id	sid	eid	entity	type
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american_scientific_journal-1453	1	2	issn	PERSON
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american_scientific_journal-1453	1	4	2313	CARDINAL
american_scientific_journal-1453	1	5	yuta tamurab	PERSON
american_scientific_journal-1453	1	6	hideki iwaid	PERSON
american_scientific_journal-1453	1	7	kinya fujitze	PERSON
american_scientific_journal-1453	1	8	tokyo polytechnic university	ORG
american_scientific_journal-1453	1	9	iiyama	GPE
american_scientific_journal-1453	1	10	1583	DATE
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american_scientific_journal-1453	1	13	tokyo polytechnic university	ORG
american_scientific_journal-1453	1	14	iiyama	GPE
american_scientific_journal-1453	1	15	1583	DATE
american_scientific_journal-1453	1	16	kanagawa 243-0297	ORG
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american_scientific_journal-1453	1	18	2	CARDINAL
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american_scientific_journal-1453	10	1	1	CARDINAL
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american_scientific_journal-1453	13	1	6	CARDINAL
american_scientific_journal-1453	16	1	223	CARDINAL
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american_scientific_journal-1453	16	4	17	CARDINAL
american_scientific_journal-1453	16	5	223	CARDINAL
american_scientific_journal-1453	17	1	two-degree-of-	QUANTITY
american_scientific_journal-1453	20	1	a simple spring	DATE
american_scientific_journal-1453	20	2	8	CARDINAL
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american_scientific_journal-1453	23	1	al	PERSON
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american_scientific_journal-1453	26	1	one	CARDINAL
american_scientific_journal-1453	28	1	12	CARDINAL
american_scientific_journal-1453	34	1	three	CARDINAL
american_scientific_journal-1453	39	1	first	ORDINAL
american_scientific_journal-1453	40	1	second	ORDINAL
american_scientific_journal-1453	41	1	first	ORDINAL
american_scientific_journal-1453	45	1	section 2	LAW
american_scientific_journal-1453	46	1	section 3	LAW
american_scientific_journal-1453	47	1	section 4	LAW
american_scientific_journal-1453	48	1	2	CARDINAL
american_scientific_journal-1453	48	2	2.1	CARDINAL
american_scientific_journal-1453	49	1	224	CARDINAL
american_scientific_journal-1453	49	2	american scientific research journal	ORG
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american_scientific_journal-1453	49	4	17	CARDINAL
american_scientific_journal-1453	49	5	223	CARDINAL
american_scientific_journal-1453	54	1	2.2	CARDINAL
american_scientific_journal-1453	63	1	1	CARDINAL
american_scientific_journal-1453	66	1	1.2	CARDINAL
american_scientific_journal-1453	68	1	1	CARDINAL
american_scientific_journal-1453	68	2	225	CARDINAL
american_scientific_journal-1453	68	3	american	NORP
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american_scientific_journal-1453	68	5	17	CARDINAL
american_scientific_journal-1453	68	6	223	CARDINAL
american_scientific_journal-1453	69	1	3.1	CARDINAL
american_scientific_journal-1453	69	2	2	CARDINAL
american_scientific_journal-1453	71	1	50 mm	QUANTITY
american_scientific_journal-1453	72	1	120 mg	QUANTITY
american_scientific_journal-1453	73	1	two	CARDINAL
american_scientific_journal-1453	76	1	2	CARDINAL
american_scientific_journal-1453	77	1	14,15,16	CARDINAL
american_scientific_journal-1453	77	2	first	ORDINAL
american_scientific_journal-1453	77	3	17	CARDINAL
american_scientific_journal-1453	79	1	three	CARDINAL
american_scientific_journal-1453	80	1	226	CARDINAL
american_scientific_journal-1453	80	2	american	NORP
american_scientific_journal-1453	80	3	2016	CARDINAL
american_scientific_journal-1453	80	4	17	CARDINAL
american_scientific_journal-1453	80	5	223	CARDINAL
american_scientific_journal-1453	81	1	3.2	CARDINAL
american_scientific_journal-1453	81	2	3	CARDINAL
american_scientific_journal-1453	82	1	one	CARDINAL
american_scientific_journal-1453	85	1	3	CARDINAL
american_scientific_journal-1453	87	1	two	CARDINAL
american_scientific_journal-1453	89	1	three	CARDINAL
american_scientific_journal-1453	89	2	miki pulley co. micro	ORG
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american_scientific_journal-1453	89	4	1.2	CARDINAL
american_scientific_journal-1453	92	1	200 mm	QUANTITY
american_scientific_journal-1453	93	1	100 mm	QUANTITY
american_scientific_journal-1453	94	1	420	CARDINAL
american_scientific_journal-1453	96	1	10	CARDINAL
american_scientific_journal-1453	99	1	24	CARDINAL
american_scientific_journal-1453	101	1	3.3	CARDINAL
american_scientific_journal-1453	101	2	227	CARDINAL
american_scientific_journal-1453	101	3	american	NORP
american_scientific_journal-1453	101	4	2016	CARDINAL
american_scientific_journal-1453	101	5	17	CARDINAL
american_scientific_journal-1453	101	6	223	CARDINAL
american_scientific_journal-1453	104	1	150	CARDINAL
american_scientific_journal-1453	104	2	300	CARDINAL
american_scientific_journal-1453	104	3	500	CARDINAL
american_scientific_journal-1453	104	4	700	CARDINAL
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american_scientific_journal-1453	109	1	2	CARDINAL
american_scientific_journal-1453	109	2	3	CARDINAL
american_scientific_journal-1453	109	3	coe	ORG
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american_scientific_journal-1453	110	2	4	CARDINAL
american_scientific_journal-1453	110	3	approximately 300 mm	QUANTITY
american_scientific_journal-1453	111	1	first	ORDINAL
american_scientific_journal-1453	111	2	20	CARDINAL
american_scientific_journal-1453	111	3	150	CARDINAL
american_scientific_journal-1453	111	4	15	CARDINAL
american_scientific_journal-1453	111	5	300	CARDINAL
american_scientific_journal-1453	111	6	13	CARDINAL
american_scientific_journal-1453	111	7	500	CARDINAL
american_scientific_journal-1453	111	8	10	CARDINAL
american_scientific_journal-1453	111	9	700	CARDINAL
american_scientific_journal-1453	111	10	4	CARDINAL
american_scientific_journal-1453	112	1	coe	ORG
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american_scientific_journal-1453	114	3	300	CARDINAL
american_scientific_journal-1453	114	4	500	CARDINAL
american_scientific_journal-1453	116	1	100 mm	QUANTITY
american_scientific_journal-1453	117	1	4	CARDINAL
american_scientific_journal-1453	117	2	5	CARDINAL
american_scientific_journal-1453	121	1	2 2	DATE
american_scientific_journal-1453	121	2	2 µ−	DATE
american_scientific_journal-1453	121	3	228	CARDINAL
american_scientific_journal-1453	121	4	american scientific research journal	ORG
american_scientific_journal-1453	121	5	2016	CARDINAL
american_scientific_journal-1453	121	6	17	CARDINAL
american_scientific_journal-1453	121	7	223	CARDINAL
american_scientific_journal-1453	122	1	4	CARDINAL
american_scientific_journal-1453	123	1	5	CARDINAL
american_scientific_journal-1453	125	1	6	CARDINAL
american_scientific_journal-1453	127	1	ten	CARDINAL
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american_scientific_journal-1453	133	2	150	CARDINAL
american_scientific_journal-1453	133	3	300	CARDINAL
american_scientific_journal-1453	133	4	500	CARDINAL
american_scientific_journal-1453	133	5	700	CARDINAL
american_scientific_journal-1453	133	6	229	CARDINAL
american_scientific_journal-1453	133	7	american scientific research journal	ORG
american_scientific_journal-1453	133	8	2016	CARDINAL
american_scientific_journal-1453	133	9	17	CARDINAL
american_scientific_journal-1453	133	10	223	CARDINAL
american_scientific_journal-1453	133	11	6	CARDINAL
american_scientific_journal-1453	134	1	1	CARDINAL
american_scientific_journal-1453	135	1	2	CARDINAL
american_scientific_journal-1453	136	1	3	CARDINAL
american_scientific_journal-1453	136	2	five	CARDINAL
american_scientific_journal-1453	137	1	4	CARDINAL
american_scientific_journal-1453	137	2	five	CARDINAL
american_scientific_journal-1453	138	1	two to five	CARDINAL
american_scientific_journal-1453	139	1	5	CARDINAL
american_scientific_journal-1453	139	2	5	CARDINAL
american_scientific_journal-1453	139	3	1	CARDINAL
american_scientific_journal-1453	140	1	one	CARDINAL
american_scientific_journal-1453	140	2	five	CARDINAL
american_scientific_journal-1453	144	1	1	CARDINAL
american_scientific_journal-1453	145	1	1	CARDINAL
american_scientific_journal-1453	145	2	2	CARDINAL
american_scientific_journal-1453	147	1	vc	PERSON
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american_scientific_journal-1453	147	3	4.0	CARDINAL
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american_scientific_journal-1453	148	1	230	CARDINAL
american_scientific_journal-1453	148	2	american	NORP
american_scientific_journal-1453	148	3	2016	CARDINAL
american_scientific_journal-1453	148	4	17	CARDINAL
american_scientific_journal-1453	148	5	223	CARDINAL
american_scientific_journal-1453	148	6	3.78	CARDINAL
american_scientific_journal-1453	148	7	3.82	CARDINAL
american_scientific_journal-1453	148	8	rd	ORG
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american_scientific_journal-1453	151	1	2	CARDINAL
american_scientific_journal-1453	153	1	7	CARDINAL
american_scientific_journal-1453	154	1	several dozen	CARDINAL
american_scientific_journal-1453	157	1	7	CARDINAL
american_scientific_journal-1453	158	1	231	CARDINAL
american_scientific_journal-1453	158	2	american scientific research journal	ORG
american_scientific_journal-1453	158	3	2016	CARDINAL
american_scientific_journal-1453	158	4	17	CARDINAL
american_scientific_journal-1453	158	5	223	CARDINAL
american_scientific_journal-1453	161	1	only 0.4 kg	QUANTITY
american_scientific_journal-1453	163	1	three	CARDINAL
american_scientific_journal-1453	164	1	five	CARDINAL
american_scientific_journal-1453	165	1	3.94	CARDINAL
american_scientific_journal-1453	165	2	3.83	CARDINAL
american_scientific_journal-1453	165	3	five	CARDINAL
american_scientific_journal-1453	169	1	several dozen	CARDINAL
american_scientific_journal-1453	176	1	1	CARDINAL
american_scientific_journal-1453	176	2	g. c. burdea	PERSON
american_scientific_journal-1453	176	3	john wiley & sons , inc.	ORG
american_scientific_journal-1453	176	4	1996	DATE
american_scientific_journal-1453	177	1	2	CARDINAL
american_scientific_journal-1453	177	2	t. massie	PERSON
american_scientific_journal-1453	177	3	j. k. salisbury,1994,”the	PERSON
american_scientific_journal-1453	178	1	symp	PERSON
american_scientific_journal-1453	179	1	1994	DATE
american_scientific_journal-1453	180	1	3	CARDINAL
american_scientific_journal-1453	182	1	eighth	ORDINAL
american_scientific_journal-1453	183	1	2002,pp.1034-1039	CARDINAL
american_scientific_journal-1453	184	1	4	CARDINAL
american_scientific_journal-1453	184	2	t. asano	PERSON
american_scientific_journal-1453	184	3	h. yano	PERSON
american_scientific_journal-1453	184	4	h. iwai	PERSON
american_scientific_journal-1453	185	1	annual	DATE
american_scientific_journal-1453	185	2	98, 1996	DATE
american_scientific_journal-1453	186	1	5	CARDINAL
american_scientific_journal-1453	186	2	m.r.cutkosky	PERSON
american_scientific_journal-1453	187	1	10th	ORDINAL
american_scientific_journal-1453	190	1	180	CARDINAL
american_scientific_journal-1453	190	2	232	CARDINAL
american_scientific_journal-1453	190	3	american scientific research journal	ORG
american_scientific_journal-1453	190	4	2016	CARDINAL
american_scientific_journal-1453	190	5	17	CARDINAL
american_scientific_journal-1453	190	6	223	CARDINAL
american_scientific_journal-1453	190	7	6	CARDINAL
american_scientific_journal-1453	191	1	no.4	GPE
american_scientific_journal-1453	191	2	2009	DATE
american_scientific_journal-1453	191	3	pp200-211	ORG
american_scientific_journal-1453	192	1	7	CARDINAL
american_scientific_journal-1453	193	1	world haptics conf.	ORG
american_scientific_journal-1453	193	2	2007	DATE
american_scientific_journal-1453	193	3	pp.200-205	PERSON
american_scientific_journal-1453	194	1	8	CARDINAL
american_scientific_journal-1453	194	2	ieee trans.	ORG
american_scientific_journal-1453	197	1	eng	GPE
american_scientific_journal-1453	197	2	no.3	LANGUAGE
american_scientific_journal-1453	197	3	2007	DATE
american_scientific_journal-1453	197	4	366	CARDINAL
american_scientific_journal-1453	198	1	9	CARDINAL
american_scientific_journal-1453	198	2	6	CARDINAL
american_scientific_journal-1453	199	1	2007	DATE
american_scientific_journal-1453	199	2	pp.1306-1307	EVENT
american_scientific_journal-1453	200	1	10] k.e	DATE
american_scientific_journal-1453	201	1	novak	PERSON
american_scientific_journal-1453	201	2	l.e. miller	PERSON
american_scientific_journal-1453	201	3	j.c. houk	PERSON
american_scientific_journal-1453	202	1	no.4	GPE
american_scientific_journal-1453	202	2	2000	DATE
american_scientific_journal-1453	202	3	pp.419-33	ORG
american_scientific_journal-1453	203	1	11	CARDINAL
american_scientific_journal-1453	203	2	n. gurari	PERSON
american_scientific_journal-1453	203	3	a. m. okamura	PERSON
american_scientific_journal-1453	204	1	world haptics conf.	ORG
american_scientific_journal-1453	204	2	2007	DATE
american_scientific_journal-1453	204	3	pp.96-101	PERSON
american_scientific_journal-1453	205	1	12	CARDINAL
american_scientific_journal-1453	205	2	j. sone et.al	PERSON
american_scientific_journal-1453	206	1	no.2, 2011	DATE
american_scientific_journal-1453	206	2	282	CARDINAL
american_scientific_journal-1453	207	1	13	CARDINAL
american_scientific_journal-1453	207	2	d. kwon	PERSON
american_scientific_journal-1453	207	3	s. kim	PERSON
american_scientific_journal-1453	207	4	2008	DATE
american_scientific_journal-1453	208	1	14	CARDINAL
american_scientific_journal-1453	208	2	r. osaki	PERSON
american_scientific_journal-1453	208	3	m. shimada	PERSON
american_scientific_journal-1453	208	4	k. uehara	PERSON
american_scientific_journal-1453	209	1	15	CARDINAL
american_scientific_journal-1453	209	2	g. liu	PERSON
american_scientific_journal-1453	209	3	j. zhang	PERSON
american_scientific_journal-1453	209	4	w. wang	PERSON
american_scientific_journal-1453	209	5	l. mcmillan	PERSON
american_scientific_journal-1453	210	1	2005	DATE
american_scientific_journal-1453	211	1	2005	DATE
american_scientific_journal-1453	212	1	16	CARDINAL
american_scientific_journal-1453	212	2	j. sone	PERSON
american_scientific_journal-1453	212	3	r. inoue	PERSON
american_scientific_journal-1453	213	1	k. yamada	PERSON
american_scientific_journal-1453	213	2	t. nagae	GPE
american_scientific_journal-1453	213	3	k. fujita	PERSON
american_scientific_journal-1453	213	4	m. sato	PERSON
american_scientific_journal-1453	213	5	8	CARDINAL
american_scientific_journal-1453	213	6	1-12	CARDINAL
american_scientific_journal-1453	214	1	17	CARDINAL
american_scientific_journal-1453	214	2	j. sone	PERSON
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american_scientific_journal-1453	214	4	k. yamada	PERSON
american_scientific_journal-1453	214	5	k. fujita	PERSON
american_scientific_journal-1453	215	1	world haptics conf	ORG
american_scientific_journal-1453	216	1	2009	DATE
american_scientific_journal-1453	216	2	pp615-616	PRODUCT
american_scientific_journal-1453	217	1	233	CARDINAL