id	sid	tid	token	lemma	pos
bam-6162	1	1	bam	bam	VERB
bam-6162	1	2	12	12	NUM
bam-6162	1	3	(	(	PUNCT
bam-6162	1	4	1	1	NUM
bam-6162	1	5	)	)	PUNCT
bam-6162	1	6	2002	2002	NUM
bam-6162	1	7	human	human	NOUN
bam-6162	1	8	-	-	PUNCT
bam-6162	1	9	fes	fes	NOUN
bam-6162	1	10	cooperative	cooperative	ADJ
bam-6162	1	11	control	control	NOUN
bam-6162	1	12	for	for	ADP
bam-6162	1	13	wrist	wrist	NOUN
bam-6162	1	14	movement	movement	PROPN
bam-6162	1	15	eur	eur	PROPN
bam-6162	1	16	j	j	PROPN
bam-6162	1	17	transl	transl	PROPN
bam-6162	1	18	myol	myol	NOUN
bam-6162	1	19	26	26	NUM
bam-6162	1	20	(	(	PUNCT
bam-6162	1	21	3	3	NUM
bam-6162	1	22	):	):	PUNCT
bam-6162	1	23	235	235	NUM
bam-6162	1	24	-	-	SYM
bam-6162	1	25	238	238	NUM
bam-6162	1	26	235	235	NUM
bam-6162	1	27	human	human	ADJ
bam-6162	1	28	-	-	PUNCT
bam-6162	1	29	fes	fes	NOUN
bam-6162	1	30	cooperative	cooperative	ADJ
bam-6162	1	31	control	control	NOUN
bam-6162	1	32	for	for	ADP
bam-6162	1	33	wrist	wrist	NOUN
bam-6162	1	34	movement	movement	NOUN
bam-6162	1	35	:	:	PUNCT
bam-6162	1	36	a	a	DET
bam-6162	1	37	preliminary	preliminary	ADJ
bam-6162	1	38	study	study	NOUN
bam-6162	1	39	kai	kai	PROPN
bam-6162	1	40	gui	gui	PROPN
bam-6162	1	41	(	(	PUNCT
bam-6162	1	42	1	1	NUM
bam-6162	1	43	)	)	PUNCT
bam-6162	1	44	,	,	PUNCT
bam-6162	1	45	hiroshi	hiroshi	PROPN
bam-6162	1	46	yokoi	yokoi	PROPN
bam-6162	1	47	(	(	PUNCT
bam-6162	1	48	2	2	NUM
bam-6162	1	49	)	)	PUNCT
bam-6162	1	50	,	,	PUNCT
bam-6162	1	51	dingguo	dingguo	PROPN
bam-6162	1	52	zhang	zhang	PROPN
bam-6162	1	53	(	(	PUNCT
bam-6162	1	54	1	1	NUM
bam-6162	1	55	)	)	PUNCT
bam-6162	1	56	(	(	PUNCT
bam-6162	1	57	1	1	X
bam-6162	1	58	)	)	PUNCT
bam-6162	1	59	state	state	NOUN
bam-6162	1	60	key	key	ADJ
bam-6162	1	61	laboratory	laboratory	NOUN
bam-6162	1	62	of	of	ADP
bam-6162	1	63	mechanical	mechanical	ADJ
bam-6162	1	64	system	system	NOUN
bam-6162	1	65	and	and	CCONJ
bam-6162	1	66	vibration	vibration	NOUN
bam-6162	1	67	,	,	PUNCT
bam-6162	1	68	school	school	NOUN
bam-6162	1	69	of	of	ADP
bam-6162	1	70	mechanical	mechanical	ADJ
bam-6162	1	71	engineering	engineering	NOUN
bam-6162	1	72	,	,	PUNCT
bam-6162	1	73	shanghai	shanghai	PROPN
bam-6162	1	74	jiao	jiao	PROPN
bam-6162	1	75	tong	tong	PROPN
bam-6162	1	76	university	university	PROPN
bam-6162	1	77	,	,	PUNCT
bam-6162	1	78	shanghai	shanghai	PROPN
bam-6162	1	79	,	,	PUNCT
bam-6162	1	80	china	china	PROPN
bam-6162	1	81	;	;	PUNCT
bam-6162	1	82	(	(	PUNCT
bam-6162	1	83	2	2	X
bam-6162	1	84	)	)	PUNCT
bam-6162	1	85	faculty	faculty	NOUN
bam-6162	1	86	of	of	ADP
bam-6162	1	87	informatics	informatic	NOUN
bam-6162	1	88	and	and	CCONJ
bam-6162	1	89	engineering	engineering	NOUN
bam-6162	1	90	at	at	ADP
bam-6162	1	91	the	the	DET
bam-6162	1	92	university	university	NOUN
bam-6162	1	93	of	of	ADP
bam-6162	1	94	electro	electro	NOUN
bam-6162	1	95	-	-	PUNCT
bam-6162	1	96	communications	communication	NOUN
bam-6162	1	97	,	,	PUNCT
bam-6162	1	98	tokyo	tokyo	PROPN
bam-6162	1	99	,	,	PUNCT
bam-6162	1	100	japan	japan	PROPN
bam-6162	1	101	this	this	DET
bam-6162	1	102	article	article	NOUN
bam-6162	1	103	is	be	AUX
bam-6162	1	104	distributed	distribute	VERB
bam-6162	1	105	under	under	ADP
bam-6162	1	106	the	the	DET
bam-6162	1	107	terms	term	NOUN
bam-6162	1	108	of	of	ADP
bam-6162	1	109	the	the	DET
bam-6162	1	110	creative	creative	ADJ
bam-6162	1	111	commons	common	NOUN
bam-6162	1	112	attribution	attribution	NOUN
bam-6162	1	113	noncommercial	noncommercial	ADJ
bam-6162	1	114	license	license	NOUN
bam-6162	1	115	(	(	PUNCT
bam-6162	1	116	cc	cc	NOUN
bam-6162	1	117	by	by	ADP
bam-6162	1	118	-	-	PUNCT
bam-6162	1	119	nc	nc	PROPN
bam-6162	1	120	4.0	4.0	NUM
bam-6162	1	121	)	)	PUNCT
bam-6162	1	122	which	which	PRON
bam-6162	1	123	permits	permit	VERB
bam-6162	1	124	any	any	DET
bam-6162	1	125	noncommercial	noncommercial	ADJ
bam-6162	1	126	use	use	NOUN
bam-6162	1	127	,	,	PUNCT
bam-6162	1	128	distribution	distribution	NOUN
bam-6162	1	129	,	,	PUNCT
bam-6162	1	130	and	and	CCONJ
bam-6162	1	131	reproduction	reproduction	NOUN
bam-6162	1	132	in	in	ADP
bam-6162	1	133	any	any	DET
bam-6162	1	134	medium	medium	NOUN
bam-6162	1	135	,	,	PUNCT
bam-6162	1	136	provided	provide	VERB
bam-6162	1	137	the	the	DET
bam-6162	1	138	original	original	ADJ
bam-6162	1	139	author(s	author(s	NOUN
bam-6162	1	140	)	)	PUNCT
bam-6162	1	141	and	and	CCONJ
bam-6162	1	142	source	source	NOUN
bam-6162	1	143	are	be	AUX
bam-6162	1	144	credited	credit	VERB
bam-6162	1	145	.	.	PUNCT
bam-6162	2	1	abstract	abstract	ADJ
bam-6162	2	2	functional	functional	ADJ
bam-6162	2	3	electrical	electrical	ADJ
bam-6162	2	4	stimulation	stimulation	NOUN
bam-6162	2	5	(	(	PUNCT
bam-6162	2	6	fes	fes	NOUN
bam-6162	2	7	)	)	PUNCT
bam-6162	2	8	sometimes	sometimes	ADV
bam-6162	2	9	applies	apply	VERB
bam-6162	2	10	to	to	ADP
bam-6162	2	11	patients	patient	NOUN
bam-6162	2	12	with	with	ADP
bam-6162	2	13	partial	partial	ADJ
bam-6162	2	14	paralysis	paralysis	NOUN
bam-6162	2	15	,	,	PUNCT
bam-6162	2	16	so	so	CCONJ
bam-6162	2	17	human	human	ADJ
bam-6162	2	18	voluntary	voluntary	ADJ
bam-6162	2	19	control	control	NOUN
bam-6162	2	20	and	and	CCONJ
bam-6162	2	21	fes	fes	NOUN
bam-6162	2	22	control	control	NOUN
bam-6162	2	23	both	both	PRON
bam-6162	2	24	exist	exist	VERB
bam-6162	2	25	.	.	PUNCT
bam-6162	3	1	our	our	PRON
bam-6162	3	2	study	study	NOUN
bam-6162	3	3	aims	aim	VERB
bam-6162	3	4	to	to	PART
bam-6162	3	5	build	build	VERB
bam-6162	3	6	a	a	DET
bam-6162	3	7	cooperative	cooperative	ADJ
bam-6162	3	8	controller	controller	NOUN
bam-6162	3	9	to	to	PART
bam-6162	3	10	achieve	achieve	VERB
bam-6162	3	11	human	human	NOUN
bam-6162	3	12	-	-	PUNCT
bam-6162	3	13	fes	fes	NOUN
bam-6162	3	14	cooperation	cooperation	NOUN
bam-6162	3	15	.	.	PUNCT
bam-6162	4	1	this	this	DET
bam-6162	4	2	cooperative	cooperative	ADJ
bam-6162	4	3	controller	controller	NOUN
bam-6162	4	4	is	be	AUX
bam-6162	4	5	formed	form	VERB
bam-6162	4	6	by	by	ADP
bam-6162	4	7	a	a	DET
bam-6162	4	8	classical	classical	ADJ
bam-6162	4	9	fes	fes	NOUN
bam-6162	4	10	controller	controller	NOUN
bam-6162	4	11	and	and	CCONJ
bam-6162	4	12	an	an	DET
bam-6162	4	13	impedance	impedance	NOUN
bam-6162	4	14	controller	controller	NOUN
bam-6162	4	15	.	.	PUNCT
bam-6162	5	1	the	the	DET
bam-6162	5	2	fes	fes	NOUN
bam-6162	5	3	controller	controller	NOUN
bam-6162	5	4	consists	consist	VERB
bam-6162	5	5	of	of	ADP
bam-6162	5	6	a	a	DET
bam-6162	5	7	back	back	ADJ
bam-6162	5	8	propagation	propagation	NOUN
bam-6162	5	9	(	(	PUNCT
bam-6162	5	10	bp	bp	PROPN
bam-6162	5	11	)	)	PUNCT
bam-6162	5	12	neural	neural	ADJ
bam-6162	5	13	network	network	NOUN
bam-6162	5	14	-	-	PUNCT
bam-6162	5	15	based	base	VERB
bam-6162	5	16	feedforward	feedforward	NOUN
bam-6162	5	17	controller	controller	NOUN
bam-6162	5	18	and	and	CCONJ
bam-6162	5	19	a	a	DET
bam-6162	5	20	pid	pid	NOUN
bam-6162	5	21	-	-	PUNCT
bam-6162	5	22	based	base	VERB
bam-6162	5	23	feedback	feedback	NOUN
bam-6162	5	24	controller	controller	NOUN
bam-6162	5	25	.	.	PUNCT
bam-6162	6	1	the	the	DET
bam-6162	6	2	function	function	NOUN
bam-6162	6	3	of	of	ADP
bam-6162	6	4	impedance	impedance	NOUN
bam-6162	6	5	controller	controller	NOUN
bam-6162	6	6	is	be	AUX
bam-6162	6	7	to	to	PART
bam-6162	6	8	convert	convert	VERB
bam-6162	6	9	volitional	volitional	ADJ
bam-6162	6	10	force	force	NOUN
bam-6162	6	11	/	/	SYM
bam-6162	6	12	torque	torque	NOUN
bam-6162	6	13	,	,	PUNCT
bam-6162	6	14	which	which	PRON
bam-6162	6	15	is	be	AUX
bam-6162	6	16	estimated	estimate	VERB
bam-6162	6	17	from	from	ADP
bam-6162	6	18	a	a	DET
bam-6162	6	19	three	three	NUM
bam-6162	6	20	-	-	PUNCT
bam-6162	6	21	stage	stage	NOUN
bam-6162	6	22	filter	filter	NOUN
bam-6162	6	23	based	base	VERB
bam-6162	6	24	on	on	ADP
bam-6162	6	25	emg	emg	PROPN
bam-6162	6	26	,	,	PUNCT
bam-6162	6	27	into	into	ADP
bam-6162	6	28	additional	additional	ADJ
bam-6162	6	29	angle	angle	NOUN
bam-6162	6	30	.	.	PUNCT
bam-6162	7	1	the	the	DET
bam-6162	7	2	additional	additional	ADJ
bam-6162	7	3	angle	angle	NOUN
bam-6162	7	4	can	can	AUX
bam-6162	7	5	reduce	reduce	VERB
bam-6162	7	6	the	the	DET
bam-6162	7	7	fes	fes	NOUN
bam-6162	7	8	intensity	intensity	NOUN
bam-6162	7	9	in	in	ADP
bam-6162	7	10	our	our	PRON
bam-6162	7	11	cooperative	cooperative	ADJ
bam-6162	7	12	controller	controller	NOUN
bam-6162	7	13	,	,	PUNCT
bam-6162	7	14	comparing	compare	VERB
bam-6162	7	15	to	to	ADP
bam-6162	7	16	that	that	PRON
bam-6162	7	17	in	in	ADP
bam-6162	7	18	classical	classical	ADJ
bam-6162	7	19	fes	fes	NOUN
bam-6162	7	20	controller	controller	NOUN
bam-6162	7	21	.	.	PUNCT
bam-6162	8	1	some	some	DET
bam-6162	8	2	assessment	assessment	NOUN
bam-6162	8	3	experiments	experiment	NOUN
bam-6162	8	4	are	be	AUX
bam-6162	8	5	designed	design	VERB
bam-6162	8	6	to	to	PART
bam-6162	8	7	test	test	VERB
bam-6162	8	8	the	the	DET
bam-6162	8	9	performance	performance	NOUN
bam-6162	8	10	of	of	ADP
bam-6162	8	11	the	the	DET
bam-6162	8	12	cooperative	cooperative	ADJ
bam-6162	8	13	controller	controller	NOUN
bam-6162	8	14	.	.	PUNCT
bam-6162	9	1	key	key	ADJ
bam-6162	9	2	words	word	NOUN
bam-6162	9	3	:	:	PUNCT
bam-6162	9	4	functional	functional	ADJ
bam-6162	9	5	electrical	electrical	ADJ
bam-6162	9	6	stimulation	stimulation	NOUN
bam-6162	9	7	,	,	PUNCT
bam-6162	9	8	artifacts	artifact	VERB
bam-6162	9	9	removal	removal	NOUN
bam-6162	9	10	,	,	PUNCT
bam-6162	9	11	impedance	impedance	NOUN
bam-6162	9	12	control	control	NOUN
bam-6162	9	13	,	,	PUNCT
bam-6162	9	14	cooperative	cooperative	ADJ
bam-6162	9	15	control	control	NOUN
bam-6162	9	16	.	.	PUNCT
bam-6162	10	1	eur	eur	PROPN
bam-6162	10	2	j	j	PROPN
bam-6162	10	3	transl	transl	PROPN
bam-6162	10	4	myol	myol	NOUN
bam-6162	10	5	2016	2016	NUM
bam-6162	10	6	;	;	PUNCT
bam-6162	10	7	26	26	NUM
bam-6162	10	8	(	(	PUNCT
bam-6162	10	9	3):235	3):235	NUM
bam-6162	10	10	-	-	SYM
bam-6162	10	11	238	238	NUM
bam-6162	10	12	functional	functional	ADJ
bam-6162	10	13	electrical	electrical	ADJ
bam-6162	10	14	stimulation	stimulation	NOUN
bam-6162	10	15	(	(	PUNCT
bam-6162	10	16	fes	fes	NOUN
bam-6162	10	17	)	)	PUNCT
bam-6162	10	18	is	be	AUX
bam-6162	10	19	a	a	DET
bam-6162	10	20	promising	promising	ADJ
bam-6162	10	21	and	and	CCONJ
bam-6162	10	22	effective	effective	ADJ
bam-6162	10	23	method	method	NOUN
bam-6162	10	24	to	to	PART
bam-6162	10	25	restore	restore	VERB
bam-6162	10	26	motor	motor	NOUN
bam-6162	10	27	functions	function	NOUN
bam-6162	10	28	for	for	ADP
bam-6162	10	29	paralyzed	paralyzed	ADJ
bam-6162	10	30	patients	patient	NOUN
bam-6162	10	31	.	.	PUNCT
bam-6162	11	1	it	it	PRON
bam-6162	11	2	generates	generate	VERB
bam-6162	11	3	electrical	electrical	ADJ
bam-6162	11	4	stimulus	stimulus	NOUN
bam-6162	11	5	for	for	ADP
bam-6162	11	6	the	the	DET
bam-6162	11	7	muscle	muscle	NOUN
bam-6162	11	8	to	to	PART
bam-6162	11	9	produce	produce	VERB
bam-6162	11	10	a	a	DET
bam-6162	11	11	desired	desire	VERB
bam-6162	11	12	movement	movement	NOUN
bam-6162	11	13	.	.	PUNCT
bam-6162	12	1	sometimes	sometimes	ADV
bam-6162	12	2	,	,	PUNCT
bam-6162	12	3	fes	fes	NOUN
bam-6162	12	4	applies	apply	VERB
bam-6162	12	5	to	to	ADP
bam-6162	12	6	subjects	subject	NOUN
bam-6162	12	7	with	with	ADP
bam-6162	12	8	partial	partial	ADJ
bam-6162	12	9	muscle	muscle	NOUN
bam-6162	12	10	deficiency	deficiency	NOUN
bam-6162	12	11	,	,	PUNCT
bam-6162	12	12	like	like	ADP
bam-6162	12	13	incomplete	incomplete	ADJ
bam-6162	12	14	spinal	spinal	NOUN
bam-6162	12	15	cord	cord	NOUN
bam-6162	12	16	injury	injury	NOUN
bam-6162	12	17	(	(	PUNCT
bam-6162	12	18	sci	sci	PROPN
bam-6162	12	19	)	)	PUNCT
bam-6162	12	20	,	,	PUNCT
bam-6162	12	21	aging	aging	NOUN
bam-6162	12	22	and	and	CCONJ
bam-6162	12	23	muscle	muscle	NOUN
bam-6162	12	24	atrophy	atrophy	NOUN
bam-6162	12	25	.	.	PUNCT
bam-6162	13	1	1,2	1,2	NUM
bam-6162	13	2	in	in	ADP
bam-6162	13	3	this	this	DET
bam-6162	13	4	case	case	NOUN
bam-6162	13	5	,	,	PUNCT
bam-6162	13	6	both	both	DET
bam-6162	13	7	fes	fes	NOUN
bam-6162	13	8	-	-	PUNCT
bam-6162	13	9	induced	induced	ADJ
bam-6162	13	10	and	and	CCONJ
bam-6162	13	11	voluntary	voluntary	ADJ
bam-6162	13	12	muscle	muscle	NOUN
bam-6162	13	13	contraction	contraction	NOUN
bam-6162	13	14	exist	exist	VERB
bam-6162	13	15	.	.	PUNCT
bam-6162	14	1	recently	recently	ADV
bam-6162	14	2	,	,	PUNCT
bam-6162	14	3	some	some	DET
bam-6162	14	4	literature	literature	NOUN
bam-6162	14	5	has	have	AUX
bam-6162	14	6	indicated	indicate	VERB
bam-6162	14	7	the	the	DET
bam-6162	14	8	interplay	interplay	NOUN
bam-6162	14	9	of	of	ADP
bam-6162	14	10	fes	fes	NOUN
bam-6162	14	11	-	-	PUNCT
bam-6162	14	12	induced	induced	ADJ
bam-6162	14	13	force	force	NOUN
bam-6162	14	14	and	and	CCONJ
bam-6162	14	15	volitional	volitional	ADJ
bam-6162	14	16	force	force	NOUN
bam-6162	14	17	in	in	ADP
bam-6162	14	18	isometric	isometric	ADJ
bam-6162	14	19	muscular	muscular	ADJ
bam-6162	14	20	contraction	contraction	NOUN
bam-6162	14	21	.	.	PUNCT
bam-6162	15	1	3,4	3,4	NUM
bam-6162	15	2	it	it	PRON
bam-6162	15	3	was	be	AUX
bam-6162	15	4	proved	prove	VERB
bam-6162	15	5	that	that	SCONJ
bam-6162	15	6	the	the	DET
bam-6162	15	7	resultant	resultant	NOUN
bam-6162	15	8	force	force	NOUN
bam-6162	15	9	was	be	AUX
bam-6162	15	10	the	the	DET
bam-6162	15	11	nonlinear	nonlinear	ADJ
bam-6162	15	12	combination	combination	NOUN
bam-6162	15	13	of	of	ADP
bam-6162	15	14	the	the	DET
bam-6162	15	15	fes	fes	NOUN
bam-6162	15	16	-	-	PUNCT
bam-6162	15	17	induced	induce	VERB
bam-6162	15	18	and	and	CCONJ
bam-6162	15	19	the	the	DET
bam-6162	15	20	volitional	volitional	ADJ
bam-6162	15	21	force	force	NOUN
bam-6162	15	22	.	.	PUNCT
bam-6162	16	1	but	but	CCONJ
bam-6162	16	2	the	the	DET
bam-6162	16	3	controller	controller	NOUN
bam-6162	16	4	to	to	PART
bam-6162	16	5	realize	realize	VERB
bam-6162	16	6	certain	certain	ADJ
bam-6162	16	7	motions	motion	NOUN
bam-6162	16	8	was	be	AUX
bam-6162	16	9	not	not	PART
bam-6162	16	10	provided	provide	VERB
bam-6162	16	11	in	in	ADP
bam-6162	16	12	the	the	DET
bam-6162	16	13	case	case	NOUN
bam-6162	16	14	of	of	ADP
bam-6162	16	15	volitional	volitional	ADJ
bam-6162	16	16	force	force	NOUN
bam-6162	16	17	.	.	PUNCT
bam-6162	17	1	the	the	DET
bam-6162	17	2	involvement	involvement	NOUN
bam-6162	17	3	of	of	ADP
bam-6162	17	4	volitional	volitional	ADJ
bam-6162	17	5	force	force	NOUN
bam-6162	17	6	/	/	SYM
bam-6162	17	7	torque	torque	NOUN
bam-6162	17	8	during	during	ADP
bam-6162	17	9	fes	fes	NOUN
bam-6162	17	10	rehabilitation	rehabilitation	NOUN
bam-6162	17	11	training	training	NOUN
bam-6162	17	12	may	may	AUX
bam-6162	17	13	improve	improve	VERB
bam-6162	17	14	rehabilitation	rehabilitation	NOUN
bam-6162	17	15	efficacy	efficacy	NOUN
bam-6162	17	16	,	,	PUNCT
bam-6162	17	17	lower	low	ADJ
bam-6162	17	18	fes	fes	NOUN
bam-6162	17	19	intensity	intensity	NOUN
bam-6162	17	20	,	,	PUNCT
bam-6162	17	21	and	and	CCONJ
bam-6162	17	22	alleviate	alleviate	VERB
bam-6162	17	23	muscle	muscle	NOUN
bam-6162	17	24	fatigue	fatigue	NOUN
bam-6162	17	25	.	.	PUNCT
bam-6162	18	1	5	5	NUM
bam-6162	18	2	our	our	PRON
bam-6162	18	3	study	study	NOUN
bam-6162	18	4	designed	design	VERB
bam-6162	18	5	a	a	DET
bam-6162	18	6	cooperative	cooperative	ADJ
bam-6162	18	7	strategy	strategy	NOUN
bam-6162	18	8	for	for	ADP
bam-6162	18	9	fes	fes	NOUN
bam-6162	18	10	-	-	PUNCT
bam-6162	18	11	induced	induced	ADJ
bam-6162	18	12	and	and	CCONJ
bam-6162	18	13	volitional	volitional	ADJ
bam-6162	18	14	force	force	NOUN
bam-6162	18	15	/	/	SYM
bam-6162	18	16	torque	torque	NOUN
bam-6162	18	17	to	to	PART
bam-6162	18	18	achieve	achieve	VERB
bam-6162	18	19	the	the	DET
bam-6162	18	20	predefined	predefine	VERB
bam-6162	18	21	wrist	wrist	NOUN
bam-6162	18	22	movements	movement	NOUN
bam-6162	18	23	.	.	PUNCT
bam-6162	19	1	generally	generally	ADV
bam-6162	19	2	,	,	PUNCT
bam-6162	19	3	the	the	DET
bam-6162	19	4	volitional	volitional	ADJ
bam-6162	19	5	force	force	NOUN
bam-6162	19	6	/	/	SYM
bam-6162	19	7	torque	torque	NOUN
bam-6162	19	8	is	be	AUX
bam-6162	19	9	estimated	estimate	VERB
bam-6162	19	10	from	from	ADP
bam-6162	19	11	voluntary	voluntary	ADJ
bam-6162	19	12	electromyography	electromyography	NOUN
bam-6162	19	13	(	(	PUNCT
bam-6162	19	14	emg	emg	NOUN
bam-6162	19	15	)	)	PUNCT
bam-6162	19	16	,	,	PUNCT
bam-6162	19	17	6,7	6,7	NUM
bam-6162	19	18	while	while	SCONJ
bam-6162	19	19	the	the	DET
bam-6162	19	20	emg	emg	NOUN
bam-6162	19	21	is	be	AUX
bam-6162	19	22	contaminated	contaminate	VERB
bam-6162	19	23	with	with	ADP
bam-6162	19	24	simulation	simulation	NOUN
bam-6162	19	25	artifacts	artifact	NOUN
bam-6162	19	26	and	and	CCONJ
bam-6162	19	27	m	m	NOUN
bam-6162	19	28	-	-	NOUN
bam-6162	19	29	wave	wave	NOUN
bam-6162	19	30	caused	cause	VERB
bam-6162	19	31	by	by	ADP
bam-6162	19	32	fes	fes	NOUN
bam-6162	19	33	.	.	PROPN
bam-6162	19	34	8	8	NUM
bam-6162	19	35	a	a	DET
bam-6162	19	36	three	three	NUM
bam-6162	19	37	-	-	PUNCT
bam-6162	19	38	stage	stage	NOUN
bam-6162	19	39	filter	filter	NOUN
bam-6162	19	40	was	be	AUX
bam-6162	19	41	designed	design	VERB
bam-6162	19	42	to	to	PART
bam-6162	19	43	extract	extract	VERB
bam-6162	19	44	the	the	DET
bam-6162	19	45	voluntary	voluntary	ADJ
bam-6162	19	46	emg	emg	NOUN
bam-6162	19	47	from	from	ADP
bam-6162	19	48	the	the	DET
bam-6162	19	49	overall	overall	ADJ
bam-6162	19	50	emg	emg	NOUN
bam-6162	19	51	.	.	PUNCT
bam-6162	20	1	8	8	NUM
bam-6162	20	2	the	the	DET
bam-6162	20	3	main	main	ADJ
bam-6162	20	4	aim	aim	NOUN
bam-6162	20	5	of	of	ADP
bam-6162	20	6	this	this	DET
bam-6162	20	7	paper	paper	NOUN
bam-6162	20	8	is	be	AUX
bam-6162	20	9	to	to	PART
bam-6162	20	10	introduce	introduce	VERB
bam-6162	20	11	impedance	impedance	NOUN
bam-6162	20	12	control	control	NOUN
bam-6162	20	13	strategy	strategy	NOUN
bam-6162	20	14	into	into	ADP
bam-6162	20	15	the	the	DET
bam-6162	20	16	fes	fes	NOUN
bam-6162	20	17	controller	controller	NOUN
bam-6162	20	18	,	,	PUNCT
bam-6162	20	19	which	which	PRON
bam-6162	20	20	is	be	AUX
bam-6162	20	21	widely	widely	ADV
bam-6162	20	22	used	use	VERB
bam-6162	20	23	in	in	ADP
bam-6162	20	24	robotic	robotic	ADJ
bam-6162	20	25	control	control	NOUN
bam-6162	20	26	to	to	PART
bam-6162	20	27	achieve	achieve	VERB
bam-6162	20	28	hybrid	hybrid	ADJ
bam-6162	20	29	position	position	NOUN
bam-6162	20	30	-	-	PUNCT
bam-6162	20	31	force	force	NOUN
bam-6162	20	32	control	control	NOUN
bam-6162	20	33	.	.	PUNCT
bam-6162	21	1	9	9	NUM
bam-6162	21	2	materials	material	NOUN
bam-6162	21	3	and	and	CCONJ
bam-6162	21	4	methods	method	NOUN
bam-6162	21	5	a.	a.	NOUN
bam-6162	21	6	experimental	experimental	ADJ
bam-6162	21	7	setup	setup	NOUN
bam-6162	21	8	the	the	DET
bam-6162	21	9	experimental	experimental	ADJ
bam-6162	21	10	setup	setup	NOUN
bam-6162	21	11	of	of	ADP
bam-6162	21	12	our	our	PRON
bam-6162	21	13	controller	controller	NOUN
bam-6162	21	14	is	be	AUX
bam-6162	21	15	shown	show	VERB
bam-6162	21	16	in	in	ADP
bam-6162	21	17	fig.1	fig.1	PROPN
bam-6162	21	18	.	.	PUNCT
bam-6162	22	1	subjects	subject	NOUN
bam-6162	22	2	sat	sit	VERB
bam-6162	22	3	on	on	ADP
bam-6162	22	4	a	a	DET
bam-6162	22	5	chair	chair	NOUN
bam-6162	22	6	with	with	ADP
bam-6162	22	7	their	their	PRON
bam-6162	22	8	forearm	forearm	NOUN
bam-6162	22	9	fixed	fix	VERB
bam-6162	22	10	on	on	ADP
bam-6162	22	11	the	the	DET
bam-6162	22	12	chair	chair	NOUN
bam-6162	22	13	.	.	PUNCT
bam-6162	23	1	the	the	DET
bam-6162	23	2	wrist	wrist	NOUN
bam-6162	23	3	was	be	AUX
bam-6162	23	4	in	in	ADP
bam-6162	23	5	free	free	ADJ
bam-6162	23	6	state	state	NOUN
bam-6162	23	7	.	.	PUNCT
bam-6162	24	1	a	a	DET
bam-6162	24	2	commercial	commercial	ADJ
bam-6162	24	3	fes	fes	NOUN
bam-6162	24	4	device	device	NOUN
bam-6162	24	5	(	(	PUNCT
bam-6162	24	6	motionstim	motionstim	ADJ
bam-6162	24	7	8	8	NUM
bam-6162	24	8	,	,	PUNCT
bam-6162	24	9	germany	germany	PROPN
bam-6162	24	10	)	)	PUNCT
bam-6162	24	11	was	be	AUX
bam-6162	24	12	employed	employ	VERB
bam-6162	24	13	as	as	ADP
bam-6162	24	14	the	the	DET
bam-6162	24	15	stimulator	stimulator	NOUN
bam-6162	24	16	.	.	PUNCT
bam-6162	25	1	the	the	DET
bam-6162	25	2	stimulator	stimulator	NOUN
bam-6162	25	3	generated	generate	VERB
bam-6162	25	4	electrical	electrical	ADJ
bam-6162	25	5	pulse	pulse	NOUN
bam-6162	25	6	on	on	ADP
bam-6162	25	7	the	the	DET
bam-6162	25	8	targeted	target	VERB
bam-6162	25	9	electrodes	electrode	NOUN
bam-6162	25	10	based	base	VERB
bam-6162	25	11	upon	upon	SCONJ
bam-6162	25	12	the	the	DET
bam-6162	25	13	commands	command	NOUN
bam-6162	25	14	from	from	ADP
bam-6162	25	15	the	the	DET
bam-6162	25	16	controller	controller	NOUN
bam-6162	25	17	.	.	PUNCT
bam-6162	26	1	a	a	DET
bam-6162	26	2	pair	pair	NOUN
bam-6162	26	3	of	of	ADP
bam-6162	26	4	fes	fes	NOUN
bam-6162	26	5	electrodes	electrode	NOUN
bam-6162	26	6	was	be	AUX
bam-6162	26	7	put	put	VERB
bam-6162	26	8	on	on	ADP
bam-6162	26	9	flexor	flexor	ADJ
bam-6162	26	10	carpi	carpi	PROPN
bam-6162	26	11	ulnaris	ulnaris	PROPN
bam-6162	26	12	,	,	PUNCT
bam-6162	26	13	which	which	PRON
bam-6162	26	14	caused	cause	VERB
bam-6162	26	15	flexion	flexion	NOUN
bam-6162	26	16	of	of	ADP
bam-6162	26	17	wrist	wrist	NOUN
bam-6162	26	18	.	.	PUNCT
bam-6162	27	1	to	to	PART
bam-6162	27	2	extract	extract	VERB
bam-6162	27	3	the	the	DET
bam-6162	27	4	volitional	volitional	ADJ
bam-6162	27	5	force	force	NOUN
bam-6162	27	6	,	,	PUNCT
bam-6162	27	7	a	a	DET
bam-6162	27	8	physiological	physiological	ADJ
bam-6162	27	9	signal	signal	NOUN
bam-6162	27	10	,	,	PUNCT
bam-6162	27	11	electromyography	electromyography	NOUN
bam-6162	27	12	(	(	PUNCT
bam-6162	27	13	emg	emg	NOUN
bam-6162	27	14	)	)	PUNCT
bam-6162	27	15	,	,	PUNCT
bam-6162	27	16	was	be	AUX
bam-6162	27	17	selected	select	VERB
bam-6162	27	18	as	as	ADP
bam-6162	27	19	indicator	indicator	NOUN
bam-6162	27	20	.	.	PUNCT
bam-6162	28	1	emg	emg	NOUN
bam-6162	28	2	signals	signal	NOUN
bam-6162	28	3	of	of	ADP
bam-6162	28	4	flexor	flexor	ADJ
bam-6162	28	5	carpi	carpi	PROPN
bam-6162	28	6	ulnaris	ulnaris	PROPN
bam-6162	28	7	were	be	AUX
bam-6162	28	8	collected	collect	VERB
bam-6162	28	9	by	by	ADP
bam-6162	28	10	a	a	DET
bam-6162	28	11	commercial	commercial	ADJ
bam-6162	28	12	device	device	NOUN
bam-6162	28	13	(	(	PUNCT
bam-6162	28	14	f	f	NOUN
bam-6162	28	15	s=1000hz	s=1000hz	PROPN
bam-6162	28	16	,	,	PUNCT
bam-6162	28	17	biometrics	biometrics	PROPN
bam-6162	28	18	ltd	ltd	PROPN
bam-6162	28	19	,	,	PUNCT
bam-6162	28	20	uk	uk	PROPN
bam-6162	28	21	)	)	PUNCT
bam-6162	28	22	.	.	PUNCT
bam-6162	29	1	targeted	target	VERB
bam-6162	29	2	positions	position	NOUN
bam-6162	29	3	for	for	ADP
bam-6162	29	4	emg	emg	NOUN
bam-6162	29	5	electrodes	electrode	NOUN
bam-6162	29	6	were	be	AUX
bam-6162	29	7	cleaned	clean	VERB
bam-6162	29	8	with	with	ADP
bam-6162	29	9	alcohol	alcohol	NOUN
bam-6162	29	10	to	to	PART
bam-6162	29	11	reduce	reduce	VERB
bam-6162	29	12	the	the	DET
bam-6162	29	13	impedance	impedance	NOUN
bam-6162	29	14	.	.	PUNCT
bam-6162	30	1	movement	movement	NOUN
bam-6162	30	2	of	of	ADP
bam-6162	30	3	wrist	wrist	NOUN
bam-6162	30	4	was	be	AUX
bam-6162	30	5	acquired	acquire	VERB
bam-6162	30	6	by	by	ADP
bam-6162	30	7	a	a	DET
bam-6162	30	8	goniometer	goniometer	NOUN
bam-6162	30	9	(	(	PUNCT
bam-6162	30	10	fs=20hz	fs=20hz	ADJ
bam-6162	30	11	,	,	PUNCT
bam-6162	30	12	biometrics	biometrics	PROPN
bam-6162	30	13	ltd	ltd	PROPN
bam-6162	30	14	,	,	PUNCT
bam-6162	30	15	uk	uk	PROPN
bam-6162	30	16	)	)	PUNCT
bam-6162	30	17	.	.	PUNCT
bam-6162	31	1	three	three	NUM
bam-6162	31	2	-	-	PUNCT
bam-6162	31	3	stage	stage	NOUN
bam-6162	31	4	filter	filter	NOUN
bam-6162	31	5	to	to	PART
bam-6162	31	6	estimate	estimate	VERB
bam-6162	31	7	the	the	DET
bam-6162	31	8	volitional	volitional	ADJ
bam-6162	31	9	force	force	NOUN
bam-6162	31	10	/	/	SYM
bam-6162	31	11	torque	torque	NOUN
bam-6162	31	12	from	from	ADP
bam-6162	31	13	the	the	DET
bam-6162	31	14	overall	overall	ADJ
bam-6162	31	15	emg	emg	NOUN
bam-6162	31	16	,	,	PUNCT
bam-6162	31	17	a	a	DET
bam-6162	31	18	three	three	NUM
bam-6162	31	19	-	-	PUNCT
bam-6162	31	20	stage	stage	NOUN
bam-6162	31	21	filter	filter	NOUN
bam-6162	31	22	based	base	VERB
bam-6162	31	23	on	on	ADP
bam-6162	31	24	software	software	NOUN
bam-6162	31	25	was	be	AUX
bam-6162	31	26	designed	design	VERB
bam-6162	31	27	.	.	PUNCT
bam-6162	32	1	human	human	ADJ
bam-6162	32	2	-	-	PUNCT
bam-6162	32	3	fes	fes	NOUN
bam-6162	32	4	cooperative	cooperative	ADJ
bam-6162	32	5	control	control	NOUN
bam-6162	32	6	for	for	ADP
bam-6162	32	7	wrist	wrist	NOUN
bam-6162	32	8	movement	movement	PROPN
bam-6162	32	9	eur	eur	PROPN
bam-6162	32	10	j	j	PROPN
bam-6162	32	11	transl	transl	PROPN
bam-6162	32	12	myol	myol	NOUN
bam-6162	32	13	26	26	NUM
bam-6162	32	14	(	(	PUNCT
bam-6162	32	15	3	3	NUM
bam-6162	32	16	):	):	PUNCT
bam-6162	32	17	235	235	NUM
bam-6162	32	18	-	-	SYM
bam-6162	32	19	238	238	NUM
bam-6162	32	20	236	236	NUM
bam-6162	32	21	1	1	NUM
bam-6162	32	22	.	.	PUNCT
bam-6162	32	23	blanking	blank	VERB
bam-6162	32	24	window	window	NOUN
bam-6162	33	1	:	:	PUNCT
bam-6162	33	2	the	the	DET
bam-6162	33	3	first	first	ADJ
bam-6162	33	4	stage	stage	NOUN
bam-6162	33	5	was	be	AUX
bam-6162	33	6	a	a	DET
bam-6162	33	7	blanking	blanking	NOUN
bam-6162	33	8	window	window	NOUN
bam-6162	33	9	,	,	PUNCT
bam-6162	33	10	which	which	PRON
bam-6162	33	11	aimed	aim	VERB
bam-6162	33	12	to	to	PART
bam-6162	33	13	shield	shield	VERB
bam-6162	33	14	the	the	DET
bam-6162	33	15	stimulation	stimulation	NOUN
bam-6162	33	16	artefacts	artefact	NOUN
bam-6162	33	17	.	.	PUNCT
bam-6162	34	1	normally	normally	ADV
bam-6162	34	2	,	,	PUNCT
bam-6162	34	3	the	the	DET
bam-6162	34	4	simulation	simulation	NOUN
bam-6162	34	5	of	of	ADP
bam-6162	34	6	artefacts	artefact	NOUN
bam-6162	34	7	was	be	AUX
bam-6162	34	8	much	much	ADV
bam-6162	34	9	higher	high	ADJ
bam-6162	34	10	than	than	ADP
bam-6162	34	11	the	the	DET
bam-6162	34	12	voluntary	voluntary	ADJ
bam-6162	34	13	emg	emg	NOUN
bam-6162	34	14	.	.	PUNCT
bam-6162	35	1	it	it	PRON
bam-6162	35	2	even	even	ADV
bam-6162	35	3	led	lead	VERB
bam-6162	35	4	the	the	DET
bam-6162	35	5	amplifier	amplifier	NOUN
bam-6162	35	6	in	in	ADP
bam-6162	35	7	emg	emg	NOUN
bam-6162	35	8	sensor	sensor	NOUN
bam-6162	35	9	into	into	ADP
bam-6162	35	10	saturation	saturation	NOUN
bam-6162	35	11	.	.	PUNCT
bam-6162	36	1	2	2	X
bam-6162	36	2	.	.	X
bam-6162	36	3	comb	comb	NOUN
bam-6162	36	4	filter	filter	NOUN
bam-6162	36	5	:	:	PUNCT
bam-6162	36	6	after	after	ADP
bam-6162	36	7	the	the	DET
bam-6162	36	8	first	first	ADJ
bam-6162	36	9	-	-	PUNCT
bam-6162	36	10	stage	stage	NOUN
bam-6162	36	11	processing	processing	NOUN
bam-6162	36	12	,	,	PUNCT
bam-6162	36	13	the	the	DET
bam-6162	36	14	filtered	filter	VERB
bam-6162	36	15	emg	emg	NOUN
bam-6162	36	16	was	be	AUX
bam-6162	36	17	fed	feed	VERB
bam-6162	36	18	into	into	ADP
bam-6162	36	19	the	the	DET
bam-6162	36	20	second	second	ADJ
bam-6162	36	21	-	-	PUNCT
bam-6162	36	22	stage	stage	NOUN
bam-6162	36	23	filter	filter	NOUN
bam-6162	36	24	:	:	PUNCT
bam-6162	36	25	comb	comb	NOUN
bam-6162	36	26	filter	filter	NOUN
bam-6162	36	27	.	.	PUNCT
bam-6162	37	1	this	this	DET
bam-6162	37	2	filter	filter	NOUN
bam-6162	37	3	was	be	AUX
bam-6162	37	4	to	to	PART
bam-6162	37	5	eliminate	eliminate	VERB
bam-6162	37	6	the	the	DET
bam-6162	37	7	m	m	NOUN
bam-6162	37	8	-	-	NOUN
bam-6162	37	9	wave	wave	NOUN
bam-6162	37	10	from	from	ADP
bam-6162	37	11	the	the	DET
bam-6162	37	12	overall	overall	ADJ
bam-6162	37	13	emg	emg	NOUN
bam-6162	37	14	,	,	PUNCT
bam-6162	37	15	which	which	PRON
bam-6162	37	16	arose	arise	VERB
bam-6162	37	17	from	from	ADP
bam-6162	37	18	the	the	DET
bam-6162	37	19	muscle	muscle	NOUN
bam-6162	37	20	contraction	contraction	NOUN
bam-6162	37	21	caused	cause	VERB
bam-6162	37	22	by	by	ADP
bam-6162	37	23	fes	fes	NOUN
bam-6162	37	24	.	.	PUNCT
bam-6162	38	1	the	the	DET
bam-6162	38	2	formulation	formulation	NOUN
bam-6162	38	3	of	of	ADP
bam-6162	38	4	comb	comb	NOUN
bam-6162	38	5	filter	filter	NOUN
bam-6162	38	6	is	be	AUX
bam-6162	38	7	illustrated	illustrate	VERB
bam-6162	38	8	in	in	ADP
bam-6162	38	9	eq	eq	NOUN
bam-6162	38	10	.	.	PROPN
bam-6162	39	1	1	1	NUM
bam-6162	39	2	.	.	PUNCT
bam-6162	39	3	where	where	SCONJ
bam-6162	39	4	x(ti	x(ti	PROPN
bam-6162	39	5	)	)	PUNCT
bam-6162	39	6	is	be	AUX
bam-6162	39	7	the	the	DET
bam-6162	39	8	raw	raw	ADJ
bam-6162	39	9	emg	emg	NOUN
bam-6162	39	10	signal	signal	NOUN
bam-6162	39	11	at	at	ADP
bam-6162	39	12	ti	ti	NOUN
bam-6162	39	13	,	,	PUNCT
bam-6162	39	14	y(ti	y(ti	NOUN
bam-6162	39	15	)	)	PUNCT
bam-6162	39	16	is	be	AUX
bam-6162	39	17	the	the	DET
bam-6162	39	18	filtered	filter	VERB
bam-6162	39	19	emg	emg	NOUN
bam-6162	39	20	signal	signal	NOUN
bam-6162	39	21	at	at	ADP
bam-6162	39	22	ti	ti	NOUN
bam-6162	39	23	;	;	PUNCT
bam-6162	39	24	t	t	PROPN
bam-6162	39	25	denotes	denote	VERB
bam-6162	39	26	the	the	DET
bam-6162	39	27	duration	duration	NOUN
bam-6162	39	28	of	of	ADP
bam-6162	39	29	fes	fes	NOUN
bam-6162	39	30	;	;	PUNCT
bam-6162	39	31	√2	√2	NOUN
bam-6162	39	32	is	be	AUX
bam-6162	39	33	a	a	DET
bam-6162	39	34	scale	scale	NOUN
bam-6162	39	35	coefficient	coefficient	NOUN
bam-6162	39	36	to	to	PART
bam-6162	39	37	sustain	sustain	VERB
bam-6162	39	38	the	the	DET
bam-6162	39	39	same	same	ADJ
bam-6162	39	40	power	power	NOUN
bam-6162	39	41	for	for	ADP
bam-6162	39	42	emg	emg	NOUN
bam-6162	39	43	signal	signal	NOUN
bam-6162	39	44	before	before	ADV
bam-6162	39	45	and	and	CCONJ
bam-6162	39	46	after	after	ADP
bam-6162	39	47	filtering	filter	VERB
bam-6162	39	48	.	.	PUNCT
bam-6162	40	1	3	3	X
bam-6162	40	2	.	.	X
bam-6162	40	3	low	low	ADJ
bam-6162	40	4	-	-	PUNCT
bam-6162	40	5	pass	pass	NOUN
bam-6162	40	6	filter	filter	NOUN
bam-6162	40	7	:	:	PUNCT
bam-6162	40	8	now	now	ADV
bam-6162	40	9	the	the	DET
bam-6162	40	10	volitional	volitional	ADJ
bam-6162	40	11	emg	emg	NOUN
bam-6162	40	12	was	be	AUX
bam-6162	40	13	obtained.the	obtained.the	DET
bam-6162	40	14	volitional	volitional	ADJ
bam-6162	40	15	emg	emg	NOUN
bam-6162	40	16	was	be	AUX
bam-6162	40	17	rectified	rectify	VERB
bam-6162	40	18	,	,	PUNCT
bam-6162	40	19	low	low	ADJ
bam-6162	40	20	-	-	PUNCT
bam-6162	40	21	pass	pass	NOUN
bam-6162	40	22	filtered	filter	VERB
bam-6162	40	23	to	to	PART
bam-6162	40	24	obtain	obtain	VERB
bam-6162	40	25	the	the	DET
bam-6162	40	26	relative	relative	ADJ
bam-6162	40	27	smooth	smooth	ADJ
bam-6162	40	28	volitional	volitional	ADJ
bam-6162	40	29	force	force	NOUN
bam-6162	40	30	/	/	SYM
bam-6162	40	31	torque	torque	NOUN
bam-6162	40	32	.	.	PUNCT
bam-6162	41	1	the	the	DET
bam-6162	41	2	cut	cut	VERB
bam-6162	41	3	-	-	PUNCT
bam-6162	41	4	off	off	ADP
bam-6162	41	5	frequency	frequency	NOUN
bam-6162	41	6	of	of	ADP
bam-6162	41	7	the	the	DET
bam-6162	41	8	low	low	ADJ
bam-6162	41	9	-	-	PUNCT
bam-6162	41	10	pass	pass	NOUN
bam-6162	41	11	filter	filter	NOUN
bam-6162	41	12	was	be	AUX
bam-6162	41	13	20hz	20hz	ADJ
bam-6162	41	14	.	.	PUNCT
bam-6162	42	1	because	because	SCONJ
bam-6162	42	2	of	of	ADP
bam-6162	42	3	the	the	DET
bam-6162	42	4	linear	linear	PROPN
bam-6162	42	5	relation	relation	NOUN
bam-6162	42	6	between	between	ADP
bam-6162	42	7	the	the	DET
bam-6162	42	8	joint	joint	ADJ
bam-6162	42	9	force	force	NOUN
bam-6162	42	10	/	/	SYM
bam-6162	42	11	torque	torque	NOUN
bam-6162	42	12	and	and	CCONJ
bam-6162	42	13	volitional	volitional	ADJ
bam-6162	42	14	emg	emg	NOUN
bam-6162	42	15	,	,	PUNCT
bam-6162	42	16	the	the	DET
bam-6162	42	17	output	output	NOUN
bam-6162	42	18	of	of	ADP
bam-6162	42	19	three	three	NUM
bam-6162	42	20	-	-	PUNCT
bam-6162	42	21	stage	stage	NOUN
bam-6162	42	22	filter	filter	NOUN
bam-6162	42	23	was	be	AUX
bam-6162	42	24	regarded	regard	VERB
bam-6162	42	25	as	as	ADP
bam-6162	42	26	the	the	DET
bam-6162	42	27	volitional	volitional	ADJ
bam-6162	42	28	force	force	NOUN
bam-6162	42	29	/	/	SYM
bam-6162	42	30	torque	torque	NOUN
bam-6162	42	31	.	.	PUNCT
bam-6162	43	1	b.	b.	PROPN
bam-6162	43	2	controller	controller	PROPN
bam-6162	43	3	design	design	VERB
bam-6162	43	4	the	the	DET
bam-6162	43	5	whole	whole	ADJ
bam-6162	43	6	control	control	NOUN
bam-6162	43	7	framework	framework	NOUN
bam-6162	43	8	of	of	ADP
bam-6162	43	9	our	our	PRON
bam-6162	43	10	cooperative	cooperative	ADJ
bam-6162	43	11	controller	controller	NOUN
bam-6162	43	12	is	be	AUX
bam-6162	43	13	depicted	depict	VERB
bam-6162	43	14	in	in	ADP
bam-6162	43	15	fig	fig	NOUN
bam-6162	43	16	.	.	PUNCT
bam-6162	44	1	2	2	X
bam-6162	44	2	.	.	X
bam-6162	44	3	it	it	PRON
bam-6162	44	4	consisted	consist	VERB
bam-6162	44	5	of	of	ADP
bam-6162	44	6	a	a	DET
bam-6162	44	7	twolayer	twolayer	NOUN
bam-6162	44	8	controller	controller	NOUN
bam-6162	44	9	.	.	PUNCT
bam-6162	45	1	the	the	DET
bam-6162	45	2	inner	inner	ADJ
bam-6162	45	3	loop	loop	NOUN
bam-6162	45	4	was	be	AUX
bam-6162	45	5	a	a	DET
bam-6162	45	6	pulse	pulse	NOUN
bam-6162	45	7	widthmodulated	widthmodulate	VERB
bam-6162	45	8	fes	fes	NOUN
bam-6162	45	9	controller	controller	NOUN
bam-6162	45	10	.	.	PUNCT
bam-6162	46	1	in	in	ADP
bam-6162	46	2	our	our	PRON
bam-6162	46	3	experiment	experiment	NOUN
bam-6162	46	4	,	,	PUNCT
bam-6162	46	5	the	the	DET
bam-6162	46	6	frequency	frequency	NOUN
bam-6162	46	7	and	and	CCONJ
bam-6162	46	8	amplitude	amplitude	NOUN
bam-6162	46	9	of	of	ADP
bam-6162	46	10	fes	fes	NOUN
bam-6162	46	11	was	be	AUX
bam-6162	46	12	fixed	fix	VERB
bam-6162	46	13	at	at	ADP
bam-6162	46	14	25	25	NUM
bam-6162	46	15	hz	hz	NOUN
bam-6162	46	16	and	and	CCONJ
bam-6162	46	17	12	12	NUM
bam-6162	46	18	ma	ma	PROPN
bam-6162	46	19	,	,	PUNCT
bam-6162	46	20	respectively	respectively	ADV
bam-6162	46	21	.	.	PUNCT
bam-6162	47	1	the	the	DET
bam-6162	47	2	pulse	pulse	NOUN
bam-6162	47	3	width	width	NOUN
bam-6162	47	4	of	of	ADP
bam-6162	47	5	fes	fes	NOUN
bam-6162	47	6	was	be	AUX
bam-6162	47	7	modulated	modulate	VERB
bam-6162	47	8	by	by	ADP
bam-6162	47	9	the	the	DET
bam-6162	47	10	fes	fes	NOUN
bam-6162	47	11	controller	controller	NOUN
bam-6162	47	12	.	.	PUNCT
bam-6162	48	1	the	the	DET
bam-6162	48	2	outer	outer	ADJ
bam-6162	48	3	loop	loop	NOUN
bam-6162	48	4	contained	contain	VERB
bam-6162	48	5	a	a	DET
bam-6162	48	6	three	three	NUM
bam-6162	48	7	-	-	PUNCT
bam-6162	48	8	stage	stage	NOUN
bam-6162	48	9	filter	filter	NOUN
bam-6162	48	10	and	and	CCONJ
bam-6162	48	11	an	an	DET
bam-6162	48	12	impedance	impedance	NOUN
bam-6162	48	13	controller	controller	NOUN
bam-6162	48	14	.	.	PUNCT
bam-6162	49	1	the	the	DET
bam-6162	49	2	impedance	impedance	NOUN
bam-6162	49	3	controller	controller	NOUN
bam-6162	49	4	would	would	AUX
bam-6162	49	5	generate	generate	VERB
bam-6162	49	6	an	an	DET
bam-6162	49	7	additional	additional	ADJ
bam-6162	49	8	angle	angle	NOUN
bam-6162	49	9	(	(	PUNCT
bam-6162	49	10	a	a	NOUN
bam-6162	49	11	)	)	PUNCT
bam-6162	49	12	based	base	VERB
bam-6162	49	13	on	on	ADP
bam-6162	49	14	the	the	DET
bam-6162	49	15	volitional	volitional	ADJ
bam-6162	49	16	force	force	NOUN
bam-6162	49	17	/	/	SYM
bam-6162	49	18	torque	torque	NOUN
bam-6162	49	19	.	.	PUNCT
bam-6162	50	1	this	this	DET
bam-6162	50	2	additional	additional	ADJ
bam-6162	50	3	angle	angle	NOUN
bam-6162	50	4	adjusted	adjust	VERB
bam-6162	50	5	the	the	DET
bam-6162	50	6	desired	desire	VERB
bam-6162	50	7	angle	angle	NOUN
bam-6162	50	8	(	(	PUNCT
bam-6162	50	9	d	d	X
bam-6162	50	10	)	)	PUNCT
bam-6162	50	11	to	to	PART
bam-6162	50	12	achieve	achieve	VERB
bam-6162	50	13	human	human	NOUN
bam-6162	50	14	-	-	PUNCT
bam-6162	50	15	fes	fes	NOUN
bam-6162	50	16	cooperation	cooperation	NOUN
bam-6162	50	17	.	.	PUNCT
bam-6162	51	1	for	for	ADP
bam-6162	51	2	example	example	NOUN
bam-6162	51	3	,	,	PUNCT
bam-6162	51	4	when	when	SCONJ
bam-6162	51	5	the	the	DET
bam-6162	51	6	volitional	volitional	ADJ
bam-6162	51	7	force	force	NOUN
bam-6162	51	8	/	/	SYM
bam-6162	51	9	torque	torque	NOUN
bam-6162	51	10	contributed	contribute	VERB
bam-6162	51	11	to	to	ADP
bam-6162	51	12	the	the	DET
bam-6162	51	13	wrist	wrist	NOUN
bam-6162	51	14	movement	movement	NOUN
bam-6162	51	15	(	(	PUNCT
bam-6162	51	16	a	a	NOUN
bam-6162	51	17	>	>	X
bam-6162	51	18	0	0	NUM
bam-6162	51	19	)	)	PUNCT
bam-6162	51	20	,	,	PUNCT
bam-6162	51	21	then	then	ADV
bam-6162	51	22	the	the	DET
bam-6162	51	23	actual	actual	ADJ
bam-6162	51	24	angle	angle	NOUN
bam-6162	51	25	input	input	NOUN
bam-6162	51	26	to	to	ADP
bam-6162	51	27	fes	fes	NOUN
bam-6162	51	28	controller	controller	NOUN
bam-6162	51	29	got	get	VERB
bam-6162	51	30	less	less	ADJ
bam-6162	51	31	than	than	ADP
bam-6162	51	32	d	d	ADJ
bam-6162	51	33	.	.	PUNCT
bam-6162	52	1	finally	finally	ADV
bam-6162	52	2	,	,	PUNCT
bam-6162	52	3	the	the	DET
bam-6162	52	4	pulse	pulse	NOUN
bam-6162	52	5	width	width	NOUN
bam-6162	52	6	of	of	ADP
bam-6162	52	7	fes	fes	NOUN
bam-6162	52	8	decreased	decrease	VERB
bam-6162	52	9	,	,	PUNCT
bam-6162	52	10	in	in	ADP
bam-6162	52	11	comparison	comparison	NOUN
bam-6162	52	12	to	to	ADP
bam-6162	52	13	the	the	DET
bam-6162	52	14	pulse	pulse	NOUN
bam-6162	52	15	width	width	NOUN
bam-6162	52	16	without	without	ADP
bam-6162	52	17	the	the	DET
bam-6162	52	18	volitional	volitional	ADJ
bam-6162	52	19	force	force	NOUN
bam-6162	52	20	/	/	PUNCT
bam-6162	52	21	torque.the	torque.the	DET
bam-6162	52	22	sampling	sample	VERB
bam-6162	52	23	frequency	frequency	NOUN
bam-6162	52	24	of	of	ADP
bam-6162	52	25	the	the	DET
bam-6162	52	26	whole	whole	ADJ
bam-6162	52	27	controller	controller	NOUN
bam-6162	52	28	was	be	AUX
bam-6162	52	29	50hz	50hz	ADJ
bam-6162	52	30	.	.	PUNCT
bam-6162	53	1	fes	fes	NOUN
bam-6162	53	2	controller	controller	NOUN
bam-6162	53	3	for	for	ADP
bam-6162	53	4	the	the	DET
bam-6162	53	5	single	single	ADJ
bam-6162	53	6	dof	dof	NOUN
bam-6162	53	7	movement	movement	NOUN
bam-6162	53	8	controlled	control	VERB
bam-6162	53	9	by	by	ADP
bam-6162	53	10	fes	fe	NOUN
bam-6162	53	11	,	,	PUNCT
bam-6162	53	12	there	there	PRON
bam-6162	53	13	are	be	VERB
bam-6162	53	14	already	already	ADV
bam-6162	53	15	many	many	ADJ
bam-6162	53	16	controllers	controller	NOUN
bam-6162	53	17	.	.	PUNCT
bam-6162	54	1	here	here	ADV
bam-6162	54	2	,	,	PUNCT
bam-6162	54	3	a	a	DET
bam-6162	54	4	neuro	neuro	NOUN
bam-6162	54	5	-	-	PUNCT
bam-6162	54	6	pid	pid	NOUN
bam-6162	54	7	controller	controller	NOUN
bam-6162	54	8	was	be	AUX
bam-6162	54	9	adopted	adopt	VERB
bam-6162	54	10	,	,	PUNCT
bam-6162	54	11	consisting	consist	VERB
bam-6162	54	12	of	of	ADP
bam-6162	54	13	a	a	DET
bam-6162	54	14	back	back	ADJ
bam-6162	54	15	fig	fig	NOUN
bam-6162	54	16	1	1	NUM
bam-6162	54	17	.	.	PUNCT
bam-6162	55	1	the	the	DET
bam-6162	55	2	experimental	experimental	ADJ
bam-6162	55	3	setup	setup	NOUN
bam-6162	55	4	of	of	ADP
bam-6162	55	5	our	our	PRON
bam-6162	55	6	study	study	NOUN
bam-6162	55	7	.	.	PUNCT
bam-6162	56	1	the	the	DET
bam-6162	56	2	emg	emg	NOUN
bam-6162	56	3	and	and	CCONJ
bam-6162	56	4	angle	angle	NOUN
bam-6162	56	5	of	of	ADP
bam-6162	56	6	wrist	wrist	NOUN
bam-6162	56	7	was	be	AUX
bam-6162	56	8	fed	feed	VERB
bam-6162	56	9	into	into	ADP
bam-6162	56	10	computer	computer	NOUN
bam-6162	56	11	.	.	PUNCT
bam-6162	57	1	the	the	DET
bam-6162	57	2	controller	controller	NOUN
bam-6162	57	3	in	in	ADP
bam-6162	57	4	computer	computer	NOUN
bam-6162	57	5	would	would	AUX
bam-6162	57	6	then	then	ADV
bam-6162	57	7	send	send	VERB
bam-6162	57	8	commands	command	NOUN
bam-6162	57	9	to	to	ADP
bam-6162	57	10	a	a	DET
bam-6162	57	11	fes	fes	NOUN
bam-6162	57	12	device	device	NOUN
bam-6162	57	13	.	.	PUNCT
bam-6162	58	1	the	the	DET
bam-6162	58	2	fes	fes	NOUN
bam-6162	58	3	device	device	NOUN
bam-6162	58	4	exerted	exert	VERB
bam-6162	58	5	electrical	electrical	ADJ
bam-6162	58	6	stimulation	stimulation	NOUN
bam-6162	58	7	on	on	ADP
bam-6162	58	8	the	the	DET
bam-6162	58	9	targeted	target	VERB
bam-6162	58	10	muscle	muscle	NOUN
bam-6162	58	11	.	.	PUNCT
bam-6162	59	1	1	1	NUM
bam-6162	59	2	:	:	PUNCT
bam-6162	59	3	fes	fes	NOUN
bam-6162	59	4	electrodes	electrode	NOUN
bam-6162	59	5	,	,	PUNCT
bam-6162	59	6	2	2	NUM
bam-6162	59	7	:	:	PUNCT
bam-6162	59	8	emg	emg	NOUN
bam-6162	59	9	electrode	electrode	NOUN
bam-6162	59	10	,	,	PUNCT
bam-6162	59	11	3	3	NUM
bam-6162	59	12	:	:	SYM
bam-6162	59	13	goniometer	goniometer	NOUN
bam-6162	59	14	.	.	PUNCT
bam-6162	60	1	fig	fig	NOUN
bam-6162	60	2	2	2	NUM
bam-6162	60	3	.	.	PUNCT
bam-6162	61	1	the	the	DET
bam-6162	61	2	whole	whole	ADJ
bam-6162	61	3	framework	framework	NOUN
bam-6162	61	4	of	of	ADP
bam-6162	61	5	our	our	PRON
bam-6162	61	6	cooperative	cooperative	ADJ
bam-6162	61	7	controller	controller	NOUN
bam-6162	61	8	.	.	PUNCT
bam-6162	62	1	it	it	PRON
bam-6162	62	2	consisted	consist	VERB
bam-6162	62	3	of	of	ADP
bam-6162	62	4	a	a	DET
bam-6162	62	5	fes	fes	NOUN
bam-6162	62	6	controller	controller	NOUN
bam-6162	62	7	and	and	CCONJ
bam-6162	62	8	an	an	DET
bam-6162	62	9	impedance	impedance	NOUN
bam-6162	62	10	controller	controller	NOUN
bam-6162	62	11	.	.	PUNCT
bam-6162	63	1	the	the	DET
bam-6162	63	2	fes	fes	NOUN
bam-6162	63	3	controller	controller	NOUN
bam-6162	63	4	was	be	AUX
bam-6162	63	5	composed	compose	VERB
bam-6162	63	6	of	of	ADP
bam-6162	63	7	a	a	DET
bam-6162	63	8	ga	ga	PROPN
bam-6162	63	9	-	-	PUNCT
bam-6162	63	10	bp	bp	PROPN
bam-6162	63	11	networkbased	networkbase	VERB
bam-6162	63	12	feedforward	feedforward	NOUN
bam-6162	63	13	controller	controller	NOUN
bam-6162	63	14	and	and	CCONJ
bam-6162	63	15	a	a	DET
bam-6162	63	16	pid	pid	NOUN
bam-6162	63	17	-	-	PUNCT
bam-6162	63	18	based	base	VERB
bam-6162	63	19	feedback	feedback	NOUN
bam-6162	63	20	controller	controller	NOUN
bam-6162	63	21	.	.	PUNCT
bam-6162	64	1	a	a	DET
bam-6162	64	2	threestage	threestage	NOUN
bam-6162	64	3	filter	filter	NOUN
bam-6162	64	4	was	be	AUX
bam-6162	64	5	designed	design	VERB
bam-6162	64	6	to	to	PART
bam-6162	64	7	extract	extract	VERB
bam-6162	64	8	volitional	volitional	ADJ
bam-6162	64	9	force	force	NOUN
bam-6162	64	10	/	/	SYM
bam-6162	64	11	torque	torque	NOUN
bam-6162	64	12	from	from	ADP
bam-6162	64	13	raw	raw	ADJ
bam-6162	64	14	emg	emg	NOUN
bam-6162	64	15	.	.	PUNCT
bam-6162	65	1	1	1	NUM
bam-6162	65	2	:	:	PUNCT
bam-6162	65	3	fes	fes	NOUN
bam-6162	65	4	controller	controller	NOUN
bam-6162	65	5	,	,	PUNCT
bam-6162	65	6	2	2	NUM
bam-6162	65	7	:	:	PUNCT
bam-6162	65	8	impedance	impedance	NOUN
bam-6162	65	9	controller	controller	NOUN
bam-6162	65	10	,	,	PUNCT
bam-6162	65	11	3	3	NUM
bam-6162	65	12	:	:	PUNCT
bam-6162	65	13	voluntary	voluntary	ADJ
bam-6162	65	14	contribution	contribution	NOUN
bam-6162	65	15	.	.	PUNCT
bam-6162	66	1	fig	fig	NOUN
bam-6162	66	2	3	3	NUM
bam-6162	66	3	.	.	PUNCT
bam-6162	67	1	the	the	DET
bam-6162	67	2	tracking	tracking	NOUN
bam-6162	67	3	performance	performance	NOUN
bam-6162	67	4	for	for	ADP
bam-6162	67	5	fes	fes	NOUN
bam-6162	67	6	controller	controller	NOUN
bam-6162	67	7	alone	alone	ADV
bam-6162	67	8	.	.	PUNCT
bam-6162	68	1	human	human	NOUN
bam-6162	68	2	-	-	PUNCT
bam-6162	68	3	fes	fes	NOUN
bam-6162	68	4	cooperative	cooperative	ADJ
bam-6162	68	5	control	control	NOUN
bam-6162	68	6	for	for	ADP
bam-6162	68	7	wrist	wrist	NOUN
bam-6162	68	8	movement	movement	PROPN
bam-6162	68	9	eur	eur	PROPN
bam-6162	68	10	j	j	PROPN
bam-6162	68	11	transl	transl	PROPN
bam-6162	68	12	myol	myol	NOUN
bam-6162	68	13	26	26	NUM
bam-6162	68	14	(	(	PUNCT
bam-6162	68	15	3	3	NUM
bam-6162	68	16	):	):	PUNCT
bam-6162	68	17	235	235	NUM
bam-6162	68	18	-	-	SYM
bam-6162	68	19	238	238	NUM
bam-6162	68	20	237	237	NUM
bam-6162	68	21	propagation	propagation	NOUN
bam-6162	68	22	(	(	PUNCT
bam-6162	68	23	bp	bp	PROPN
bam-6162	68	24	)	)	PUNCT
bam-6162	68	25	neural	neural	ADJ
bam-6162	68	26	network	network	NOUN
bam-6162	68	27	-	-	PUNCT
bam-6162	68	28	based	base	VERB
bam-6162	68	29	feedforward	feedforward	NOUN
bam-6162	68	30	controller	controller	NOUN
bam-6162	68	31	and	and	CCONJ
bam-6162	68	32	a	a	DET
bam-6162	68	33	pid	pid	NOUN
bam-6162	68	34	-	-	PUNCT
bam-6162	68	35	based	base	VERB
bam-6162	68	36	feedback	feedback	NOUN
bam-6162	68	37	controller	controller	NOUN
bam-6162	68	38	.	.	PUNCT
bam-6162	69	1	10,11	10,11	NOUN
bam-6162	69	2	the	the	DET
bam-6162	69	3	function	function	NOUN
bam-6162	69	4	of	of	ADP
bam-6162	69	5	feedforward	feedforward	NOUN
bam-6162	69	6	controller	controller	NOUN
bam-6162	69	7	was	be	AUX
bam-6162	69	8	to	to	PART
bam-6162	69	9	learn	learn	VERB
bam-6162	69	10	the	the	DET
bam-6162	69	11	inverse	inverse	NOUN
bam-6162	69	12	fes	fes	NOUN
bam-6162	69	13	-	-	PUNCT
bam-6162	69	14	muscle	muscle	NOUN
bam-6162	69	15	model	model	NOUN
bam-6162	69	16	.	.	PUNCT
bam-6162	70	1	the	the	DET
bam-6162	70	2	input	input	NOUN
bam-6162	70	3	to	to	ADP
bam-6162	70	4	neural	neural	ADJ
bam-6162	70	5	network	network	NOUN
bam-6162	70	6	was	be	AUX
bam-6162	70	7	the	the	DET
bam-6162	70	8	angle	angle	NOUN
bam-6162	70	9	and	and	CCONJ
bam-6162	70	10	angular	angular	ADJ
bam-6162	70	11	velocity	velocity	NOUN
bam-6162	70	12	of	of	ADP
bam-6162	70	13	wrist	wrist	NOUN
bam-6162	70	14	,	,	PUNCT
bam-6162	70	15	the	the	DET
bam-6162	70	16	output	output	NOUN
bam-6162	70	17	was	be	AUX
bam-6162	70	18	the	the	DET
bam-6162	70	19	pulse	pulse	ADJ
bam-6162	70	20	width	width	NOUN
bam-6162	70	21	of	of	ADP
bam-6162	70	22	fes	fes	NOUN
bam-6162	70	23	.	.	PUNCT
bam-6162	71	1	conjugate	conjugate	ADJ
bam-6162	71	2	gradient	gradient	ADJ
bam-6162	71	3	descent	descent	NOUN
bam-6162	71	4	algorithm	algorithm	NOUN
bam-6162	71	5	was	be	AUX
bam-6162	71	6	utilized	utilize	VERB
bam-6162	71	7	as	as	ADP
bam-6162	71	8	the	the	DET
bam-6162	71	9	training	training	NOUN
bam-6162	71	10	algorithm	algorithm	NOUN
bam-6162	71	11	for	for	ADP
bam-6162	71	12	the	the	DET
bam-6162	71	13	neural	neural	ADJ
bam-6162	71	14	network	network	NOUN
bam-6162	71	15	.	.	PUNCT
bam-6162	72	1	genetical	genetical	ADJ
bam-6162	72	2	algorithm	algorithm	NOUN
bam-6162	72	3	(	(	PUNCT
bam-6162	72	4	ga	ga	PROPN
bam-6162	72	5	)	)	PUNCT
bam-6162	72	6	was	be	AUX
bam-6162	72	7	employed	employ	VERB
bam-6162	72	8	to	to	PART
bam-6162	72	9	give	give	VERB
bam-6162	72	10	a	a	DET
bam-6162	72	11	set	set	NOUN
bam-6162	72	12	of	of	ADP
bam-6162	72	13	better	well	ADJ
bam-6162	72	14	initial	initial	ADJ
bam-6162	72	15	values	value	NOUN
bam-6162	72	16	for	for	ADP
bam-6162	72	17	the	the	DET
bam-6162	72	18	network	network	NOUN
bam-6162	72	19	.	.	PUNCT
bam-6162	73	1	the	the	DET
bam-6162	73	2	training	training	NOUN
bam-6162	73	3	dataset	dataset	NOUN
bam-6162	73	4	included	include	VERB
bam-6162	73	5	30	30	NUM
bam-6162	73	6	seconds	second	NOUN
bam-6162	73	7	experiment	experiment	NOUN
bam-6162	73	8	data	datum	NOUN
bam-6162	73	9	.	.	PUNCT
bam-6162	74	1	more	more	ADJ
bam-6162	74	2	details	detail	NOUN
bam-6162	74	3	about	about	ADP
bam-6162	74	4	the	the	DET
bam-6162	74	5	feed	feed	NOUN
bam-6162	74	6	forward	forward	ADJ
bam-6162	74	7	controller	controller	NOUN
bam-6162	74	8	could	could	AUX
bam-6162	74	9	be	be	AUX
bam-6162	74	10	found	find	VERB
bam-6162	74	11	in	in	ADP
bam-6162	74	12	chang	chang	PROPN
bam-6162	74	13	g	g	PROPN
bam-6162	74	14	-	-	PUNCT
bam-6162	74	15	c	c	PROPN
bam-6162	74	16	,	,	PUNCT
bam-6162	74	17	et	et	PROPN
bam-6162	74	18	al	al	PROPN
bam-6162	74	19	.	.	PROPN
bam-6162	74	20	1997	1997	NUM
bam-6162	74	21	.	.	PUNCT
bam-6162	75	1	10	10	NUM
bam-6162	75	2	pid	pid	NOUN
bam-6162	75	3	,	,	PUNCT
bam-6162	75	4	a	a	DET
bam-6162	75	5	classical	classical	ADJ
bam-6162	75	6	and	and	CCONJ
bam-6162	75	7	simple	simple	ADJ
bam-6162	75	8	feedback	feedback	NOUN
bam-6162	75	9	control	control	NOUN
bam-6162	75	10	technique	technique	NOUN
bam-6162	75	11	,	,	PUNCT
bam-6162	75	12	was	be	AUX
bam-6162	75	13	used	use	VERB
bam-6162	75	14	for	for	ADP
bam-6162	75	15	the	the	DET
bam-6162	75	16	feedback	feedback	NOUN
bam-6162	75	17	purposes	purpose	NOUN
bam-6162	75	18	.	.	PUNCT
bam-6162	76	1	the	the	DET
bam-6162	76	2	parameters	parameter	NOUN
bam-6162	76	3	of	of	ADP
bam-6162	76	4	the	the	DET
bam-6162	76	5	pid	pid	NOUN
bam-6162	76	6	controller	controller	NOUN
bam-6162	76	7	were	be	AUX
bam-6162	76	8	tuned	tune	VERB
bam-6162	76	9	by	by	ADP
bam-6162	76	10	ziegler	ziegler	PROPN
bam-6162	76	11	-	-	PUNCT
bam-6162	76	12	nichols	nichols	PROPN
bam-6162	76	13	method	method	NOUN
bam-6162	76	14	.	.	PUNCT
bam-6162	77	1	the	the	DET
bam-6162	77	2	muscle	muscle	NOUN
bam-6162	77	3	contraction	contraction	NOUN
bam-6162	77	4	caused	cause	VERB
bam-6162	77	5	by	by	ADP
bam-6162	77	6	fes	fes	NOUN
bam-6162	77	7	always	always	ADV
bam-6162	77	8	exhibited	exhibit	VERB
bam-6162	77	9	time	time	NOUN
bam-6162	77	10	delay	delay	NOUN
bam-6162	77	11	.	.	PUNCT
bam-6162	78	1	thus	thus	ADV
bam-6162	78	2	,	,	PUNCT
bam-6162	78	3	a	a	DET
bam-6162	78	4	delay	delay	NOUN
bam-6162	78	5	operator	operator	NOUN
bam-6162	78	6	(	(	PUNCT
bam-6162	78	7	z−n	z−n	NOUN
bam-6162	78	8	)	)	PUNCT
bam-6162	78	9	was	be	AUX
bam-6162	78	10	embedded	embed	VERB
bam-6162	78	11	between	between	ADP
bam-6162	78	12	the	the	DET
bam-6162	78	13	feedforward	feedforward	ADJ
bam-6162	78	14	controller	controller	NOUN
bam-6162	78	15	and	and	CCONJ
bam-6162	78	16	feedback	feedback	NOUN
bam-6162	78	17	controller	controller	NOUN
bam-6162	78	18	.	.	PUNCT
bam-6162	79	1	the	the	DET
bam-6162	79	2	coefficient	coefficient	NOUN
bam-6162	79	3	n	n	PRON
bam-6162	79	4	was	be	AUX
bam-6162	79	5	set	set	VERB
bam-6162	79	6	at	at	ADP
bam-6162	79	7	4	4	NUM
bam-6162	79	8	in	in	ADP
bam-6162	79	9	our	our	PRON
bam-6162	79	10	experiments	experiment	NOUN
bam-6162	79	11	.	.	PUNCT
bam-6162	80	1	impedance	impedance	NOUN
bam-6162	80	2	controller	controller	NOUN
bam-6162	80	3	:	:	PUNCT
bam-6162	80	4	typically	typically	ADV
bam-6162	80	5	,	,	PUNCT
bam-6162	80	6	the	the	DET
bam-6162	80	7	mathematical	mathematical	ADJ
bam-6162	80	8	description	description	NOUN
bam-6162	80	9	for	for	ADP
bam-6162	80	10	one	one	NUM
bam-6162	80	11	-	-	PUNCT
bam-6162	80	12	dof	dof	NOUN
bam-6162	80	13	impedance	impedance	NOUN
bam-6162	80	14	controller	controller	NOUN
bam-6162	80	15	is	be	AUX
bam-6162	80	16	shown	show	VERB
bam-6162	80	17	in	in	ADP
bam-6162	80	18	eq.2	eq.2	NOUN
bam-6162	80	19	.	.	PUNCT
bam-6162	81	1	(	(	PUNCT
bam-6162	81	2			PROPN
bam-6162	81	3	)	)	PUNCT
bam-6162	81	4	(	(	PUNCT
bam-6162	81	5	2	2	X
bam-6162	81	6	)	)	PUNCT
bam-6162	81	7	where	where	SCONJ
bam-6162	81	8	d	d	ADJ
bam-6162	81	9	and	and	CCONJ
bam-6162	81	10			PROPN
bam-6162	81	11	are	be	AUX
bam-6162	81	12	the	the	DET
bam-6162	81	13	desired	desire	VERB
bam-6162	81	14	and	and	CCONJ
bam-6162	81	15	actual	actual	ADJ
bam-6162	81	16	angle	angle	NOUN
bam-6162	81	17	for	for	ADP
bam-6162	81	18	wrist	wrist	NOUN
bam-6162	81	19	,	,	PUNCT
bam-6162	81	20	respectively	respectively	ADV
bam-6162	81	21	.	.	PUNCT
bam-6162	82	1	τvol	τvol	NOUN
bam-6162	82	2	represents	represent	VERB
bam-6162	82	3	the	the	DET
bam-6162	82	4	volitional	volitional	ADJ
bam-6162	82	5	torque	torque	NOUN
bam-6162	82	6	,	,	PUNCT
bam-6162	82	7	which	which	PRON
bam-6162	82	8	is	be	AUX
bam-6162	82	9	the	the	DET
bam-6162	82	10	final	final	ADJ
bam-6162	82	11	output	output	NOUN
bam-6162	82	12	of	of	ADP
bam-6162	82	13	three	three	NUM
bam-6162	82	14	-	-	PUNCT
bam-6162	82	15	stage	stage	NOUN
bam-6162	82	16	filter	filter	NOUN
bam-6162	82	17	.	.	PUNCT
bam-6162	83	1	kd	kd	PROPN
bam-6162	83	2	,	,	PUNCT
bam-6162	83	3	bd	bd	PROPN
bam-6162	83	4	,	,	PUNCT
bam-6162	83	5	and	and	CCONJ
bam-6162	83	6	md	md	PROPN
bam-6162	83	7	are	be	AUX
bam-6162	83	8	the	the	DET
bam-6162	83	9	desired	desire	VERB
bam-6162	83	10	stiffness	stiffness	NOUN
bam-6162	83	11	,	,	PUNCT
bam-6162	83	12	damping	damp	VERB
bam-6162	83	13	,	,	PUNCT
bam-6162	83	14	and	and	CCONJ
bam-6162	83	15	inertial	inertial	ADJ
bam-6162	83	16	coefficient	coefficient	NOUN
bam-6162	83	17	,	,	PUNCT
bam-6162	83	18	respectively	respectively	ADV
bam-6162	83	19	,	,	PUNCT
bam-6162	83	20	which	which	PRON
bam-6162	83	21	are	be	AUX
bam-6162	83	22	equal	equal	ADJ
bam-6162	83	23	or	or	CCONJ
bam-6162	83	24	greater	great	ADJ
bam-6162	83	25	than	than	ADP
bam-6162	83	26	zero	zero	NUM
bam-6162	83	27	.	.	PUNCT
bam-6162	84	1	these	these	DET
bam-6162	84	2	coefficients	coefficient	NOUN
bam-6162	84	3	were	be	AUX
bam-6162	84	4	adjusted	adjust	VERB
bam-6162	84	5	in	in	ADP
bam-6162	84	6	experiments	experiment	NOUN
bam-6162	84	7	,	,	PUNCT
bam-6162	84	8	so	so	SCONJ
bam-6162	84	9	that	that	SCONJ
bam-6162	84	10	it	it	PRON
bam-6162	84	11	gave	give	VERB
bam-6162	84	12	comfortable	comfortable	ADJ
bam-6162	84	13	experience	experience	NOUN
bam-6162	84	14	for	for	ADP
bam-6162	84	15	subjects	subject	NOUN
bam-6162	84	16	.	.	PUNCT
bam-6162	85	1	let	let	VERB
bam-6162	85	2	a	a	NOUN
bam-6162	85	3	=	=	VERB
bam-6162	85	4	−	−	PROPN
bam-6162	85	5	d	d	ADJ
bam-6162	85	6	.	.	PUNCT
bam-6162	86	1	the	the	DET
bam-6162	86	2	relationship	relationship	NOUN
bam-6162	86	3	of	of	ADP
bam-6162	86	4	a	a	NOUN
bam-6162	86	5	and	and	CCONJ
bam-6162	86	6	τvol	τvol	NOUN
bam-6162	86	7	could	could	AUX
bam-6162	86	8	be	be	AUX
bam-6162	86	9	written	write	VERB
bam-6162	86	10	as	as	ADP
bam-6162	86	11	eq.3	eq.3	PROPN
bam-6162	86	12	.	.	PUNCT
bam-6162	87	1	when	when	SCONJ
bam-6162	87	2	there	there	PRON
bam-6162	87	3	existed	exist	VERB
bam-6162	87	4	a	a	DET
bam-6162	87	5	volitional	volitional	ADJ
bam-6162	87	6	torque	torque	NOUN
bam-6162	87	7	to	to	PART
bam-6162	87	8	help	help	VERB
bam-6162	87	9	the	the	DET
bam-6162	87	10	wrist	wrist	NOUN
bam-6162	87	11	move	move	NOUN
bam-6162	87	12	,	,	PUNCT
bam-6162	87	13	the	the	DET
bam-6162	87	14	additional	additional	ADJ
bam-6162	87	15	angle	angle	NOUN
bam-6162	87	16	(	(	PUNCT
bam-6162	87	17	a)derived	a)derive	VERB
bam-6162	87	18	from	from	ADP
bam-6162	87	19	eq.3	eq.3	PROPN
bam-6162	87	20	was	be	AUX
bam-6162	87	21	positive	positive	ADJ
bam-6162	87	22	.	.	PUNCT
bam-6162	88	1	the	the	DET
bam-6162	88	2	angle	angle	NOUN
bam-6162	88	3	fed	feed	VERB
bam-6162	88	4	into	into	ADP
bam-6162	88	5	fes	fes	NOUN
bam-6162	88	6	controller	controller	NOUN
bam-6162	88	7	was	be	AUX
bam-6162	88	8	less	less	ADJ
bam-6162	88	9	than	than	ADP
bam-6162	88	10	the	the	DET
bam-6162	88	11	predefined	predefine	VERB
bam-6162	88	12	desired	desire	VERB
bam-6162	88	13	angle	angle	NOUN
bam-6162	88	14	.	.	PUNCT
bam-6162	89	1	therefore	therefore	ADV
bam-6162	89	2	,	,	PUNCT
bam-6162	89	3	smaller	small	ADJ
bam-6162	89	4	pulse	pulse	NOUN
bam-6162	89	5	width	width	NOUN
bam-6162	89	6	of	of	ADP
bam-6162	89	7	fes	fes	NOUN
bam-6162	89	8	was	be	AUX
bam-6162	89	9	needed	need	VERB
bam-6162	89	10	in	in	ADP
bam-6162	89	11	this	this	DET
bam-6162	89	12	case	case	NOUN
bam-6162	89	13	.	.	PUNCT
bam-6162	90	1	by	by	ADP
bam-6162	90	2	impedance	impedance	NOUN
bam-6162	90	3	controller	controller	NOUN
bam-6162	90	4	,	,	PUNCT
bam-6162	90	5	fes	fes	NOUN
bam-6162	90	6	controller	controller	NOUN
bam-6162	90	7	intelligently	intelligently	ADV
bam-6162	90	8	adjusted	adjust	VERB
bam-6162	90	9	the	the	DET
bam-6162	90	10	stimulation	stimulation	NOUN
bam-6162	90	11	intensity	intensity	NOUN
bam-6162	90	12	to	to	PART
bam-6162	90	13	cooperate	cooperate	VERB
bam-6162	90	14	with	with	ADP
bam-6162	90	15	human	human	NOUN
bam-6162	90	16	,	,	PUNCT
bam-6162	90	17	according	accord	VERB
bam-6162	90	18	to	to	ADP
bam-6162	90	19	the	the	DET
bam-6162	90	20	volitional	volitional	ADJ
bam-6162	90	21	torque	torque	NOUN
bam-6162	90	22	.	.	PUNCT
bam-6162	91	1	c.	c.	NOUN
bam-6162	91	2	controller	controller	PROPN
bam-6162	91	3	assessment	assessment	NOUN
bam-6162	91	4	assessment	assessment	NOUN
bam-6162	91	5	for	for	ADP
bam-6162	91	6	the	the	DET
bam-6162	91	7	controllers	controller	NOUN
bam-6162	91	8	included	include	VERB
bam-6162	91	9	two	two	NUM
bam-6162	91	10	sessions	session	NOUN
bam-6162	91	11	.	.	PUNCT
bam-6162	92	1	the	the	DET
bam-6162	92	2	first	first	ADJ
bam-6162	92	3	session	session	NOUN
bam-6162	92	4	was	be	AUX
bam-6162	92	5	to	to	PART
bam-6162	92	6	demonstrate	demonstrate	VERB
bam-6162	92	7	the	the	DET
bam-6162	92	8	tracking	tracking	NOUN
bam-6162	92	9	performance	performance	NOUN
bam-6162	92	10	of	of	ADP
bam-6162	92	11	fes	fes	NOUN
bam-6162	92	12	controller	controller	NOUN
bam-6162	92	13	alone	alone	ADV
bam-6162	92	14	.	.	PUNCT
bam-6162	93	1	a	a	DET
bam-6162	93	2	sinusoid	sinusoid	ADJ
bam-6162	93	3	trajectory	trajectory	NOUN
bam-6162	93	4	with	with	ADP
bam-6162	93	5	0.5hz	0.5hz	NUM
bam-6162	93	6	was	be	AUX
bam-6162	93	7	considered	consider	VERB
bam-6162	93	8	as	as	ADP
bam-6162	93	9	the	the	DET
bam-6162	93	10	desired	desire	VERB
bam-6162	93	11	movement	movement	NOUN
bam-6162	93	12	for	for	ADP
bam-6162	93	13	the	the	DET
bam-6162	93	14	wrist	wrist	NOUN
bam-6162	93	15	.	.	PUNCT
bam-6162	94	1	the	the	DET
bam-6162	94	2	second	second	ADJ
bam-6162	94	3	session	session	NOUN
bam-6162	94	4	aimed	aim	VERB
bam-6162	94	5	to	to	PART
bam-6162	94	6	show	show	VERB
bam-6162	94	7	the	the	DET
bam-6162	94	8	property	property	NOUN
bam-6162	94	9	of	of	ADP
bam-6162	94	10	cooperative	cooperative	ADJ
bam-6162	94	11	controller	controller	NOUN
bam-6162	94	12	(	(	PUNCT
bam-6162	94	13	fes	fes	NOUN
bam-6162	94	14	controller	controller	NOUN
bam-6162	94	15	+	+	CCONJ
bam-6162	94	16	impedance	impedance	NOUN
bam-6162	94	17	controller	controller	NOUN
bam-6162	94	18	)	)	PUNCT
bam-6162	94	19	.	.	PUNCT
bam-6162	95	1	a	a	DET
bam-6162	95	2	step	step	NOUN
bam-6162	95	3	task	task	NOUN
bam-6162	95	4	was	be	AUX
bam-6162	95	5	designated	designate	VERB
bam-6162	95	6	.	.	PUNCT
bam-6162	96	1	one	one	NUM
bam-6162	96	2	healthy	healthy	ADJ
bam-6162	96	3	subject	subject	NOUN
bam-6162	96	4	attended	attend	VERB
bam-6162	96	5	the	the	DET
bam-6162	96	6	whole	whole	ADJ
bam-6162	96	7	experiments	experiment	NOUN
bam-6162	96	8	(	(	PUNCT
bam-6162	96	9	male	male	NOUN
bam-6162	96	10	,	,	PUNCT
bam-6162	96	11	25	25	NUM
bam-6162	96	12	yrs	yr	NOUN
bam-6162	96	13	,	,	PUNCT
bam-6162	96	14	62	62	NUM
bam-6162	96	15	kg	kg	NOUN
bam-6162	96	16	)	)	PUNCT
bam-6162	96	17	.	.	PUNCT
bam-6162	97	1	results	result	NOUN
bam-6162	97	2	and	and	CCONJ
bam-6162	97	3	discussion	discussion	NOUN
bam-6162	97	4	performance	performance	NOUN
bam-6162	97	5	of	of	ADP
bam-6162	97	6	fes	fes	NOUN
bam-6162	97	7	controller	controller	NOUN
bam-6162	97	8	firstly	firstly	ADV
bam-6162	97	9	,	,	PUNCT
bam-6162	97	10	we	we	PRON
bam-6162	97	11	tested	test	VERB
bam-6162	97	12	the	the	DET
bam-6162	97	13	performance	performance	NOUN
bam-6162	97	14	of	of	ADP
bam-6162	97	15	fes	fes	NOUN
bam-6162	97	16	controller	controller	NOUN
bam-6162	97	17	alone	alone	ADV
bam-6162	97	18	.	.	PUNCT
bam-6162	98	1	in	in	ADP
bam-6162	98	2	this	this	DET
bam-6162	98	3	situation	situation	NOUN
bam-6162	98	4	,	,	PUNCT
bam-6162	98	5	the	the	DET
bam-6162	98	6	purpose	purpose	NOUN
bam-6162	98	7	of	of	ADP
bam-6162	98	8	fes	fes	NOUN
bam-6162	98	9	controller	controller	NOUN
bam-6162	98	10	was	be	AUX
bam-6162	98	11	to	to	PART
bam-6162	98	12	track	track	VERB
bam-6162	98	13	a	a	DET
bam-6162	98	14	predefined	predefine	VERB
bam-6162	98	15	sinusoid	sinusoid	ADJ
bam-6162	98	16	trajectory	trajectory	NOUN
bam-6162	98	17	without	without	ADP
bam-6162	98	18	impedance	impedance	NOUN
bam-6162	98	19	controller	controller	NOUN
bam-6162	98	20	.	.	PUNCT
bam-6162	99	1	the	the	DET
bam-6162	99	2	result	result	NOUN
bam-6162	99	3	is	be	AUX
bam-6162	99	4	illustrated	illustrate	VERB
bam-6162	99	5	in	in	ADP
bam-6162	99	6	fig.3	fig.3	PROPN
bam-6162	99	7	.	.	PUNCT
bam-6162	100	1	we	we	PRON
bam-6162	100	2	observed	observe	VERB
bam-6162	100	3	that	that	SCONJ
bam-6162	100	4	our	our	PRON
bam-6162	100	5	fes	fes	NOUN
bam-6162	100	6	controller	controller	NOUN
bam-6162	100	7	was	be	AUX
bam-6162	100	8	qualified	qualified	ADJ
bam-6162	100	9	to	to	PART
bam-6162	100	10	perform	perform	VERB
bam-6162	100	11	the	the	DET
bam-6162	100	12	tracking	tracking	NOUN
bam-6162	100	13	task	task	NOUN
bam-6162	100	14	.	.	PUNCT
bam-6162	101	1	performance	performance	NOUN
bam-6162	101	2	of	of	ADP
bam-6162	101	3	cooperative	cooperative	ADJ
bam-6162	101	4	controller	controller	NOUN
bam-6162	101	5	to	to	PART
bam-6162	101	6	achieve	achieve	VERB
bam-6162	101	7	a	a	DET
bam-6162	101	8	good	good	ADJ
bam-6162	101	9	collaboration	collaboration	NOUN
bam-6162	101	10	between	between	ADP
bam-6162	101	11	human	human	NOUN
bam-6162	101	12	and	and	CCONJ
bam-6162	101	13	fes	fe	NOUN
bam-6162	101	14	,	,	PUNCT
bam-6162	101	15	it	it	PRON
bam-6162	101	16	was	be	AUX
bam-6162	101	17	very	very	ADV
bam-6162	101	18	important	important	ADJ
bam-6162	101	19	to	to	PART
bam-6162	101	20	estimate	estimate	VERB
bam-6162	101	21	the	the	DET
bam-6162	101	22	volitional	volitional	ADJ
bam-6162	101	23	force	force	NOUN
bam-6162	101	24	as	as	ADV
bam-6162	101	25	precisely	precisely	ADV
bam-6162	101	26	as	as	ADP
bam-6162	101	27	possible	possible	ADJ
bam-6162	101	28	.	.	PUNCT
bam-6162	102	1	fig.4	fig.4	PROPN
bam-6162	102	2	gives	give	VERB
bam-6162	102	3	a	a	DET
bam-6162	102	4	typical	typical	ADJ
bam-6162	102	5	example	example	NOUN
bam-6162	102	6	of	of	ADP
bam-6162	102	7	the	the	DET
bam-6162	102	8	output	output	NOUN
bam-6162	102	9	of	of	ADP
bam-6162	102	10	three	three	NUM
bam-6162	102	11	-	-	PUNCT
bam-6162	102	12	stage	stage	NOUN
bam-6162	102	13	filter	filter	NOUN
bam-6162	102	14	.	.	PUNCT
bam-6162	103	1	the	the	DET
bam-6162	103	2	volitional	volitional	ADJ
bam-6162	103	3	torque	torque	NOUN
bam-6162	103	4	appeared	appear	VERB
bam-6162	103	5	in	in	ADP
bam-6162	103	6	the	the	DET
bam-6162	103	7	middle	middle	ADJ
bam-6162	103	8	period	period	NOUN
bam-6162	103	9	of	of	ADP
bam-6162	103	10	experiment	experiment	NOUN
bam-6162	103	11	.	.	PUNCT
bam-6162	104	1	it	it	PRON
bam-6162	104	2	was	be	AUX
bam-6162	104	3	obvious	obvious	ADJ
bam-6162	104	4	that	that	SCONJ
bam-6162	104	5	our	our	PRON
bam-6162	104	6	three	three	NUM
bam-6162	104	7	-	-	PUNCT
bam-6162	104	8	stage	stage	NOUN
bam-6162	104	9	filter	filter	NOUN
bam-6162	104	10	predicted	predict	VERB
bam-6162	104	11	the	the	DET
bam-6162	104	12	volitional	volitional	ADJ
bam-6162	104	13	torque	torque	NOUN
bam-6162	104	14	quite	quite	ADV
bam-6162	104	15	well	well	ADV
bam-6162	104	16	.	.	PUNCT
bam-6162	105	1	there	there	PRON
bam-6162	105	2	remained	remain	VERB
bam-6162	105	3	burrs	burrs	NOUN
bam-6162	105	4	in	in	ADP
bam-6162	105	5	the	the	DET
bam-6162	105	6	waveform	waveform	NOUN
bam-6162	105	7	because	because	SCONJ
bam-6162	105	8	of	of	ADP
bam-6162	105	9	the	the	DET
bam-6162	105	10	stimulation	stimulation	NOUN
bam-6162	105	11	artifacts	artifact	NOUN
bam-6162	105	12	.	.	PUNCT
bam-6162	106	1	since	since	SCONJ
bam-6162	106	2	the	the	DET
bam-6162	106	3	impedance	impedance	NOUN
bam-6162	106	4	controller	controller	NOUN
bam-6162	106	5	was	be	AUX
bam-6162	106	6	a	a	DET
bam-6162	106	7	butterworth	butterworth	ADJ
bam-6162	106	8	filter	filter	NOUN
bam-6162	106	9	in	in	ADP
bam-6162	106	10	essence	essence	NOUN
bam-6162	106	11	,	,	PUNCT
bam-6162	106	12	it	it	PRON
bam-6162	106	13	rejected	reject	VERB
bam-6162	106	14	these	these	DET
bam-6162	106	15	burrs	burr	NOUN
bam-6162	106	16	.	.	PUNCT
bam-6162	107	1	we	we	PRON
bam-6162	107	2	designed	design	VERB
bam-6162	107	3	a	a	DET
bam-6162	107	4	step	step	NOUN
bam-6162	107	5	task	task	NOUN
bam-6162	107	6	to	to	PART
bam-6162	107	7	evaluate	evaluate	VERB
bam-6162	107	8	the	the	DET
bam-6162	107	9	property	property	NOUN
bam-6162	107	10	of	of	ADP
bam-6162	107	11	cooperative	cooperative	ADJ
bam-6162	107	12	controller	controller	NOUN
bam-6162	107	13	.	.	PUNCT
bam-6162	108	1	initially	initially	ADV
bam-6162	108	2	,	,	PUNCT
bam-6162	108	3	the	the	DET
bam-6162	108	4	wrist	wrist	NOUN
bam-6162	108	5	was	be	AUX
bam-6162	108	6	driven	drive	VERB
bam-6162	108	7	by	by	ADP
bam-6162	108	8	the	the	DET
bam-6162	108	9	fes	fes	NOUN
bam-6162	108	10	controller	controller	NOUN
bam-6162	108	11	alone	alone	ADV
bam-6162	108	12	from	from	ADP
bam-6162	108	13	-15	-15	NOUN
bam-6162	108	14	degree	degree	NOUN
bam-6162	108	15	to	to	ADP
bam-6162	108	16	-30	-30	PROPN
bam-6162	108	17	degree	degree	NOUN
bam-6162	108	18	.	.	PUNCT
bam-6162	109	1	then	then	ADV
bam-6162	109	2	,	,	PUNCT
bam-6162	109	3	the	the	DET
bam-6162	109	4	impedance	impedance	NOUN
bam-6162	109	5	controller	controller	NOUN
bam-6162	109	6	was	be	AUX
bam-6162	109	7	open	open	ADJ
bam-6162	109	8	.	.	PUNCT
bam-6162	110	1	the	the	DET
bam-6162	110	2	subject	subject	NOUN
bam-6162	110	3	exerted	exert	VERB
bam-6162	110	4	volitional	volitional	ADJ
bam-6162	110	5	torque	torque	NOUN
bam-6162	110	6	on	on	ADP
bam-6162	110	7	the	the	DET
bam-6162	110	8	wrist	wrist	NOUN
bam-6162	110	9	to	to	PART
bam-6162	110	10	help	help	VERB
bam-6162	110	11	move	move	VERB
bam-6162	110	12	.	.	PUNCT
bam-6162	111	1	finally	finally	ADV
bam-6162	111	2	,	,	PUNCT
bam-6162	111	3	the	the	DET
bam-6162	111	4	impedance	impedance	NOUN
bam-6162	111	5	controller	controller	NOUN
bam-6162	111	6	closed	close	VERB
bam-6162	111	7	.	.	PUNCT
bam-6162	112	1	the	the	DET
bam-6162	112	2	wrist	wrist	NOUN
bam-6162	112	3	was	be	AUX
bam-6162	112	4	kept	keep	VERB
bam-6162	112	5	at	at	ADP
bam-6162	112	6	-30	-30	NOUN
bam-6162	112	7	degree	degree	NOUN
bam-6162	112	8	by	by	ADP
bam-6162	112	9	the	the	DET
bam-6162	112	10	fes	fes	NOUN
bam-6162	112	11	controller	controller	NOUN
bam-6162	112	12	again	again	ADV
bam-6162	112	13	.	.	PUNCT
bam-6162	113	1	fig	fig	NOUN
bam-6162	113	2	.	.	PUNCT
bam-6162	114	1	5	5	NUM
bam-6162	114	2	demonstrates	demonstrate	VERB
bam-6162	114	3	the	the	DET
bam-6162	114	4	waveforms	waveform	NOUN
bam-6162	114	5	of	of	ADP
bam-6162	114	6	volitional	volitional	ADJ
bam-6162	114	7	torque	torque	NOUN
bam-6162	114	8	,	,	PUNCT
bam-6162	114	9	pulse	pulse	NOUN
bam-6162	114	10	width	width	NOUN
bam-6162	114	11	of	of	ADP
bam-6162	114	12	fes	fes	NOUN
bam-6162	114	13	,	,	PUNCT
bam-6162	114	14	and	and	CCONJ
bam-6162	114	15	angle	angle	NOUN
bam-6162	114	16	of	of	ADP
bam-6162	114	17	wrist	wrist	NOUN
bam-6162	114	18	during	during	ADP
bam-6162	114	19	the	the	DET
bam-6162	114	20	whole	whole	ADJ
bam-6162	114	21	experiment	experiment	NOUN
bam-6162	114	22	.	.	PUNCT
bam-6162	115	1	it	it	PRON
bam-6162	115	2	was	be	AUX
bam-6162	115	3	indicated	indicate	VERB
bam-6162	115	4	that	that	SCONJ
bam-6162	115	5	the	the	DET
bam-6162	115	6	fes	fes	NOUN
bam-6162	115	7	controller	controller	NOUN
bam-6162	115	8	intelligently	intelligently	ADV
bam-6162	115	9	modulated	modulate	VERB
bam-6162	115	10	stimulation	stimulation	NOUN
bam-6162	115	11	intensity	intensity	NOUN
bam-6162	115	12	based	base	VERB
bam-6162	115	13	on	on	ADP
bam-6162	115	14	the	the	DET
bam-6162	115	15	volitional	volitional	ADJ
bam-6162	115	16	torque	torque	NOUN
bam-6162	115	17	.	.	PUNCT
bam-6162	116	1	the	the	DET
bam-6162	116	2	purpose	purpose	NOUN
bam-6162	116	3	of	of	ADP
bam-6162	116	4	humanfes	humanfe	NOUN
bam-6162	116	5	cooperation	cooperation	NOUN
bam-6162	116	6	was	be	AUX
bam-6162	116	7	completed	complete	VERB
bam-6162	116	8	.	.	PUNCT
bam-6162	117	1	further	far	ADV
bam-6162	117	2	,	,	PUNCT
bam-6162	117	3	the	the	DET
bam-6162	117	4	distribution	distribution	NOUN
bam-6162	117	5	of	of	ADP
bam-6162	117	6	fes	fes	NOUN
bam-6162	117	7	intensity	intensity	NOUN
bam-6162	117	8	between	between	ADP
bam-6162	117	9	the	the	DET
bam-6162	117	10	pid	pid	NOUN
bam-6162	117	11	controller	controller	NOUN
bam-6162	117	12	and	and	CCONJ
bam-6162	117	13	the	the	DET
bam-6162	117	14	neural	neural	ADJ
bam-6162	117	15	network	network	NOUN
bam-6162	117	16	controller	controller	NOUN
bam-6162	117	17	was	be	AUX
bam-6162	117	18	fig	fig	NOUN
bam-6162	117	19	4	4	NUM
bam-6162	117	20	.	.	PUNCT
bam-6162	118	1	the	the	DET
bam-6162	118	2	volitional	volitional	ADJ
bam-6162	118	3	torque	torque	NOUN
bam-6162	118	4	extract	extract	NOUN
bam-6162	118	5	from	from	ADP
bam-6162	118	6	raw	raw	ADJ
bam-6162	118	7	emg	emg	NOUN
bam-6162	118	8	by	by	ADP
bam-6162	118	9	the	the	DET
bam-6162	118	10	three	three	NUM
bam-6162	118	11	-	-	PUNCT
bam-6162	118	12	stage	stage	NOUN
bam-6162	118	13	filter	filter	NOUN
bam-6162	118	14	.	.	PUNCT
bam-6162	119	1	‘	'	PUNCT
bam-6162	119	2	on	on	ADP
bam-6162	119	3	’	'	PUNCT
bam-6162	119	4	meant	mean	VERB
bam-6162	119	5	volitional	volitional	ADJ
bam-6162	119	6	torque	torque	NOUN
bam-6162	119	7	was	be	AUX
bam-6162	119	8	generated	generate	VERB
bam-6162	119	9	by	by	ADP
bam-6162	119	10	subject	subject	NOUN
bam-6162	119	11	.	.	PUNCT
bam-6162	120	1	‘	'	PUNCT
bam-6162	120	2	off	off	ADV
bam-6162	120	3	’	'	PUNCT
bam-6162	120	4	meant	mean	VERB
bam-6162	120	5	no	no	DET
bam-6162	120	6	volitional	volitional	ADJ
bam-6162	120	7	torque	torque	NOUN
bam-6162	120	8	.	.	PUNCT
bam-6162	121	1	fig	fig	NOUN
bam-6162	121	2	5	5	NUM
bam-6162	121	3	.	.	PUNCT
bam-6162	122	1	the	the	DET
bam-6162	122	2	performance	performance	NOUN
bam-6162	122	3	of	of	ADP
bam-6162	122	4	cooperative	cooperative	ADJ
bam-6162	122	5	controller	controller	NOUN
bam-6162	122	6	.	.	PUNCT
bam-6162	123	1	these	these	DET
bam-6162	123	2	subplots	subplot	NOUN
bam-6162	123	3	show	show	VERB
bam-6162	123	4	the	the	DET
bam-6162	123	5	waveforms	waveform	NOUN
bam-6162	123	6	of	of	ADP
bam-6162	123	7	volitional	volitional	ADJ
bam-6162	123	8	torque	torque	NOUN
bam-6162	123	9	,	,	PUNCT
bam-6162	123	10	pulse	pulse	NOUN
bam-6162	123	11	width	width	NOUN
bam-6162	123	12	of	of	ADP
bam-6162	123	13	fes	fes	NOUN
bam-6162	123	14	,	,	PUNCT
bam-6162	123	15	and	and	CCONJ
bam-6162	123	16	angle	angle	NOUN
bam-6162	123	17	of	of	ADP
bam-6162	123	18	wrist	wrist	NOUN
bam-6162	123	19	,	,	PUNCT
bam-6162	123	20	respectively	respectively	ADV
bam-6162	123	21	.	.	PUNCT
bam-6162	124	1	human	human	ADJ
bam-6162	124	2	-	-	PUNCT
bam-6162	124	3	fes	fes	NOUN
bam-6162	124	4	cooperative	cooperative	ADJ
bam-6162	124	5	control	control	NOUN
bam-6162	124	6	for	for	ADP
bam-6162	124	7	wrist	wrist	NOUN
bam-6162	124	8	movement	movement	PROPN
bam-6162	124	9	eur	eur	PROPN
bam-6162	124	10	j	j	PROPN
bam-6162	124	11	transl	transl	PROPN
bam-6162	124	12	myol	myol	NOUN
bam-6162	124	13	26	26	NUM
bam-6162	124	14	(	(	PUNCT
bam-6162	124	15	3	3	NUM
bam-6162	124	16	):	):	PUNCT
bam-6162	124	17	235	235	NUM
bam-6162	124	18	-	-	SYM
bam-6162	124	19	238	238	NUM
bam-6162	124	20	238	238	NUM
bam-6162	124	21	explored	explore	VERB
bam-6162	124	22	.	.	PUNCT
bam-6162	125	1	table	table	NOUN
bam-6162	125	2	1	1	NUM
bam-6162	125	3	lists	list	VERB
bam-6162	125	4	the	the	DET
bam-6162	125	5	fes	fes	NOUN
bam-6162	125	6	distribution	distribution	NOUN
bam-6162	125	7	in	in	ADP
bam-6162	125	8	the	the	DET
bam-6162	125	9	fes	fes	NOUN
bam-6162	125	10	controller	controller	NOUN
bam-6162	125	11	alone	alone	ADJ
bam-6162	125	12	and	and	CCONJ
bam-6162	125	13	the	the	DET
bam-6162	125	14	cooperative	cooperative	ADJ
bam-6162	125	15	controller	controller	NOUN
bam-6162	125	16	,	,	PUNCT
bam-6162	125	17	respectively	respectively	ADV
bam-6162	125	18	.	.	PUNCT
bam-6162	126	1	for	for	ADP
bam-6162	126	2	the	the	DET
bam-6162	126	3	same	same	ADJ
bam-6162	126	4	task	task	NOUN
bam-6162	126	5	,	,	PUNCT
bam-6162	126	6	the	the	DET
bam-6162	126	7	fes	fes	NOUN
bam-6162	126	8	intensity	intensity	NOUN
bam-6162	126	9	of	of	ADP
bam-6162	126	10	the	the	DET
bam-6162	126	11	fes	fes	NOUN
bam-6162	126	12	controller	controller	NOUN
bam-6162	126	13	was	be	AUX
bam-6162	126	14	higher	high	ADJ
bam-6162	126	15	than	than	ADP
bam-6162	126	16	that	that	PRON
bam-6162	126	17	of	of	ADP
bam-6162	126	18	the	the	DET
bam-6162	126	19	cooperative	cooperative	ADJ
bam-6162	126	20	controller	controller	NOUN
bam-6162	126	21	.	.	PUNCT
bam-6162	127	1	the	the	DET
bam-6162	127	2	main	main	ADJ
bam-6162	127	3	reason	reason	NOUN
bam-6162	127	4	for	for	ADP
bam-6162	127	5	this	this	DET
bam-6162	127	6	variation	variation	NOUN
bam-6162	127	7	was	be	AUX
bam-6162	127	8	the	the	DET
bam-6162	127	9	influence	influence	NOUN
bam-6162	127	10	of	of	ADP
bam-6162	127	11	the	the	DET
bam-6162	127	12	pid	pid	NOUN
bam-6162	127	13	controller	controller	NOUN
bam-6162	127	14	.	.	PUNCT
bam-6162	128	1	in	in	ADP
bam-6162	128	2	the	the	DET
bam-6162	128	3	case	case	NOUN
bam-6162	128	4	of	of	ADP
bam-6162	128	5	cooperative	cooperative	ADJ
bam-6162	128	6	controller	controller	NOUN
bam-6162	128	7	,	,	PUNCT
bam-6162	128	8	the	the	DET
bam-6162	128	9	angle	angle	NOUN
bam-6162	128	10	(	(	PUNCT
bam-6162	128	11	d	d	ADJ
bam-6162	128	12	−	−	NOUN
bam-6162	128	13	a	a	NOUN
bam-6162	128	14	)	)	PUNCT
bam-6162	128	15	would	would	AUX
bam-6162	128	16	less	less	ADV
bam-6162	128	17	than	than	ADP
bam-6162	128	18	m	m	NOUN
bam-6162	128	19	.	.	PUNCT
bam-6162	129	1	because	because	SCONJ
bam-6162	129	2	of	of	ADP
bam-6162	129	3	the	the	DET
bam-6162	129	4	effect	effect	NOUN
bam-6162	129	5	of	of	ADP
bam-6162	129	6	integral	integral	ADJ
bam-6162	129	7	i	i	NOUN
bam-6162	129	8	d	d	PROPN
bam-6162	129	9	a	a	DET
bam-6162	129	10	mdt	mdt	PROPN
bam-6162	129	11	)	)	PUNCT
bam-6162	129	12	,	,	PUNCT
bam-6162	129	13	the	the	DET
bam-6162	129	14	output	output	NOUN
bam-6162	129	15	of	of	ADP
bam-6162	129	16	pid	pid	NOUN
bam-6162	129	17	controller	controller	NOUN
bam-6162	129	18	would	would	AUX
bam-6162	129	19	decrease	decrease	VERB
bam-6162	129	20	.	.	PUNCT
bam-6162	130	1	thus	thus	ADV
bam-6162	130	2	,	,	PUNCT
bam-6162	130	3	total	total	ADJ
bam-6162	130	4	stimulation	stimulation	NOUN
bam-6162	130	5	intensity	intensity	NOUN
bam-6162	130	6	reduced	reduce	VERB
bam-6162	130	7	.	.	PUNCT
bam-6162	131	1	in	in	ADP
bam-6162	131	2	conclusion	conclusion	NOUN
bam-6162	131	3	,	,	PUNCT
bam-6162	131	4	an	an	DET
bam-6162	131	5	impedance	impedance	NOUN
bam-6162	131	6	controller	controller	NOUN
bam-6162	131	7	embedded	embed	VERB
bam-6162	131	8	in	in	ADP
bam-6162	131	9	the	the	DET
bam-6162	131	10	classical	classical	ADJ
bam-6162	131	11	fes	fes	NOUN
bam-6162	131	12	controller	controller	NOUN
bam-6162	131	13	was	be	AUX
bam-6162	131	14	designed	design	VERB
bam-6162	131	15	to	to	PART
bam-6162	131	16	achieve	achieve	VERB
bam-6162	131	17	human	human	NOUN
bam-6162	131	18	-	-	PUNCT
bam-6162	131	19	fes	fes	NOUN
bam-6162	131	20	cooperation	cooperation	NOUN
bam-6162	131	21	for	for	ADP
bam-6162	131	22	wrist	wrist	NOUN
bam-6162	131	23	movement	movement	NOUN
bam-6162	131	24	.	.	PUNCT
bam-6162	132	1	from	from	ADP
bam-6162	132	2	the	the	DET
bam-6162	132	3	assessment	assessment	NOUN
bam-6162	132	4	experiment	experiment	NOUN
bam-6162	132	5	,	,	PUNCT
bam-6162	132	6	this	this	DET
bam-6162	132	7	novel	novel	ADJ
bam-6162	132	8	controller	controller	NOUN
bam-6162	132	9	could	could	AUX
bam-6162	132	10	intelligently	intelligently	ADV
bam-6162	132	11	modulate	modulate	VERB
bam-6162	132	12	fes	fes	NOUN
bam-6162	132	13	intensity	intensity	NOUN
bam-6162	132	14	based	base	VERB
bam-6162	132	15	on	on	ADP
bam-6162	132	16	the	the	DET
bam-6162	132	17	volitional	volitional	ADJ
bam-6162	132	18	torque	torque	NOUN
bam-6162	132	19	of	of	ADP
bam-6162	132	20	subjects	subject	NOUN
bam-6162	132	21	.	.	PUNCT
bam-6162	133	1	presently	presently	ADV
bam-6162	133	2	,	,	PUNCT
bam-6162	133	3	the	the	DET
bam-6162	133	4	controller	controller	NOUN
bam-6162	133	5	could	could	AUX
bam-6162	133	6	only	only	ADV
bam-6162	133	7	realise	realise	VERB
bam-6162	133	8	simple	simple	ADJ
bam-6162	133	9	tasks	task	NOUN
bam-6162	133	10	(	(	PUNCT
bam-6162	133	11	like	like	INTJ
bam-6162	133	12	step	step	NOUN
bam-6162	133	13	task	task	NOUN
bam-6162	133	14	)	)	PUNCT
bam-6162	133	15	.	.	PUNCT
bam-6162	134	1	in	in	ADP
bam-6162	134	2	future	future	NOUN
bam-6162	134	3	,	,	PUNCT
bam-6162	134	4	the	the	DET
bam-6162	134	5	inverse	inverse	NOUN
bam-6162	134	6	fes	fes	NOUN
bam-6162	134	7	-	-	PUNCT
bam-6162	134	8	muscle	muscle	NOUN
bam-6162	134	9	model	model	NOUN
bam-6162	134	10	will	will	AUX
bam-6162	134	11	be	be	AUX
bam-6162	134	12	improved	improve	VERB
bam-6162	134	13	to	to	PART
bam-6162	134	14	achieve	achieve	VERB
bam-6162	134	15	some	some	DET
bam-6162	134	16	complex	complex	ADJ
bam-6162	134	17	tasks	task	NOUN
bam-6162	134	18	.	.	PUNCT
bam-6162	135	1	acknowledgement	acknowledgement	NOUN
bam-6162	135	2	this	this	DET
bam-6162	135	3	work	work	NOUN
bam-6162	135	4	is	be	AUX
bam-6162	135	5	supported	support	VERB
bam-6162	135	6	by	by	ADP
bam-6162	135	7	the	the	DET
bam-6162	135	8	national	national	ADJ
bam-6162	135	9	natural	natural	PROPN
bam-6162	135	10	science	science	PROPN
bam-6162	135	11	foundation	foundation	PROPN
bam-6162	135	12	of	of	ADP
bam-6162	135	13	china	china	PROPN
bam-6162	135	14	(	(	PUNCT
bam-6162	135	15	no	no	INTJ
bam-6162	135	16	.	.	NOUN
bam-6162	135	17	51475292	51475292	NUM
bam-6162	135	18	)	)	PUNCT
bam-6162	135	19	,	,	PUNCT
bam-6162	135	20	the	the	DET
bam-6162	135	21	national	national	ADJ
bam-6162	135	22	high	high	ADJ
bam-6162	135	23	technology	technology	NOUN
bam-6162	135	24	research	research	NOUN
bam-6162	135	25	and	and	CCONJ
bam-6162	135	26	development	development	NOUN
bam-6162	135	27	program	program	NOUN
bam-6162	135	28	(	(	PUNCT
bam-6162	135	29	863	863	NUM
bam-6162	135	30	program	program	NOUN
bam-6162	135	31	)	)	PUNCT
bam-6162	135	32	of	of	ADP
bam-6162	135	33	china	china	PROPN
bam-6162	135	34	(	(	PUNCT
bam-6162	135	35	2015aa020501	2015aa020501	NUM
bam-6162	135	36	)	)	PUNCT
bam-6162	135	37	,	,	PUNCT
bam-6162	135	38	and	and	CCONJ
bam-6162	135	39	the	the	DET
bam-6162	135	40	natural	natural	ADJ
bam-6162	135	41	sciencefoundation	sciencefoundation	NOUN
bam-6162	135	42	of	of	ADP
bam-6162	135	43	shanghai(14zr1421300	shanghai(14zr1421300	NUM
bam-6162	135	44	)	)	PUNCT
bam-6162	135	45	.	.	PUNCT
bam-6162	136	1	contributions	contribution	NOUN
bam-6162	136	2	kg	kg	NOUN
bam-6162	136	3	and	and	CCONJ
bam-6162	136	4	dz	dz	AUX
bam-6162	136	5	introduce	introduce	VERB
bam-6162	136	6	impedance	impedance	NOUN
bam-6162	136	7	control	control	NOUN
bam-6162	136	8	to	to	PART
bam-6162	136	9	fes	fes	VERB
bam-6162	136	10	,	,	PUNCT
bam-6162	136	11	to	to	PART
bam-6162	136	12	achieve	achieve	VERB
bam-6162	136	13	human	human	NOUN
bam-6162	136	14	-	-	PUNCT
bam-6162	136	15	fes	fes	NOUN
bam-6162	136	16	cooperative	cooperative	ADJ
bam-6162	136	17	control	control	NOUN
bam-6162	136	18	;	;	PUNCT
bam-6162	136	19	hy	hy	NOUN
bam-6162	136	20	:	:	PUNCT
bam-6162	136	21	extracting	extract	VERB
bam-6162	136	22	voluntary	voluntary	ADJ
bam-6162	136	23	torque	torque	NOUN
bam-6162	136	24	information	information	NOUN
bam-6162	136	25	from	from	ADP
bam-6162	136	26	contaminated	contaminated	ADJ
bam-6162	136	27	emg	emg	NOUN
bam-6162	136	28	.	.	PUNCT
bam-6162	137	1	conflict	conflict	NOUN
bam-6162	137	2	of	of	ADP
bam-6162	137	3	interest	interest	NOUN
bam-6162	137	4	the	the	DET
bam-6162	137	5	author	author	NOUN
bam-6162	137	6	declare	declare	VERB
bam-6162	137	7	no	no	DET
bam-6162	137	8	potential	potential	ADJ
bam-6162	137	9	conflict	conflict	NOUN
bam-6162	137	10	of	of	ADP
bam-6162	137	11	interests	interest	NOUN
bam-6162	137	12	.	.	PUNCT
bam-6162	138	1	corresponding	correspond	VERB
bam-6162	138	2	author	author	NOUN
bam-6162	138	3	dingguo	dingguo	PROPN
bam-6162	138	4	zhang	zhang	PROPN
bam-6162	138	5	,	,	PUNCT
bam-6162	138	6	state	state	NOUN
bam-6162	138	7	key	key	ADJ
bam-6162	138	8	laboratory	laboratory	NOUN
bam-6162	138	9	of	of	ADP
bam-6162	138	10	mechanical	mechanical	ADJ
bam-6162	138	11	system	system	NOUN
bam-6162	138	12	and	and	CCONJ
bam-6162	138	13	vibration	vibration	NOUN
bam-6162	138	14	,	,	PUNCT
bam-6162	138	15	school	school	NOUN
bam-6162	138	16	of	of	ADP
bam-6162	138	17	mechanical	mechanical	ADJ
bam-6162	138	18	engineering	engineering	NOUN
bam-6162	138	19	,	,	PUNCT
bam-6162	138	20	shanghai	shanghai	PROPN
bam-6162	138	21	jiao	jiao	PROPN
bam-6162	138	22	tong	tong	PROPN
bam-6162	138	23	university	university	PROPN
bam-6162	138	24	,	,	PUNCT
bam-6162	138	25	shanghai	shanghai	PROPN
bam-6162	138	26	,	,	PUNCT
bam-6162	138	27	200240	200240	NUM
bam-6162	138	28	,	,	PUNCT
bam-6162	138	29	china	china	PROPN
bam-6162	138	30	e	e	PROPN
bam-6162	138	31	-	-	NOUN
bam-6162	138	32	mail	mail	NOUN
bam-6162	138	33	:	:	PUNCT
bam-6162	138	34	dgzhang@sjtu.edu.cn	dgzhang@sjtu.edu.cn	PROPN
bam-6162	138	35	e	e	NOUN
bam-6162	138	36	-	-	NOUN
bam-6162	138	37	mails	mail	NOUN
bam-6162	138	38	of	of	ADP
bam-6162	138	39	coauthors	coauthor	NOUN
bam-6162	138	40	kai	kai	PROPN
bam-6162	138	41	gui	gui	PROPN
bam-6162	138	42	:	:	PUNCT
bam-6162	139	1	gkfxlt@foxmail.com	gkfxlt@foxmail.com	PROPN
bam-6162	139	2	hiroshi	hiroshi	PROPN
bam-6162	139	3	yokoi	yokoi	PROPN
bam-6162	139	4	:	:	PUNCT
bam-6162	139	5	yokoi@hi.mce.uec.ac.jp	yokoi@hi.mce.uec.ac.jp	PROPN
bam-6162	139	6	references	reference	NOUN
bam-6162	139	7	1	1	NUM
bam-6162	139	8	.	.	PUNCT
bam-6162	139	9	gui	gui	PROPN
bam-6162	139	10	k	k	PROPN
bam-6162	139	11	,	,	PUNCT
bam-6162	139	12	zhang	zhang	PROPN
bam-6162	139	13	d.	d.	PROPN
bam-6162	139	14	influence	influence	PROPN
bam-6162	139	15	of	of	ADP
bam-6162	139	16	volitional	volitional	ADJ
bam-6162	139	17	contraction	contraction	NOUN
bam-6162	139	18	on	on	ADP
bam-6162	139	19	muscle	muscle	NOUN
bam-6162	139	20	response	response	NOUN
bam-6162	139	21	to	to	ADP
bam-6162	139	22	functional	functional	ADJ
bam-6162	139	23	electrical	electrical	ADJ
bam-6162	139	24	stimulation	stimulation	NOUN
bam-6162	139	25	.	.	PUNCT
bam-6162	140	1	19th	19th	ADJ
bam-6162	140	2	international	international	ADJ
bam-6162	140	3	functional	functional	ADJ
bam-6162	140	4	electrical	electrical	ADJ
bam-6162	140	5	stimulation	stimulation	NOUN
bam-6162	140	6	society	society	NOUN
bam-6162	140	7	annual	annual	ADJ
bam-6162	140	8	conference	conference	NOUN
bam-6162	140	9	(	(	PUNCT
bam-6162	140	10	ifess	ifess	PROPN
bam-6162	140	11	)	)	PUNCT
bam-6162	140	12	.	.	PUNCT
bam-6162	141	1	ifess	ifess	PROPN
bam-6162	141	2	,	,	PUNCT
bam-6162	141	3	2014	2014	NUM
bam-6162	141	4	,	,	PUNCT
bam-6162	141	5	pp	pp	ADP
bam-6162	141	6	.	.	PUNCT
bam-6162	142	1	1–4	1–4	NUM
bam-6162	142	2	.	.	PROPN
bam-6162	142	3	2	2	NUM
bam-6162	142	4	.	.	X
bam-6162	142	5	langzam	langzam	PROPN
bam-6162	142	6	e	e	PROPN
bam-6162	142	7	,	,	PUNCT
bam-6162	142	8	isakov	isakov	PROPN
bam-6162	142	9	e	e	NOUN
bam-6162	142	10	,	,	PUNCT
bam-6162	142	11	nemirovsky	nemirovsky	PROPN
bam-6162	142	12	y	y	PROPN
bam-6162	142	13	,	,	PUNCT
bam-6162	142	14	mizrahi	mizrahi	PROPN
bam-6162	142	15	j.	j.	PROPN
bam-6162	142	16	muscle	muscle	PROPN
bam-6162	142	17	force	force	NOUN
bam-6162	142	18	augmentation	augmentation	NOUN
bam-6162	142	19	by	by	ADP
bam-6162	142	20	low	low	ADJ
bam-6162	142	21	-	-	PUNCT
bam-6162	142	22	intensity	intensity	NOUN
bam-6162	142	23	electrical	electrical	ADJ
bam-6162	142	24	stimulation	stimulation	NOUN
bam-6162	142	25	.	.	PUNCT
bam-6162	143	1	27th	27th	ADJ
bam-6162	143	2	annual	annual	ADJ
bam-6162	143	3	international	international	ADJ
bam-6162	143	4	conference	conference	NOUN
bam-6162	143	5	of	of	ADP
bam-6162	143	6	the	the	DET
bam-6162	143	7	engineering	engineering	NOUN
bam-6162	143	8	in	in	ADP
bam-6162	143	9	medicine	medicine	NOUN
bam-6162	143	10	and	and	CCONJ
bam-6162	143	11	biology	biology	NOUN
bam-6162	143	12	society	society	NOUN
bam-6162	143	13	,	,	PUNCT
bam-6162	143	14	2005	2005	NUM
bam-6162	143	15	.	.	PUNCT
bam-6162	144	1	ieee	ieee	PROPN
bam-6162	144	2	-	-	PUNCT
bam-6162	144	3	embs	embs	PROPN
bam-6162	144	4	2006;5808	2006;5808	NOUN
bam-6162	144	5	–	–	PUNCT
bam-6162	144	6	11	11	NUM
bam-6162	144	7	.	.	X
bam-6162	145	1	3	3	X
bam-6162	145	2	.	.	X
bam-6162	145	3	langzam	langzam	PROPN
bam-6162	145	4	e	e	PROPN
bam-6162	145	5	,	,	PUNCT
bam-6162	145	6	nemirovsky	nemirovsky	PROPN
bam-6162	145	7	y	y	PROPN
bam-6162	145	8	,	,	PUNCT
bam-6162	145	9	isakov	isakov	PROPN
bam-6162	145	10	e	e	PROPN
bam-6162	145	11	,	,	PUNCT
bam-6162	145	12	mizrahi	mizrahi	PROPN
bam-6162	145	13	j.	j.	PROPN
bam-6162	145	14	partition	partition	PROPN
bam-6162	145	15	between	between	ADP
bam-6162	145	16	volitional	volitional	ADJ
bam-6162	145	17	and	and	CCONJ
bam-6162	145	18	induced	induced	ADJ
bam-6162	145	19	forces	force	NOUN
bam-6162	145	20	in	in	ADP
bam-6162	145	21	electrically	electrically	ADV
bam-6162	145	22	augmented	augment	VERB
bam-6162	145	23	dynamic	dynamic	ADJ
bam-6162	145	24	isometric	isometric	ADJ
bam-6162	145	25	muscle	muscle	NOUN
bam-6162	145	26	contractions	contraction	NOUN
bam-6162	145	27	.	.	PUNCT
bam-6162	146	1	ieee	ieee	NOUN
bam-6162	146	2	transactions	transaction	NOUN
bam-6162	146	3	on	on	ADP
bam-6162	146	4	neural	neural	ADJ
bam-6162	146	5	systems	system	NOUN
bam-6162	146	6	and	and	CCONJ
bam-6162	146	7	rehabilitation	rehabilitation	NOUN
bam-6162	146	8	engineering	engineering	NOUN
bam-6162	146	9	2006;14:322–35	2006;14:322–35	PROPN
bam-6162	146	10	.	.	PROPN
bam-6162	146	11	4	4	NUM
bam-6162	146	12	.	.	NOUN
bam-6162	146	13	perumal	perumal	NOUN
bam-6162	146	14	r	r	NOUN
bam-6162	146	15	,	,	PUNCT
bam-6162	146	16	wexler	wexler	NOUN
bam-6162	146	17	as	as	ADP
bam-6162	146	18	,	,	PUNCT
bam-6162	146	19	kesar	kesar	PROPN
bam-6162	146	20	tm	tm	PROPN
bam-6162	146	21	,	,	PUNCT
bam-6162	146	22	jancosko	jancosko	ADV
bam-6162	146	23	a	a	PRON
bam-6162	146	24	,	,	PUNCT
bam-6162	146	25	laufer	laufer	NOUN
bam-6162	146	26	y	y	PROPN
bam-6162	146	27	,	,	PUNCT
bam-6162	146	28	binder	binder	NOUN
bam-6162	146	29	-	-	PUNCT
bam-6162	146	30	macleod	macleod	PROPN
bam-6162	146	31	sa	sa	PROPN
bam-6162	146	32	.	.	PUNCT
bam-6162	147	1	a	a	DET
bam-6162	147	2	phenomenological	phenomenological	ADJ
bam-6162	147	3	model	model	NOUN
bam-6162	147	4	that	that	PRON
bam-6162	147	5	predicts	predict	VERB
bam-6162	147	6	forces	force	NOUN
bam-6162	147	7	generated	generate	VERB
bam-6162	147	8	when	when	SCONJ
bam-6162	147	9	electrical	electrical	ADJ
bam-6162	147	10	stimulation	stimulation	NOUN
bam-6162	147	11	is	be	AUX
bam-6162	147	12	superimposed	superimpose	VERB
bam-6162	147	13	on	on	ADP
bam-6162	147	14	sub	sub	ADJ
bam-6162	147	15	-	-	ADJ
bam-6162	147	16	maximal	maximal	ADJ
bam-6162	147	17	volitional	volitional	ADJ
bam-6162	147	18	contractions	contraction	NOUN
bam-6162	147	19	.	.	PUNCT
bam-6162	148	1	j	j	PROPN
bam-6162	148	2	appl	appl	PROPN
bam-6162	148	3	phys	phy	NOUN
bam-6162	148	4	2010;108:1595–1604	2010;108:1595–1604	NUM
bam-6162	148	5	.	.	PUNCT
bam-6162	149	1	5	5	NUM
bam-6162	149	2	.	.	X
bam-6162	149	3	lotze	lotze	PROPN
bam-6162	149	4	m	m	PROPN
bam-6162	149	5	,	,	PUNCT
bam-6162	149	6	braun	braun	PROPN
bam-6162	149	7	c	c	PROPN
bam-6162	149	8	,	,	PUNCT
bam-6162	149	9	birbaumer	birbaumer	PROPN
bam-6162	149	10	n	n	CCONJ
bam-6162	149	11	,	,	PUNCT
bam-6162	149	12	anders	anders	PROPN
bam-6162	149	13	s	s	PROPN
bam-6162	149	14	,	,	PUNCT
bam-6162	149	15	cohen	cohen	PROPN
bam-6162	149	16	lg	lg	PROPN
bam-6162	149	17	.	.	PROPN
bam-6162	149	18	motor	motor	PROPN
bam-6162	149	19	learning	learning	NOUN
bam-6162	149	20	elicited	elicit	VERB
bam-6162	149	21	by	by	ADP
bam-6162	149	22	voluntary	voluntary	ADJ
bam-6162	149	23	drive	drive	NOUN
bam-6162	149	24	.	.	PUNCT
bam-6162	150	1	brain	brain	PROPN
bam-6162	150	2	2003;126:866–72	2003;126:866–72	PROPN
bam-6162	150	3	.	.	PUNCT
bam-6162	151	1	6	6	NUM
bam-6162	151	2	.	.	X
bam-6162	151	3	lee	lee	PROPN
bam-6162	151	4	s	s	PROPN
bam-6162	151	5	,	,	PUNCT
bam-6162	151	6	sankai	sankai	PROPN
bam-6162	151	7	y.	y.	PROPN
bam-6162	151	8	power	power	PROPN
bam-6162	151	9	assist	assist	PROPN
bam-6162	151	10	control	control	NOUN
bam-6162	151	11	for	for	ADP
bam-6162	151	12	walking	walk	VERB
bam-6162	151	13	aid	aid	NOUN
bam-6162	151	14	with	with	ADP
bam-6162	151	15	hal-3	hal-3	PUNCT
bam-6162	151	16	based	base	VERB
bam-6162	151	17	on	on	ADP
bam-6162	151	18	emg	emg	PROPN
bam-6162	151	19	and	and	CCONJ
bam-6162	151	20	impedance	impedance	NOUN
bam-6162	151	21	adjustment	adjustment	NOUN
bam-6162	151	22	around	around	ADP
bam-6162	151	23	knee	knee	NOUN
bam-6162	151	24	joint	joint	NOUN
bam-6162	151	25	.	.	PUNCT
bam-6162	152	1	ieee	ieee	NOUN
bam-6162	152	2	/	/	SYM
bam-6162	152	3	rsj	rsj	NOUN
bam-6162	152	4	international	international	ADJ
bam-6162	152	5	conference	conference	NOUN
bam-6162	152	6	on	on	ADP
bam-6162	152	7	intelligent	intelligent	ADJ
bam-6162	152	8	robots	robot	NOUN
bam-6162	152	9	and	and	CCONJ
bam-6162	152	10	systems	system	NOUN
bam-6162	152	11	2002;2:1499–1504	2002;2:1499–1504	NUM
bam-6162	152	12	.	.	PUNCT
bam-6162	153	1	7	7	NUM
bam-6162	153	2	.	.	X
bam-6162	153	3	zhang	zhang	PROPN
bam-6162	153	4	q	q	X
bam-6162	153	5	,	,	PUNCT
bam-6162	153	6	hayashibe	hayashibe	PROPN
bam-6162	153	7	m	m	PROPN
bam-6162	153	8	,	,	PUNCT
bam-6162	153	9	azevedo	azevedo	PROPN
bam-6162	153	10	-	-	PUNCT
bam-6162	153	11	coste	coste	NOUN
bam-6162	153	12	c.	c.	PROPN
bam-6162	153	13	evoked	evoke	VERB
bam-6162	153	14	electromyography	electromyography	NOUN
bam-6162	153	15	-	-	PUNCT
bam-6162	153	16	based	base	VERB
bam-6162	153	17	closed	closed	ADJ
bam-6162	153	18	-	-	PUNCT
bam-6162	153	19	loop	loop	NOUN
bam-6162	153	20	torque	torque	NOUN
bam-6162	153	21	control	control	NOUN
bam-6162	153	22	in	in	ADP
bam-6162	153	23	functional	functional	ADJ
bam-6162	153	24	electrical	electrical	ADJ
bam-6162	153	25	stimulation	stimulation	NOUN
bam-6162	153	26	.	.	PUNCT
bam-6162	154	1	ieee	ieee	NOUN
bam-6162	154	2	transactions	transaction	NOUN
bam-6162	154	3	on	on	ADP
bam-6162	154	4	biomedical	biomedical	ADJ
bam-6162	154	5	engineering	engineering	NOUN
bam-6162	154	6	2013;60:2299–2307	2013;60:2299–2307	NUM
bam-6162	154	7	.	.	PUNCT
bam-6162	155	1	8	8	NUM
bam-6162	155	2	.	.	X
bam-6162	156	1	o’keeffe	o’keeffe	PROPN
bam-6162	156	2	dt	dt	PROPN
bam-6162	156	3	,	,	PUNCT
bam-6162	156	4	lyons	lyons	PROPN
bam-6162	156	5	gm	gm	PROPN
bam-6162	156	6	,	,	PUNCT
bam-6162	156	7	donnelly	donnelly	PROPN
bam-6162	156	8	ae	ae	PROPN
bam-6162	156	9	,	,	PUNCT
bam-6162	156	10	byrne	byrne	PROPN
bam-6162	156	11	ca	ca	PROPN
bam-6162	156	12	.	.	PUNCT
bam-6162	157	1	stimulus	stimulus	ADJ
bam-6162	157	2	artifact	artifact	NOUN
bam-6162	157	3	removal	removal	NOUN
bam-6162	157	4	using	use	VERB
bam-6162	157	5	a	a	DET
bam-6162	157	6	softwarebased	softwarebase	VERB
bam-6162	157	7	two	two	NUM
bam-6162	157	8	-	-	PUNCT
bam-6162	157	9	stage	stage	NOUN
bam-6162	157	10	peak	peak	NOUN
bam-6162	157	11	detection	detection	NOUN
bam-6162	157	12	algorithm	algorithm	NOUN
bam-6162	157	13	.	.	PUNCT
bam-6162	158	1	journal	journal	NOUN
bam-6162	158	2	of	of	ADP
bam-6162	158	3	neuroscience	neuroscience	NOUN
bam-6162	158	4	methods	method	NOUN
bam-6162	158	5	2001;109:137–45	2001;109:137–45	PROPN
bam-6162	158	6	.	.	PROPN
bam-6162	158	7	9	9	NUM
bam-6162	158	8	.	.	X
bam-6162	159	1	hogan	hogan	PROPN
bam-6162	159	2	n.	n.	PROPN
bam-6162	159	3	impedance	impedance	PROPN
bam-6162	159	4	control	control	NOUN
bam-6162	159	5	:	:	PUNCT
bam-6162	159	6	an	an	DET
bam-6162	159	7	approach	approach	NOUN
bam-6162	159	8	to	to	ADP
bam-6162	159	9	manipulation	manipulation	NOUN
bam-6162	159	10	:	:	PUNCT
bam-6162	159	11	part	part	NOUN
bam-6162	159	12	ii	ii	NUM
bam-6162	159	13	implementation	implementation	NOUN
bam-6162	159	14	.	.	PUNCT
bam-6162	160	1	journal	journal	NOUN
bam-6162	160	2	of	of	ADP
bam-6162	160	3	dynamic	dynamic	ADJ
bam-6162	160	4	systems	system	NOUN
bam-6162	160	5	,	,	PUNCT
bam-6162	160	6	measurement	measurement	NOUN
bam-6162	160	7	,	,	PUNCT
bam-6162	160	8	and	and	CCONJ
bam-6162	160	9	control	control	NOUN
bam-6162	160	10	1985;107:8–16	1985;107:8–16	NOUN
bam-6162	160	11	.	.	PUNCT
bam-6162	161	1	10	10	NUM
bam-6162	161	2	.	.	PUNCT
bam-6162	162	1	chang	chang	PROPN
bam-6162	162	2	g	g	PROPN
bam-6162	162	3	-	-	PUNCT
bam-6162	162	4	c	c	PROPN
bam-6162	162	5	,	,	PUNCT
bam-6162	162	6	lub	lub	PROPN
bam-6162	162	7	j	j	PROPN
bam-6162	162	8	-	-	PROPN
bam-6162	162	9	j	j	PROPN
bam-6162	162	10	,	,	PUNCT
bam-6162	162	11	liao	liao	PROPN
bam-6162	162	12	g	g	PROPN
bam-6162	162	13	-	-	PROPN
bam-6162	162	14	d	d	PROPN
bam-6162	162	15	,	,	PUNCT
bam-6162	162	16	lai	lai	PROPN
bam-6162	162	17	j	j	PROPN
bam-6162	162	18	-	-	PUNCT
bam-6162	162	19	s	s	PROPN
bam-6162	162	20	,	,	PUNCT
bam-6162	162	21	cheng	cheng	PROPN
bam-6162	162	22	c	c	PROPN
bam-6162	162	23	-	-	PUNCT
bam-6162	162	24	k	k	PROPN
bam-6162	162	25	,	,	PUNCT
bam-6162	162	26	kuo	kuo	PROPN
bam-6162	162	27	b	b	PROPN
bam-6162	162	28	-	-	PUNCT
bam-6162	162	29	l	l	NOUN
bam-6162	162	30	,	,	PUNCT
bam-6162	162	31	kuo	kuo	PROPN
bam-6162	162	32	t	t	PROPN
bam-6162	162	33	-	-	PUNCT
bam-6162	162	34	s.	s.	PROPN
bam-6162	162	35	a	a	DET
bam-6162	162	36	neuro	neuro	PROPN
bam-6162	162	37	-	-	PUNCT
bam-6162	162	38	control	control	NOUN
bam-6162	162	39	system	system	NOUN
bam-6162	162	40	for	for	ADP
bam-6162	162	41	the	the	DET
bam-6162	162	42	knee	knee	NOUN
bam-6162	162	43	joint	joint	ADJ
bam-6162	162	44	position	position	NOUN
bam-6162	162	45	control	control	NOUN
bam-6162	162	46	with	with	ADP
bam-6162	162	47	quadriceps	quadricep	NOUN
bam-6162	162	48	stimulation	stimulation	NOUN
bam-6162	162	49	.	.	PUNCT
bam-6162	163	1	ieee	ieee	NOUN
bam-6162	163	2	transactions	transaction	NOUN
bam-6162	163	3	on	on	ADP
bam-6162	163	4	rehabilitation	rehabilitation	NOUN
bam-6162	163	5	engineering	engineering	NOUN
bam-6162	163	6	,	,	PUNCT
bam-6162	163	7	1997;5:2–11	1997;5:2–11	INTJ
bam-6162	163	8	.	.	PROPN
bam-6162	163	9	11	11	NUM
bam-6162	163	10	.	.	PUNCT
bam-6162	164	1	kurosawa	kurosawa	PROPN
bam-6162	164	2	k	k	PROPN
bam-6162	164	3	,	,	PUNCT
bam-6162	164	4	futami	futami	ADJ
bam-6162	164	5	r	r	NOUN
bam-6162	164	6	,	,	PUNCT
bam-6162	164	7	watanabe	watanabe	PROPN
bam-6162	164	8	t	t	PROPN
bam-6162	164	9	,	,	PUNCT
bam-6162	164	10	hoshimiya	hoshimiya	PROPN
bam-6162	164	11	n.	n.	PROPN
bam-6162	164	12	joint	joint	PROPN
bam-6162	164	13	angle	angle	NOUN
bam-6162	164	14	control	control	NOUN
bam-6162	164	15	by	by	ADP
bam-6162	164	16	fes	fes	NOUN
bam-6162	164	17	using	use	VERB
bam-6162	164	18	a	a	DET
bam-6162	164	19	feedback	feedback	NOUN
bam-6162	164	20	error	error	NOUN
bam-6162	164	21	learning	learning	NOUN
bam-6162	164	22	controller	controller	NOUN
bam-6162	164	23	.	.	PUNCT
bam-6162	165	1	ieee	ieee	NOUN
bam-6162	165	2	transactions	transaction	NOUN
bam-6162	165	3	on	on	ADP
bam-6162	165	4	neural	neural	ADJ
bam-6162	165	5	systems	system	NOUN
bam-6162	165	6	and	and	CCONJ
bam-6162	165	7	rehabilitation	rehabilitation	NOUN
bam-6162	165	8	engineering	engineering	NOUN
bam-6162	165	9	2005;13:359–71	2005;13:359–71	PROPN
bam-6162	165	10	.	.	PUNCT
bam-6162	165	11	table	table	NOUN
bam-6162	165	12	1	1	NUM
bam-6162	165	13	.	.	PUNCT
bam-6162	166	1	the	the	DET
bam-6162	166	2	pulse	pulse	NOUN
bam-6162	166	3	width	width	NOUN
bam-6162	166	4	of	of	ADP
bam-6162	166	5	fes	fes	NOUN
bam-6162	166	6	in	in	ADP
bam-6162	166	7	each	each	DET
bam-6162	166	8	controller	controller	NOUN
bam-6162	166	9	fes	fes	NOUN
bam-6162	166	10	controller	controller	NOUN
bam-6162	166	11	pw/µs	pw/µs	NUM
bam-6162	166	12	225	225	NUM
bam-6162	167	1	p	p	PRON
bam-6162	167	2	wpid/µs	wpid/µs	PROPN
bam-6162	167	3	26	26	NUM
bam-6162	167	4	p	p	NOUN
bam-6162	167	5	wnetwork/µs	wnetwork/µs	NUM
bam-6162	167	6	198	198	NUM
bam-6162	167	7	cooperative	cooperative	ADJ
bam-6162	167	8	controller	controller	NOUN
bam-6162	167	9	198	198	NUM
bam-6162	167	10	-2	-2	NOUN
bam-6162	167	11	200	200	NUM
bam-6162	167	12	mailto:yokoi@hi.mce.uec.ac.jp	mailto:yokoi@hi.mce.uec.ac.jp	PROPN