	54	(	(	PUNCT
alkej-746	309	55	3647	3647	NUM
alkej-746	309	56	،	،	PROPN
alkej-746	309	57	صفحة	صفحة	PROPN
alkej-746	309	58	4العدد	4العدد	PROPN
alkej-746	309	59	،	،	PROPN
alkej-746	309	60	17مجلة	17مجلة	NUM
alkej-746	309	61	الخوارزمي	الخوارزمي	VERB
alkej-746	309	62	الهندسية	الهندسية	PROPN
alkej-746	310	1	المجلد	المجلد	VERB
alkej-746	311	1	نعم	نعم	PRON
alkej-746	311	2	خالد	خالد	NOUN
alkej-746	311	3	حميد	حميد	VERB
alkej-746	311	4	47	47	NUM
alkej-746	311	5	السفلي	السفلي	ADV
alkej-746	311	6	لغرض	لغرض	PRON
alkej-746	311	7	إعادة	إعادة	PROPN
alkej-746	311	8	تأهيل	تأهيل	PROPN
alkej-746	311	9	المشي	المشي	PROPN
alkej-746	311	10	تحليل	تحليل	PROPN
alkej-746	311	11	وتقييم	وتقييم	PROPN
alkej-746	311	12	الهيكل	الهيكل	PROPN
alkej-746	311	13	الخارجي	الخارجي	ADJ
alkej-746	311	14	شبه	شبه	PROPN
alkej-746	311	15	السلبي	السلبي	PROPN
alkej-746	311	16	المصمم	المصمم	PROPN
alkej-746	311	17	للطرف	للطرف	PROPN
alkej-746	311	18	نعم	نعم	PROPN
alkej-746	311	19	خالد	خالد	NOUN
alkej-746	311	20	حميد	حميد	PROPN
alkej-746	311	21	*	*	PUNCT
alkej-746	311	22	سومر	سومر	ADJ
alkej-746	311	23	متي	متي	NOUN
alkej-746	311	24	ناسي	ناسي	NOUN
alkej-746	311	25	*	*	PROPN
alkej-746	311	26	*	*	PROPN
alkej-746	311	27	جمعة	جمعة	NOUN
alkej-746	311	28	سلمان	سلمان	NOUN
alkej-746	311	29	جياد	جياد	NOUN
alkej-746	311	30	*	*	NOUN
alkej-746	311	31	*	*	PUNCT
alkej-746	311	32	*	*	PUNCT
alkej-746	311	33	عمر	عمر	X
alkej-746	311	34	حسين	حسين	X
alkej-746	311	35	عوان	عوان	PROPN
alkej-746	311	36	*	*	PUNCT
alkej-746	311	37	*	*	PUNCT
alkej-746	311	38	*	*	PUNCT
alkej-746	311	39	*	*	PUNCT
alkej-746	311	40	*	*	PUNCT
alkej-746	311	41	،	،	X
alkej-746	311	42	*	*	PUNCT
alkej-746	311	43	*	*	ADJ
alkej-746	311	44	قسم	قسم	PROPN
alkej-746	311	45	هندسة	هندسة	NOUN
alkej-746	311	46	الطب	الطب	PROPN
alkej-746	311	47	الحياتي/	الحياتي/	PROPN
alkej-746	311	48	كلية	كلية	NOUN
alkej-746	311	49	الهندسة	الهندسة	NOUN
alkej-746	311	50	الخوارزمي/	الخوارزمي/	NUM
alkej-746	311	51	جامعة	جامعة	NOUN
alkej-746	311	52	بغداد	بغداد	NOUN
alkej-746	311	53	*	*	PUNCT
alkej-746	311	54	*	*	PUNCT
alkej-746	311	55	*	*	AUX
alkej-746	311	56	قسم	قسم	PRON
alkej-746	311	57	الهندسة	الهندسة	VERB
alkej-746	311	58	الميكانيكية/	الميكانيكية/	NUM
alkej-746	311	59	كلية	كلية	NOUN
alkej-746	311	60	الهندسة	الهندسة	NOUN
alkej-746	311	61	/	/	SYM
alkej-746	311	62	جامعة	جامعة	PROPN
alkej-746	311	63	بغداد	بغداد	PROPN
alkej-746	311	64	هندسة	هندسة	PROPN
alkej-746	311	65	التصنيع	التصنيع	NOUN
alkej-746	311	66	المؤتمت/	المؤتمت/	NUM
alkej-746	311	67	كلية	كلية	NOUN
alkej-746	311	68	الهندسة	الهندسة	VERB
alkej-746	311	69	الخوارزمي/	الخوارزمي/	NUM
alkej-746	311	70	جامعة	جامعة	NOUN
alkej-746	311	71	بغداد	بغداد	NOUN
alkej-746	311	72	*	*	PUNCT
alkej-746	311	73	*	*	PUNCT
alkej-746	311	74	*	*	PUNCT
alkej-746	311	75	*	*	VERB
alkej-746	311	76	قسم	قسم	PRON
alkej-746	311	77	neaam@kecbu.uobaghdad.edu.iq	neaam@kecbu.uobaghdad.edu.iq	PRON
alkej-746	311	78	*	*	PUNCT
alkej-746	311	79	البريد	البريد	NOUN
alkej-746	311	80	االلكتروني	االلكتروني	NOUN
alkej-746	311	81	:	:	PUNCT
alkej-746	311	82	somernacy@googlemail.com**البريد	somernacy@googlemail.com**البريد	VERB
alkej-746	311	83	االلكتروني	االلكتروني	NOUN
alkej-746	311	84	:	:	PUNCT
alkej-746	311	85	jumaachiad@gmail.com	jumaachiad@gmail.com	X
alkej-746	312	1	*	*	PUNCT
alkej-746	312	2	*	*	PUNCT
alkej-746	312	3	*	*	NOUN
alkej-746	312	4	البريد	البريد	NOUN
alkej-746	312	5	االلكتروني	االلكتروني	NOUN
alkej-746	312	6	:	:	PUNCT
alkej-746	312	7	cbu.uobaghdad.edu.iqomar.hussein@ke****البريد	cbu.uobaghdad.edu.iqomar.hussein@ke****البريد	NOUN
alkej-746	312	8	االلكتروني	االلكتروني	PROPN
alkej-746	312	9	:	:	PUNCT
alkej-746	312	10	الخالصة	الخالصة	PROPN
alkej-746	312	11	الطبيعي	الطبيعي	PROPN
alkej-746	312	12	العالج	العالج	PROPN
alkej-746	312	13	ودعم	ودعم	PROPN
alkej-746	312	14	المشي	المشي	PROPN
alkej-746	312	15	،	،	PROPN
alkej-746	312	16	على	على	PROPN
alkej-746	312	17	كالمساعدة	كالمساعدة	PROPN
alkej-746	312	18	معينة	معينة	NOUN
alkej-746	312	19	وظائف	وظائف	PROPN
alkej-746	312	20	أداء	أداء	NOUN
alkej-746	312	21	في	في	ADP
alkej-746	312	22	السفلي	السفلي	PROPN
alkej-746	312	23	للطرف	للطرف	PROPN
alkej-746	312	24	المصممة	المصممة	PROPN
alkej-746	312	25	الخارجية	الخارجية	PROPN
alkej-746	312	26	الهياكل	الهياكل	PROPN
alkej-746	312	27	استخدام	استخدام	PROPN
alkej-746	312	28	يساعد	يساعد	PROPN
alkej-746	312	29	أن	أن	AUX
alkej-746	312	30	الممكن	الممكن	VERB
alkej-746	312	31	من	من	DET
alkej-746	312	32	الوزن	الوزن	PROPN
alkej-746	312	33	،	،	NOUN
alkej-746	312	34	بدرجتين	بدرجتين	NOUN
alkej-746	312	35	من	من	PROPN
alkej-746	312	36	الحرية	الحرية	NOUN
alkej-746	312	37	وقابل	وقابل	NOUN
alkej-746	312	38	للتعديل	للتعديل	ADV
alkej-746	312	39	ليناسب	ليناسب	VERB
alkej-746	312	40	لألشخاص	لألشخاص	PROPN
alkej-746	312	41	الذين	الذين	PROPN
alkej-746	312	42	فقدوا	فقدوا	PROPN
alkej-746	312	43	القدرة	القدرة	PROPN
alkej-746	312	44	على	على	PROPN
alkej-746	312	45	المشي	المشي	PROPN
alkej-746	312	46	.	.	PUNCT
alkej-746	313	1	يقدم	يقدم	ADJ
alkej-746	313	2	هذا	هذا	NOUN
alkej-746	313	3	البحث	البحث	NOUN
alkej-746	313	4	تحليل	تحليل	PROPN
alkej-746	313	5	وتقييم	وتقييم	PROPN
alkej-746	313	6	لهيكل	لهيكل	VERB
alkej-746	313	7	خارجي	خارجي	ADJ
alkej-746	313	8	شبه	شبه	NOUN
alkej-746	313	9	سلبي	سلبي	NOUN
alkej-746	313	10	،	،	NOUN
alkej-746	313	11	خفيف	خفيف	NOUN
alkej-746	313	12	ته	ته	PUNCT
alkej-746	313	13	على	على	PROPN
alkej-746	313	14	لوحة	لوحة	PROPN
alkej-746	313	15	أطوال	أطوال	PROPN
alkej-746	313	16	ومفاصل	ومفاصل	NOUN
alkej-746	313	17	الطرف	الطرف	NOUN
alkej-746	313	18	السفلي	السفلي	AUX
alkej-746	313	19	للمستخدم	للمستخدم	VERB
alkej-746	313	20	من	من	PROPN
alkej-746	313	21	أجل	أجل	PROPN
alkej-746	313	22	تحسين	تحسين	PROPN
alkej-746	313	23	إعادة	إعادة	PROPN
alkej-746	313	24	تأهيل	تأهيل	PROPN
alkej-746	313	25	المشي	المشي	PROPN
alkej-746	313	26	.	.	PUNCT
alkej-746	314	1	يتكون	يتكون	PROPN
alkej-746	314	2	الهيكل	الهيكل	PROPN
alkej-746	314	3	الخارجي	الخارجي	PROPN
alkej-746	314	4	من	من	PROPN
alkej-746	314	5	محرك	محرك	PROPN
alkej-746	314	6	تيار	تيار	PROPN
alkej-746	314	7	مستمر	مستمر	PROPN
alkej-746	314	8	عالي	عالي	NOUN
alkej-746	314	9	العزم	العزم	NOUN
alkej-746	314	10	تم	تم	NOUN
alkej-746	314	11	تثبي	تثبي	VERB
alkej-746	314	12	إل	إل	PROPN
alkej-746	314	13	بالتوازي	بالتوازي	NOUN
alkej-746	314	14	مع	مع	ADJ
alkej-746	314	15	مفصل	مفصل	PROPN
alkej-746	314	16	الركبة	الركبة	PROPN
alkej-746	314	17	معدنية	معدنية	PROPN
alkej-746	314	18	أعلى	أعلى	PROPN
alkej-746	314	19	مفصل	مفصل	PROPN
alkej-746	314	20	الورك	الورك	PROPN
alkej-746	314	21	،	،	PROPN
alkej-746	314	22	ورابط	ورابط	PROPN
alkej-746	314	23	معدني	معدني	NOUN
alkej-746	314	24	ينقل	ينقل	NOUN
alkej-746	314	25	عزم	عزم	VERB
alkej-746	314	26	الدوران	الدوران	PROPN
alkej-746	314	27	المساعد	المساعد	PROPN
alkej-746	315	1	من	من	INTJ
alkej-746	315	2	المحرك	المحرك	PROPN
alkej-746	315	3	ى	ى	DET
alkej-746	315	4	الفخذ	الفخذ	NOUN
alkej-746	315	5	.	.	PUNCT
alkej-746	316	1	باإلضافة	باإلضافة	PROPN
alkej-746	316	2	الى	الى	PROPN
alkej-746	316	3	زنبرك	زنبرك	PROPN
alkej-746	316	4	تم	تم	PROPN
alkej-746	316	5	تركيبه	تركيبه	PROPN
alkej-746	316	6	ارجي	ارجي	PROPN
alkej-746	316	7	المصمم	المصمم	PROPN
alkej-746	316	8	ليقوم	ليقوم	PROPN
alkej-746	316	9	بتحريك	بتحريك	NOUN
alkej-746	316	10	المفصل	المفصل	VERB
alkej-746	316	11	بشكل	بشكل	NOUN
alkej-746	316	12	سلبي	سلبي	NOUN
alkej-746	316	13	.	.	PUNCT
alkej-746	317	1	يتم	يتم	PROPN
alkej-746	317	2	دمج	دمج	PROPN
alkej-746	317	3	عمل	عمل	ADJ
alkej-746	317	4	المكون	المكون	NOUN
alkej-746	317	5	السلبي	السلبي	NOUN
alkej-746	317	6	(	(	PUNCT
alkej-746	317	7	الزنبرك	الزنبرك	NOUN
alkej-746	317	8	)	)	PUNCT
alkej-746	318	1	مع	مع	VERB
alkej-746	318	2	اإلخراج	اإلخراج	PROPN
alkej-746	318	3	الميكانيكي	الميكانيكي	VERB
alkej-746	318	4	للمحرك	للمحرك	PROPN
alkej-746	319	1	لتوفير	لتوفير	PROPN
alkej-746	319	2	تحكم	تحكم	ADV
alkej-746	319	3	جيد	جيد	VERB
alkej-746	319	4	في	في	ADP
alkej-746	319	5	الهيكل	الهيكل	PROPN
alkej-746	319	6	الخ	الخ	PROPN
alkej-746	319	7	مامي	مامي	PROPN
alkej-746	319	8	والخلفي	والخلفي	PROPN
alkej-746	319	9	لساق	لساق	PROPN
alkej-746	319	10	المستخدم	المستخدم	PROPN
alkej-746	319	11	قد	قد	INTJ
alkej-746	319	12	انخفض	انخفض	ADJ
alkej-746	319	13	بشكل	بشكل	NOUN
alkej-746	319	14	ملحوظ	ملحوظ	ADJ
alkej-746	319	15	عند	عند	PROPN
alkej-746	319	16	المشي	المشي	NOUN
alkej-746	319	17	باستخدام	باستخدام	PROPN
alkej-746	319	18	الهيكل	الهيكل	PROPN
alkej-746	319	19	الخارجي	الخارجي	PROPN
alkej-746	319	20	أثناء	أثناء	PROPN
alkej-746	319	21	المشي	المشي	PROPN
alkej-746	319	22	.	.	PUNCT
alkej-746	320	1	أظهرت	أظهرت	PROPN
alkej-746	320	2	النتائج	النتائج	PROPN
alkej-746	320	3	أن	أن	AUX
alkej-746	320	4	جهد	جهد	VERB
alkej-746	320	5	العضالت	العضالت	PROPN
alkej-746	320	6	على	على	PROPN
alkej-746	320	7	الجانبين	الجانبين	PROPN
alkej-746	320	8	األ	األ	PROPN
alkej-746	320	9	.الذي	.الذي	PROPN
alkej-746	320	10	تم	تم	PROPN
alkej-746	320	11	تصميمه	تصميمه	PROPN
alkej-746	320	12	للطرف	للطرف	PROPN
alkej-746	320	13	السفلي	السفلي	PROPN