id	sid	tid	token	lemma	pos
bam-6164	1	1	feedback	feedback	NOUN
bam-6164	1	2	error	error	NOUN
bam-6164	1	3	learning	learn	VERB
bam-6164	1	4	controller	controller	NOUN
bam-6164	1	5	for	for	ADP
bam-6164	1	6	fes	fes	NOUN
bam-6164	1	7	assistance	assistance	NOUN
bam-6164	1	8	for	for	ADP
bam-6164	1	9	reaching	reach	VERB
bam-6164	1	10	rehabilitation	rehabilitation	NOUN
bam-6164	1	11	eur	eur	PROPN
bam-6164	1	12	j	j	PROPN
bam-6164	1	13	transl	transl	PROPN
bam-6164	1	14	myol	myol	NOUN
bam-6164	1	15	26	26	NUM
bam-6164	1	16	(	(	PUNCT
bam-6164	1	17	3	3	NUM
bam-6164	1	18	):	):	PUNCT
bam-6164	1	19	255	255	NUM
bam-6164	1	20	-	-	SYM
bam-6164	1	21	261	261	NUM
bam-6164	1	22	255	255	NUM
bam-6164	1	23	feedback	feedback	NOUN
bam-6164	1	24	error	error	NOUN
bam-6164	1	25	learning	learn	VERB
bam-6164	1	26	controller	controller	NOUN
bam-6164	1	27	for	for	ADP
bam-6164	1	28	functional	functional	ADJ
bam-6164	1	29	electrical	electrical	ADJ
bam-6164	1	30	stimulation	stimulation	NOUN
bam-6164	1	31	assistance	assistance	NOUN
bam-6164	1	32	in	in	ADP
bam-6164	1	33	a	a	DET
bam-6164	1	34	hybrid	hybrid	ADJ
bam-6164	1	35	robotic	robotic	ADJ
bam-6164	1	36	system	system	NOUN
bam-6164	1	37	for	for	ADP
bam-6164	1	38	reaching	reach	VERB
bam-6164	1	39	rehabilitation	rehabilitation	NOUN
bam-6164	1	40	francisco	francisco	PROPN
bam-6164	1	41	resquín	resquín	PROPN
bam-6164	1	42	(	(	PUNCT
bam-6164	1	43	1	1	NUM
bam-6164	1	44	)	)	PUNCT
bam-6164	1	45	,	,	PUNCT
bam-6164	1	46	jose	jose	PROPN
bam-6164	1	47	gonzalez	gonzalez	PROPN
bam-6164	1	48	-	-	PUNCT
bam-6164	1	49	vargas	vargas	PROPN
bam-6164	1	50	(	(	PUNCT
bam-6164	1	51	1	1	NUM
bam-6164	1	52	)	)	PUNCT
bam-6164	1	53	,	,	PUNCT
bam-6164	1	54	jaime	jaime	NOUN
bam-6164	1	55	ibáñez	ibáñez	NOUN
bam-6164	1	56	(	(	PUNCT
bam-6164	1	57	1	1	NUM
bam-6164	1	58	)	)	PUNCT
bam-6164	1	59	,	,	PUNCT
bam-6164	1	60	fernando	fernando	NOUN
bam-6164	1	61	brunetti	brunetti	PROPN
bam-6164	1	62	(	(	PUNCT
bam-6164	1	63	2	2	NUM
bam-6164	1	64	)	)	PUNCT
bam-6164	1	65	,	,	PUNCT
bam-6164	1	66	josé	josé	PROPN
bam-6164	1	67	luis	luis	PROPN
bam-6164	1	68	pons	pons	PROPN
bam-6164	1	69	(	(	PUNCT
bam-6164	1	70	1	1	NUM
bam-6164	1	71	)	)	PUNCT
bam-6164	1	72	(	(	PUNCT
bam-6164	1	73	1	1	X
bam-6164	1	74	)	)	PUNCT
bam-6164	1	75	neural	neural	ADJ
bam-6164	1	76	rehabilitation	rehabilitation	NOUN
bam-6164	1	77	group	group	NOUN
bam-6164	1	78	,	,	PUNCT
bam-6164	1	79	cajal	cajal	PROPN
bam-6164	1	80	institute	institute	PROPN
bam-6164	1	81	,	,	PUNCT
bam-6164	1	82	spanish	spanish	ADJ
bam-6164	1	83	national	national	PROPN
bam-6164	1	84	research	research	PROPN
bam-6164	1	85	council	council	PROPN
bam-6164	1	86	(	(	PUNCT
bam-6164	1	87	csic	csic	PROPN
bam-6164	1	88	)	)	PUNCT
bam-6164	1	89	,	,	PUNCT
bam-6164	1	90	madrid	madrid	PROPN
bam-6164	1	91	,	,	PUNCT
bam-6164	1	92	spain	spain	PROPN
bam-6164	1	93	;	;	PUNCT
bam-6164	1	94	(	(	PUNCT
bam-6164	1	95	2	2	X
bam-6164	1	96	)	)	PUNCT
bam-6164	1	97	catholic	catholic	PROPN
bam-6164	1	98	university	university	PROPN
bam-6164	1	99	.	.	PUNCT
bam-6164	2	1	asunción	asunción	PROPN
bam-6164	2	2	,	,	PUNCT
bam-6164	2	3	paraguay	paraguay	VERB
bam-6164	2	4	this	this	DET
bam-6164	2	5	article	article	NOUN
bam-6164	2	6	is	be	AUX
bam-6164	2	7	distributed	distribute	VERB
bam-6164	2	8	under	under	ADP
bam-6164	2	9	the	the	DET
bam-6164	2	10	terms	term	NOUN
bam-6164	2	11	of	of	ADP
bam-6164	2	12	the	the	DET
bam-6164	2	13	creative	creative	ADJ
bam-6164	2	14	commons	common	NOUN
bam-6164	2	15	attribution	attribution	NOUN
bam-6164	2	16	noncommercial	noncommercial	ADJ
bam-6164	2	17	license	license	NOUN
bam-6164	2	18	(	(	PUNCT
bam-6164	2	19	cc	cc	NOUN
bam-6164	2	20	by	by	ADP
bam-6164	2	21	-	-	PUNCT
bam-6164	2	22	nc	nc	PROPN
bam-6164	2	23	4.0	4.0	NUM
bam-6164	2	24	)	)	PUNCT
bam-6164	2	25	which	which	PRON
bam-6164	2	26	permits	permit	VERB
bam-6164	2	27	any	any	DET
bam-6164	2	28	noncommercial	noncommercial	ADJ
bam-6164	2	29	use	use	NOUN
bam-6164	2	30	,	,	PUNCT
bam-6164	2	31	distribution	distribution	NOUN
bam-6164	2	32	,	,	PUNCT
bam-6164	2	33	and	and	CCONJ
bam-6164	2	34	reproduction	reproduction	NOUN
bam-6164	2	35	in	in	ADP
bam-6164	2	36	any	any	DET
bam-6164	2	37	medium	medium	NOUN
bam-6164	2	38	,	,	PUNCT
bam-6164	2	39	provided	provide	VERB
bam-6164	2	40	the	the	DET
bam-6164	2	41	original	original	ADJ
bam-6164	2	42	author(s	author(s	NOUN
bam-6164	2	43	)	)	PUNCT
bam-6164	2	44	and	and	CCONJ
bam-6164	2	45	source	source	NOUN
bam-6164	2	46	are	be	AUX
bam-6164	2	47	credited	credit	VERB
bam-6164	2	48	.	.	PUNCT
bam-6164	3	1	abstract	abstract	ADJ
bam-6164	3	2	hybrid	hybrid	ADJ
bam-6164	3	3	robotic	robotic	ADJ
bam-6164	3	4	systems	system	NOUN
bam-6164	3	5	represent	represent	VERB
bam-6164	3	6	a	a	DET
bam-6164	3	7	novel	novel	ADJ
bam-6164	3	8	research	research	NOUN
bam-6164	3	9	field	field	NOUN
bam-6164	3	10	,	,	PUNCT
bam-6164	3	11	where	where	SCONJ
bam-6164	3	12	functional	functional	ADJ
bam-6164	3	13	electrical	electrical	ADJ
bam-6164	3	14	stimulation	stimulation	NOUN
bam-6164	3	15	(	(	PUNCT
bam-6164	3	16	fes	fes	NOUN
bam-6164	3	17	)	)	PUNCT
bam-6164	3	18	is	be	AUX
bam-6164	3	19	combined	combine	VERB
bam-6164	3	20	with	with	ADP
bam-6164	3	21	a	a	DET
bam-6164	3	22	robotic	robotic	ADJ
bam-6164	3	23	device	device	NOUN
bam-6164	3	24	for	for	ADP
bam-6164	3	25	rehabilitation	rehabilitation	NOUN
bam-6164	3	26	of	of	ADP
bam-6164	3	27	motor	motor	NOUN
bam-6164	3	28	impairment	impairment	NOUN
bam-6164	3	29	.	.	PUNCT
bam-6164	4	1	under	under	ADP
bam-6164	4	2	this	this	DET
bam-6164	4	3	approach	approach	NOUN
bam-6164	4	4	,	,	PUNCT
bam-6164	4	5	the	the	DET
bam-6164	4	6	design	design	NOUN
bam-6164	4	7	of	of	ADP
bam-6164	4	8	robust	robust	ADJ
bam-6164	4	9	fes	fes	NOUN
bam-6164	4	10	controllers	controller	NOUN
bam-6164	4	11	still	still	ADV
bam-6164	4	12	remains	remain	VERB
bam-6164	4	13	an	an	DET
bam-6164	4	14	open	open	ADJ
bam-6164	4	15	challenge	challenge	NOUN
bam-6164	4	16	.	.	PUNCT
bam-6164	5	1	in	in	ADP
bam-6164	5	2	this	this	DET
bam-6164	5	3	work	work	NOUN
bam-6164	5	4	,	,	PUNCT
bam-6164	5	5	we	we	PRON
bam-6164	5	6	aimed	aim	VERB
bam-6164	5	7	at	at	ADP
bam-6164	5	8	developing	develop	VERB
bam-6164	5	9	a	a	DET
bam-6164	5	10	learning	learn	VERB
bam-6164	5	11	fes	fes	NOUN
bam-6164	5	12	controller	controller	NOUN
bam-6164	5	13	to	to	PART
bam-6164	5	14	assist	assist	VERB
bam-6164	5	15	in	in	ADP
bam-6164	5	16	the	the	DET
bam-6164	5	17	performance	performance	NOUN
bam-6164	5	18	of	of	ADP
bam-6164	5	19	reaching	reach	VERB
bam-6164	5	20	movements	movement	NOUN
bam-6164	5	21	in	in	ADP
bam-6164	5	22	a	a	DET
bam-6164	5	23	simple	simple	ADJ
bam-6164	5	24	hybrid	hybrid	ADJ
bam-6164	5	25	robotic	robotic	ADJ
bam-6164	5	26	system	system	NOUN
bam-6164	5	27	setting	set	VERB
bam-6164	5	28	.	.	PUNCT
bam-6164	6	1	we	we	PRON
bam-6164	6	2	implemented	implement	VERB
bam-6164	6	3	a	a	DET
bam-6164	6	4	feedback	feedback	NOUN
bam-6164	6	5	error	error	NOUN
bam-6164	6	6	learning	learning	NOUN
bam-6164	6	7	(	(	PUNCT
bam-6164	6	8	fel	fel	NOUN
bam-6164	6	9	)	)	PUNCT
bam-6164	6	10	control	control	NOUN
bam-6164	6	11	strategy	strategy	NOUN
bam-6164	6	12	consisting	consist	VERB
bam-6164	6	13	of	of	ADP
bam-6164	6	14	a	a	DET
bam-6164	6	15	feedback	feedback	NOUN
bam-6164	6	16	pid	pid	NOUN
bam-6164	6	17	controller	controller	NOUN
bam-6164	6	18	and	and	CCONJ
bam-6164	6	19	a	a	DET
bam-6164	6	20	feedforward	feedforward	NOUN
bam-6164	6	21	controller	controller	NOUN
bam-6164	6	22	based	base	VERB
bam-6164	6	23	on	on	ADP
bam-6164	6	24	a	a	DET
bam-6164	6	25	neural	neural	ADJ
bam-6164	6	26	network	network	NOUN
bam-6164	6	27	.	.	PUNCT
bam-6164	7	1	a	a	DET
bam-6164	7	2	passive	passive	ADJ
bam-6164	7	3	exoskeleton	exoskeleton	NOUN
bam-6164	7	4	complemented	complement	VERB
bam-6164	7	5	the	the	DET
bam-6164	7	6	fes	fes	NOUN
bam-6164	7	7	controller	controller	NOUN
bam-6164	7	8	by	by	ADP
bam-6164	7	9	compensating	compensate	VERB
bam-6164	7	10	the	the	DET
bam-6164	7	11	effects	effect	NOUN
bam-6164	7	12	of	of	ADP
bam-6164	7	13	gravity	gravity	NOUN
bam-6164	7	14	.	.	PUNCT
bam-6164	8	1	we	we	PRON
bam-6164	8	2	carried	carry	VERB
bam-6164	8	3	out	out	ADP
bam-6164	8	4	experiments	experiment	NOUN
bam-6164	8	5	with	with	ADP
bam-6164	8	6	healthy	healthy	ADJ
bam-6164	8	7	subjects	subject	NOUN
bam-6164	8	8	to	to	PART
bam-6164	8	9	validate	validate	VERB
bam-6164	8	10	the	the	DET
bam-6164	8	11	performance	performance	NOUN
bam-6164	8	12	of	of	ADP
bam-6164	8	13	the	the	DET
bam-6164	8	14	system	system	NOUN
bam-6164	8	15	.	.	PUNCT
bam-6164	9	1	results	result	NOUN
bam-6164	9	2	show	show	VERB
bam-6164	9	3	that	that	SCONJ
bam-6164	9	4	the	the	DET
bam-6164	9	5	fel	fel	PROPN
bam-6164	9	6	control	control	NOUN
bam-6164	9	7	strategy	strategy	NOUN
bam-6164	9	8	is	be	AUX
bam-6164	9	9	able	able	ADJ
bam-6164	9	10	to	to	PART
bam-6164	9	11	adjust	adjust	VERB
bam-6164	9	12	the	the	DET
bam-6164	9	13	fes	fes	NOUN
bam-6164	9	14	intensity	intensity	NOUN
bam-6164	9	15	to	to	PART
bam-6164	9	16	track	track	VERB
bam-6164	9	17	the	the	DET
bam-6164	9	18	desired	desire	VERB
bam-6164	9	19	trajectory	trajectory	NOUN
bam-6164	9	20	accurately	accurately	ADV
bam-6164	9	21	without	without	ADP
bam-6164	9	22	the	the	DET
bam-6164	9	23	need	need	NOUN
bam-6164	9	24	of	of	ADP
bam-6164	9	25	a	a	DET
bam-6164	9	26	previous	previous	ADJ
bam-6164	9	27	mathematical	mathematical	ADJ
bam-6164	9	28	model	model	NOUN
bam-6164	9	29	.	.	PUNCT
bam-6164	10	1	key	key	ADJ
bam-6164	10	2	words	word	NOUN
bam-6164	10	3	:	:	PUNCT
bam-6164	10	4	feedback	feedback	NOUN
bam-6164	10	5	error	error	NOUN
bam-6164	10	6	learning	learning	NOUN
bam-6164	10	7	,	,	PUNCT
bam-6164	10	8	functional	functional	ADJ
bam-6164	10	9	electrical	electrical	ADJ
bam-6164	10	10	stimulation	stimulation	NOUN
bam-6164	10	11	,	,	PUNCT
bam-6164	10	12	stroke	stroke	NOUN
bam-6164	10	13	,	,	PUNCT
bam-6164	10	14	upper	upper	ADJ
bam-6164	10	15	limb	limb	NOUN
bam-6164	10	16	rehabilitation	rehabilitation	NOUN
bam-6164	10	17	,	,	PUNCT
bam-6164	10	18	hybrid	hybrid	ADJ
bam-6164	10	19	robotic	robotic	ADJ
bam-6164	10	20	system	system	NOUN
bam-6164	10	21	eur	eur	PROPN
bam-6164	10	22	j	j	PROPN
bam-6164	10	23	transl	transl	PROPN
bam-6164	10	24	myol	myol	NOUN
bam-6164	10	25	26	26	NUM
bam-6164	10	26	(	(	PUNCT
bam-6164	10	27	3	3	NUM
bam-6164	10	28	):	):	PUNCT
bam-6164	10	29	255	255	NUM
bam-6164	10	30	-	-	SYM
bam-6164	10	31	261	261	NUM
bam-6164	10	32	stroke	stroke	NOUN
bam-6164	10	33	is	be	AUX
bam-6164	10	34	a	a	DET
bam-6164	10	35	leading	lead	VERB
bam-6164	10	36	cause	cause	NOUN
bam-6164	10	37	of	of	ADP
bam-6164	10	38	adult	adult	NOUN
bam-6164	10	39	disability	disability	NOUN
bam-6164	10	40	around	around	ADP
bam-6164	10	41	the	the	DET
bam-6164	10	42	world	world	NOUN
bam-6164	10	43	.	.	PUNCT
bam-6164	11	1	according	accord	VERB
bam-6164	11	2	to	to	ADP
bam-6164	11	3	the	the	DET
bam-6164	11	4	world	world	PROPN
bam-6164	11	5	health	health	PROPN
bam-6164	11	6	organization	organization	NOUN
bam-6164	11	7	,	,	PUNCT
bam-6164	11	8	15	15	NUM
bam-6164	11	9	million	million	NUM
bam-6164	11	10	people	people	NOUN
bam-6164	11	11	worldwide	worldwide	ADV
bam-6164	11	12	suffer	suffer	VERB
bam-6164	11	13	a	a	DET
bam-6164	11	14	stroke	stroke	NOUN
bam-6164	11	15	each	each	DET
bam-6164	11	16	year	year	NOUN
bam-6164	11	17	.	.	PUNCT
bam-6164	12	1	1	1	NUM
bam-6164	12	2	motor	motor	NOUN
bam-6164	12	3	impairment	impairment	NOUN
bam-6164	12	4	is	be	AUX
bam-6164	12	5	a	a	DET
bam-6164	12	6	common	common	ADJ
bam-6164	12	7	consequence	consequence	NOUN
bam-6164	12	8	after	after	ADP
bam-6164	12	9	a	a	DET
bam-6164	12	10	stroke	stroke	NOUN
bam-6164	12	11	,	,	PUNCT
bam-6164	12	12	which	which	PRON
bam-6164	12	13	impacts	impact	VERB
bam-6164	12	14	the	the	DET
bam-6164	12	15	patients	patient	NOUN
bam-6164	12	16	’	'	PUNCT
bam-6164	12	17	quality	quality	NOUN
bam-6164	12	18	of	of	ADP
bam-6164	12	19	life	life	NOUN
bam-6164	12	20	(	(	PUNCT
bam-6164	12	21	e.g.	e.g.	ADV
bam-6164	12	22	loss	loss	NOUN
bam-6164	12	23	of	of	ADP
bam-6164	12	24	motor	motor	NOUN
bam-6164	12	25	function	function	NOUN
bam-6164	12	26	and	and	CCONJ
bam-6164	12	27	control	control	NOUN
bam-6164	12	28	)	)	PUNCT
bam-6164	12	29	negatively	negatively	ADV
bam-6164	12	30	.	.	PUNCT
bam-6164	13	1	rehabilitation	rehabilitation	NOUN
bam-6164	13	2	therapy	therapy	NOUN
bam-6164	13	3	plays	play	VERB
bam-6164	13	4	an	an	DET
bam-6164	13	5	essential	essential	ADJ
bam-6164	13	6	role	role	NOUN
bam-6164	13	7	in	in	ADP
bam-6164	13	8	the	the	DET
bam-6164	13	9	patients	patient	NOUN
bam-6164	13	10	’	'	PUNCT
bam-6164	13	11	recovery	recovery	NOUN
bam-6164	13	12	.	.	PUNCT
bam-6164	14	1	however	however	ADV
bam-6164	14	2	,	,	PUNCT
bam-6164	14	3	after	after	ADP
bam-6164	14	4	completing	complete	VERB
bam-6164	14	5	conventional	conventional	ADJ
bam-6164	14	6	treatments	treatment	NOUN
bam-6164	14	7	,	,	PUNCT
bam-6164	14	8	many	many	ADJ
bam-6164	14	9	patients	patient	NOUN
bam-6164	14	10	are	be	AUX
bam-6164	14	11	left	leave	VERB
bam-6164	14	12	with	with	ADP
bam-6164	14	13	limited	limited	ADJ
bam-6164	14	14	reaching	reach	VERB
bam-6164	14	15	and	and	CCONJ
bam-6164	14	16	grasping	grasp	VERB
bam-6164	14	17	capabilities	capability	NOUN
bam-6164	14	18	.	.	PUNCT
bam-6164	15	1	it	it	PRON
bam-6164	15	2	has	have	AUX
bam-6164	15	3	been	be	AUX
bam-6164	15	4	shown	show	VERB
bam-6164	15	5	that	that	SCONJ
bam-6164	15	6	functional	functional	ADJ
bam-6164	15	7	electrical	electrical	ADJ
bam-6164	15	8	stimulation	stimulation	NOUN
bam-6164	15	9	(	(	PUNCT
bam-6164	15	10	fes	fes	NOUN
bam-6164	15	11	)	)	PUNCT
bam-6164	15	12	has	have	VERB
bam-6164	15	13	a	a	DET
bam-6164	15	14	positive	positive	ADJ
bam-6164	15	15	effect	effect	NOUN
bam-6164	15	16	for	for	ADP
bam-6164	15	17	rehabilitation	rehabilitation	NOUN
bam-6164	15	18	of	of	ADP
bam-6164	15	19	upper	upper	ADJ
bam-6164	15	20	limb	limb	NOUN
bam-6164	15	21	motor	motor	NOUN
bam-6164	15	22	functions	function	NOUN
bam-6164	15	23	in	in	ADP
bam-6164	15	24	the	the	DET
bam-6164	15	25	stroke	stroke	NOUN
bam-6164	15	26	population	population	NOUN
bam-6164	15	27	.	.	PUNCT
bam-6164	16	1	2,3	2,3	NUM
bam-6164	16	2	furthermore	furthermore	ADV
bam-6164	16	3	,	,	PUNCT
bam-6164	16	4	it	it	PRON
bam-6164	16	5	has	have	AUX
bam-6164	16	6	been	be	AUX
bam-6164	16	7	reported	report	VERB
bam-6164	16	8	that	that	SCONJ
bam-6164	16	9	the	the	DET
bam-6164	16	10	use	use	NOUN
bam-6164	16	11	of	of	ADP
bam-6164	16	12	fes	fes	NOUN
bam-6164	16	13	aids	aid	NOUN
bam-6164	16	14	to	to	PART
bam-6164	16	15	preserve	preserve	VERB
bam-6164	16	16	and	and	CCONJ
bam-6164	16	17	restore	restore	VERB
bam-6164	16	18	muscle	muscle	NOUN
bam-6164	16	19	mass	mass	NOUN
bam-6164	16	20	and	and	CCONJ
bam-6164	16	21	its	its	PRON
bam-6164	16	22	function	function	NOUN
bam-6164	16	23	after	after	ADP
bam-6164	16	24	a	a	DET
bam-6164	16	25	period	period	NOUN
bam-6164	16	26	of	of	ADP
bam-6164	16	27	reduced	reduced	ADJ
bam-6164	16	28	activity	activity	NOUN
bam-6164	16	29	,	,	PUNCT
bam-6164	16	30	4	4	NUM
bam-6164	16	31	as	as	ADV
bam-6164	16	32	well	well	ADV
bam-6164	16	33	as	as	ADP
bam-6164	16	34	to	to	PART
bam-6164	16	35	stimulate	stimulate	VERB
bam-6164	16	36	cortical	cortical	ADJ
bam-6164	16	37	reorganization	reorganization	NOUN
bam-6164	16	38	after	after	ADP
bam-6164	16	39	the	the	DET
bam-6164	16	40	neurological	neurological	ADJ
bam-6164	16	41	injury	injury	NOUN
bam-6164	16	42	.	.	PUNCT
bam-6164	17	1	5	5	NUM
bam-6164	17	2	however	however	ADV
bam-6164	17	3	,	,	PUNCT
bam-6164	17	4	the	the	DET
bam-6164	17	5	non	non	ADJ
bam-6164	17	6	-	-	ADJ
bam-6164	17	7	physiological	physiological	ADJ
bam-6164	17	8	motor	motor	NOUN
bam-6164	17	9	unit	unit	NOUN
bam-6164	17	10	recruitment	recruitment	NOUN
bam-6164	17	11	,	,	PUNCT
bam-6164	17	12	the	the	DET
bam-6164	17	13	lack	lack	NOUN
bam-6164	17	14	of	of	ADP
bam-6164	17	15	muscle	muscle	NOUN
bam-6164	17	16	selectivity	selectivity	NOUN
bam-6164	17	17	,	,	PUNCT
bam-6164	17	18	and	and	CCONJ
bam-6164	17	19	the	the	DET
bam-6164	17	20	need	need	NOUN
bam-6164	17	21	of	of	ADP
bam-6164	17	22	a	a	DET
bam-6164	17	23	large	large	ADJ
bam-6164	17	24	amount	amount	NOUN
bam-6164	17	25	of	of	ADP
bam-6164	17	26	power	power	NOUN
bam-6164	17	27	to	to	PART
bam-6164	17	28	support	support	VERB
bam-6164	17	29	the	the	DET
bam-6164	17	30	arm	arm	NOUN
bam-6164	17	31	during	during	ADP
bam-6164	17	32	reaching	reach	VERB
bam-6164	17	33	movements	movement	NOUN
bam-6164	17	34	hinder	hinder	VERB
bam-6164	17	35	the	the	DET
bam-6164	17	36	wide	wide	ADJ
bam-6164	17	37	use	use	NOUN
bam-6164	17	38	of	of	ADP
bam-6164	17	39	fes	fes	NOUN
bam-6164	17	40	technologies	technology	NOUN
bam-6164	17	41	in	in	ADP
bam-6164	17	42	clinical	clinical	ADJ
bam-6164	17	43	settings	setting	NOUN
bam-6164	17	44	.	.	PUNCT
bam-6164	18	1	of	of	ADP
bam-6164	18	2	relevance	relevance	NOUN
bam-6164	18	3	in	in	ADP
bam-6164	18	4	this	this	DET
bam-6164	18	5	study	study	NOUN
bam-6164	18	6	,	,	PUNCT
bam-6164	18	7	these	these	DET
bam-6164	18	8	drawbacks	drawback	NOUN
bam-6164	18	9	prevent	prevent	VERB
bam-6164	18	10	the	the	DET
bam-6164	18	11	proper	proper	ADJ
bam-6164	18	12	assistance	assistance	NOUN
bam-6164	18	13	of	of	ADP
bam-6164	18	14	reaching	reach	VERB
bam-6164	18	15	movements	movement	NOUN
bam-6164	18	16	accurately	accurately	ADV
bam-6164	18	17	in	in	ADP
bam-6164	18	18	unconstrained	unconstrained	ADJ
bam-6164	18	19	spaces	space	NOUN
bam-6164	18	20	and	and	CCONJ
bam-6164	18	21	they	they	PRON
bam-6164	18	22	generally	generally	ADV
bam-6164	18	23	lead	lead	VERB
bam-6164	18	24	to	to	ADP
bam-6164	18	25	a	a	DET
bam-6164	18	26	fast	fast	ADJ
bam-6164	18	27	and	and	CCONJ
bam-6164	18	28	accentuated	accentuated	ADJ
bam-6164	18	29	occurrence	occurrence	NOUN
bam-6164	18	30	of	of	ADP
bam-6164	18	31	muscle	muscle	NOUN
bam-6164	18	32	fatigue	fatigue	NOUN
bam-6164	18	33	.	.	PUNCT
bam-6164	19	1	hybrid	hybrid	ADJ
bam-6164	19	2	approaches	approach	NOUN
bam-6164	19	3	,	,	PUNCT
bam-6164	19	4	combining	combine	VERB
bam-6164	19	5	fes	fes	NOUN
bam-6164	19	6	with	with	ADP
bam-6164	19	7	robotic	robotic	ADJ
bam-6164	19	8	devices	device	NOUN
bam-6164	19	9	have	have	AUX
bam-6164	19	10	emerged	emerge	VERB
bam-6164	19	11	over	over	ADP
bam-6164	19	12	the	the	DET
bam-6164	19	13	last	last	ADJ
bam-6164	19	14	years	year	NOUN
bam-6164	19	15	as	as	ADP
bam-6164	19	16	a	a	DET
bam-6164	19	17	way	way	NOUN
bam-6164	19	18	to	to	PART
bam-6164	19	19	overcome	overcome	VERB
bam-6164	19	20	these	these	DET
bam-6164	19	21	limitations	limitation	NOUN
bam-6164	19	22	,	,	PUNCT
bam-6164	19	23	and	and	CCONJ
bam-6164	19	24	to	to	PART
bam-6164	19	25	generate	generate	VERB
bam-6164	19	26	a	a	DET
bam-6164	19	27	more	more	ADV
bam-6164	19	28	robust	robust	ADJ
bam-6164	19	29	and	and	CCONJ
bam-6164	19	30	natural	natural	ADJ
bam-6164	19	31	solution	solution	NOUN
bam-6164	19	32	for	for	ADP
bam-6164	19	33	rehabilitation	rehabilitation	NOUN
bam-6164	19	34	.	.	PUNCT
bam-6164	20	1	6	6	NUM
bam-6164	20	2	the	the	DET
bam-6164	20	3	design	design	NOUN
bam-6164	20	4	of	of	ADP
bam-6164	20	5	robust	robust	ADJ
bam-6164	20	6	fes	fes	NOUN
bam-6164	20	7	controllers	controller	NOUN
bam-6164	20	8	is	be	AUX
bam-6164	20	9	an	an	DET
bam-6164	20	10	important	important	ADJ
bam-6164	20	11	part	part	NOUN
bam-6164	20	12	of	of	ADP
bam-6164	20	13	such	such	ADJ
bam-6164	20	14	systems	system	NOUN
bam-6164	20	15	.	.	PUNCT
bam-6164	21	1	the	the	DET
bam-6164	21	2	limited	limited	ADJ
bam-6164	21	3	time	time	NOUN
bam-6164	21	4	available	available	ADJ
bam-6164	21	5	during	during	ADP
bam-6164	21	6	clinical	clinical	ADJ
bam-6164	21	7	trials	trial	NOUN
bam-6164	21	8	makes	make	VERB
bam-6164	21	9	it	it	PRON
bam-6164	21	10	desirable	desirable	ADJ
bam-6164	21	11	that	that	SCONJ
bam-6164	21	12	systems	system	NOUN
bam-6164	21	13	present	present	VERB
bam-6164	21	14	simple	simple	ADJ
bam-6164	21	15	designs	design	NOUN
bam-6164	21	16	with	with	ADP
bam-6164	21	17	minimum	minimum	ADJ
bam-6164	21	18	parameters	parameter	NOUN
bam-6164	21	19	to	to	PART
bam-6164	21	20	be	be	AUX
bam-6164	21	21	set	set	VERB
bam-6164	21	22	up	up	ADP
bam-6164	21	23	.	.	PUNCT
bam-6164	22	1	freeman	freeman	PROPN
bam-6164	22	2	et	et	PROPN
bam-6164	22	3	al	al	PROPN
bam-6164	22	4	.	.	PROPN
bam-6164	22	5	7	7	NUM
bam-6164	22	6	presented	present	VERB
bam-6164	22	7	the	the	DET
bam-6164	22	8	use	use	NOUN
bam-6164	22	9	of	of	ADP
bam-6164	22	10	the	the	DET
bam-6164	22	11	iterative	iterative	NOUN
bam-6164	22	12	learning	learning	NOUN
bam-6164	22	13	control	control	NOUN
bam-6164	22	14	(	(	PUNCT
bam-6164	22	15	ilc	ilc	PROPN
bam-6164	22	16	)	)	PUNCT
bam-6164	22	17	algorithm	algorithm	NOUN
bam-6164	22	18	to	to	PART
bam-6164	22	19	control	control	VERB
bam-6164	22	20	the	the	DET
bam-6164	22	21	arm	arm	NOUN
bam-6164	22	22	response	response	NOUN
bam-6164	22	23	when	when	SCONJ
bam-6164	22	24	using	use	VERB
bam-6164	22	25	fes	fes	NOUN
bam-6164	22	26	for	for	ADP
bam-6164	22	27	reaching	reach	VERB
bam-6164	22	28	rehabilitation	rehabilitation	NOUN
bam-6164	22	29	.	.	PUNCT
bam-6164	23	1	this	this	DET
bam-6164	23	2	strategy	strategy	NOUN
bam-6164	23	3	allows	allow	VERB
bam-6164	23	4	the	the	DET
bam-6164	23	5	adjustment	adjustment	NOUN
bam-6164	23	6	of	of	ADP
bam-6164	23	7	fes	fes	NOUN
bam-6164	23	8	intensity	intensity	NOUN
bam-6164	23	9	based	base	VERB
bam-6164	23	10	on	on	ADP
bam-6164	23	11	the	the	DET
bam-6164	23	12	resulting	result	VERB
bam-6164	23	13	tracking	tracking	NOUN
bam-6164	23	14	error	error	NOUN
bam-6164	23	15	of	of	ADP
bam-6164	23	16	previous	previous	ADJ
bam-6164	23	17	movements	movement	NOUN
bam-6164	23	18	.	.	PUNCT
bam-6164	24	1	however	however	ADV
bam-6164	24	2	,	,	PUNCT
bam-6164	24	3	the	the	DET
bam-6164	24	4	approach	approach	NOUN
bam-6164	24	5	requires	require	VERB
bam-6164	24	6	a	a	DET
bam-6164	24	7	mathematical	mathematical	ADJ
bam-6164	24	8	description	description	NOUN
bam-6164	24	9	of	of	ADP
bam-6164	24	10	the	the	DET
bam-6164	24	11	musculoskeletal	musculoskeletal	ADJ
bam-6164	24	12	system	system	NOUN
bam-6164	24	13	.	.	PUNCT
bam-6164	25	1	due	due	ADP
bam-6164	25	2	to	to	ADP
bam-6164	25	3	the	the	DET
bam-6164	25	4	high	high	ADJ
bam-6164	25	5	complexity	complexity	NOUN
bam-6164	25	6	of	of	ADP
bam-6164	25	7	such	such	ADJ
bam-6164	25	8	system	system	NOUN
bam-6164	25	9	and	and	CCONJ
bam-6164	25	10	the	the	DET
bam-6164	25	11	simplifications	simplification	NOUN
bam-6164	25	12	typically	typically	ADV
bam-6164	25	13	assumed	assume	VERB
bam-6164	25	14	to	to	PART
bam-6164	25	15	derive	derive	VERB
bam-6164	25	16	the	the	DET
bam-6164	25	17	models	model	NOUN
bam-6164	25	18	,	,	PUNCT
bam-6164	25	19	the	the	DET
bam-6164	25	20	applicability	applicability	NOUN
bam-6164	25	21	of	of	ADP
bam-6164	25	22	these	these	DET
bam-6164	25	23	approaches	approach	NOUN
bam-6164	25	24	for	for	ADP
bam-6164	25	25	clinical	clinical	ADJ
bam-6164	25	26	purposes	purpose	NOUN
bam-6164	25	27	is	be	AUX
bam-6164	25	28	limited	limit	VERB
bam-6164	25	29	.	.	PUNCT
bam-6164	26	1	additionally	additionally	ADV
bam-6164	26	2	,	,	PUNCT
bam-6164	26	3	there	there	PRON
bam-6164	26	4	is	be	VERB
bam-6164	26	5	a	a	DET
bam-6164	26	6	need	need	NOUN
bam-6164	26	7	to	to	PART
bam-6164	26	8	determine	determine	VERB
bam-6164	26	9	a	a	DET
bam-6164	26	10	large	large	ADJ
bam-6164	26	11	number	number	NOUN
bam-6164	26	12	of	of	ADP
bam-6164	26	13	parameters	parameter	NOUN
bam-6164	26	14	,	,	PUNCT
bam-6164	26	15	which	which	PRON
bam-6164	26	16	represent	represent	VERB
bam-6164	26	17	a	a	DET
bam-6164	26	18	timeconsuming	timeconsuming	ADJ
bam-6164	26	19	and	and	CCONJ
bam-6164	26	20	difficult	difficult	ADJ
bam-6164	26	21	to	to	PART
bam-6164	26	22	reproduce	reproduce	VERB
bam-6164	26	23	task	task	NOUN
bam-6164	26	24	in	in	ADP
bam-6164	26	25	a	a	DET
bam-6164	26	26	clinical	clinical	ADJ
bam-6164	26	27	environment	environment	NOUN
bam-6164	26	28	.	.	PUNCT
bam-6164	27	1	kawato	kawato	NOUN
bam-6164	27	2	,	,	PUNCT
bam-6164	27	3	1990	1990	NUM
bam-6164	27	4	8	8	NUM
bam-6164	27	5	proposed	propose	VERB
bam-6164	27	6	the	the	DET
bam-6164	27	7	feedback	feedback	NOUN
bam-6164	27	8	feedback	feedback	NOUN
bam-6164	27	9	error	error	NOUN
bam-6164	27	10	learning	learn	VERB
bam-6164	27	11	controller	controller	NOUN
bam-6164	27	12	for	for	ADP
bam-6164	27	13	fes	fes	NOUN
bam-6164	27	14	assistance	assistance	NOUN
bam-6164	27	15	for	for	ADP
bam-6164	27	16	reaching	reach	VERB
bam-6164	27	17	rehabilitation	rehabilitation	NOUN
bam-6164	27	18	eur	eur	PROPN
bam-6164	27	19	j	j	PROPN
bam-6164	27	20	transl	transl	PROPN
bam-6164	27	21	myol	myol	NOUN
bam-6164	27	22	26	26	NUM
bam-6164	27	23	(	(	PUNCT
bam-6164	27	24	3	3	NUM
bam-6164	27	25	):	):	PUNCT
bam-6164	27	26	255	255	NUM
bam-6164	27	27	-	-	SYM
bam-6164	27	28	261	261	NUM
bam-6164	27	29	256	256	NUM
bam-6164	27	30	error	error	NOUN
bam-6164	27	31	learning	learning	NOUN
bam-6164	27	32	(	(	PUNCT
bam-6164	27	33	fel	fel	NOUN
bam-6164	27	34	)	)	PUNCT
bam-6164	27	35	scheme	scheme	NOUN
bam-6164	27	36	,	,	PUNCT
bam-6164	27	37	which	which	PRON
bam-6164	27	38	describes	describe	VERB
bam-6164	27	39	how	how	SCONJ
bam-6164	27	40	the	the	DET
bam-6164	27	41	central	central	ADJ
bam-6164	27	42	nervous	nervous	ADJ
bam-6164	27	43	system	system	NOUN
bam-6164	27	44	acquires	acquire	VERB
bam-6164	27	45	the	the	DET
bam-6164	27	46	internal	internal	ADJ
bam-6164	27	47	models	model	NOUN
bam-6164	27	48	of	of	ADP
bam-6164	27	49	the	the	DET
bam-6164	27	50	body	body	NOUN
bam-6164	27	51	.	.	PUNCT
bam-6164	28	1	in	in	ADP
bam-6164	28	2	this	this	DET
bam-6164	28	3	scheme	scheme	NOUN
bam-6164	28	4	,	,	PUNCT
bam-6164	28	5	the	the	DET
bam-6164	28	6	motor	motor	PROPN
bam-6164	28	7	control	control	PROPN
bam-6164	28	8	command	command	NOUN
bam-6164	28	9	of	of	ADP
bam-6164	28	10	a	a	DET
bam-6164	28	11	feedback	feedback	NOUN
bam-6164	28	12	control	control	NOUN
bam-6164	28	13	loop	loop	NOUN
bam-6164	28	14	is	be	AUX
bam-6164	28	15	used	use	VERB
bam-6164	28	16	to	to	PART
bam-6164	28	17	train	train	VERB
bam-6164	28	18	a	a	DET
bam-6164	28	19	feedforward	feedforward	NOUN
bam-6164	28	20	model	model	NOUN
bam-6164	28	21	that	that	PRON
bam-6164	28	22	learns	learn	VERB
bam-6164	28	23	to	to	PART
bam-6164	28	24	anticipate	anticipate	VERB
bam-6164	28	25	the	the	DET
bam-6164	28	26	motor	motor	NOUN
bam-6164	28	27	output	output	NOUN
bam-6164	28	28	command	command	NOUN
bam-6164	28	29	.	.	PUNCT
bam-6164	29	1	this	this	DET
bam-6164	29	2	approach	approach	NOUN
bam-6164	29	3	can	can	AUX
bam-6164	29	4	be	be	AUX
bam-6164	29	5	implemented	implement	VERB
bam-6164	29	6	using	use	VERB
bam-6164	29	7	a	a	DET
bam-6164	29	8	neural	neural	ADJ
bam-6164	29	9	network	network	NOUN
bam-6164	29	10	(	(	PUNCT
bam-6164	29	11	nn	nn	NOUN
bam-6164	29	12	)	)	PUNCT
bam-6164	29	13	to	to	PART
bam-6164	29	14	learn	learn	VERB
bam-6164	29	15	the	the	DET
bam-6164	29	16	inverse	inverse	NOUN
bam-6164	29	17	dynamic	dynamic	NOUN
bam-6164	29	18	of	of	ADP
bam-6164	29	19	the	the	DET
bam-6164	29	20	controlled	control	VERB
bam-6164	29	21	system	system	NOUN
bam-6164	29	22	,	,	PUNCT
bam-6164	29	23	taking	take	VERB
bam-6164	29	24	the	the	DET
bam-6164	29	25	output	output	NOUN
bam-6164	29	26	of	of	ADP
bam-6164	29	27	a	a	DET
bam-6164	29	28	conventional	conventional	ADJ
bam-6164	29	29	feedback	feedback	NOUN
bam-6164	29	30	controller	controller	NOUN
bam-6164	29	31	as	as	ADP
bam-6164	29	32	a	a	DET
bam-6164	29	33	training	training	NOUN
bam-6164	29	34	signal	signal	NOUN
bam-6164	29	35	.	.	PUNCT
bam-6164	30	1	the	the	DET
bam-6164	30	2	main	main	ADJ
bam-6164	30	3	advantage	advantage	NOUN
bam-6164	30	4	of	of	ADP
bam-6164	30	5	this	this	DET
bam-6164	30	6	strategy	strategy	NOUN
bam-6164	30	7	compared	compare	VERB
bam-6164	30	8	to	to	ADP
bam-6164	30	9	similar	similar	ADJ
bam-6164	30	10	approaches	approach	NOUN
bam-6164	30	11	(	(	PUNCT
bam-6164	30	12	e.g.	e.g.	ADV
bam-6164	30	13	ilc	ilc	PROPN
bam-6164	30	14	)	)	PUNCT
bam-6164	30	15	is	be	AUX
bam-6164	30	16	that	that	SCONJ
bam-6164	30	17	the	the	DET
bam-6164	30	18	system	system	NOUN
bam-6164	30	19	does	do	AUX
bam-6164	30	20	not	not	PART
bam-6164	30	21	require	require	VERB
bam-6164	30	22	an	an	DET
bam-6164	30	23	explicit	explicit	ADJ
bam-6164	30	24	model	model	NOUN
bam-6164	30	25	of	of	ADP
bam-6164	30	26	the	the	DET
bam-6164	30	27	controlled	control	VERB
bam-6164	30	28	system	system	NOUN
bam-6164	30	29	and	and	CCONJ
bam-6164	30	30	only	only	ADV
bam-6164	30	31	requires	require	VERB
bam-6164	30	32	a	a	DET
bam-6164	30	33	few	few	ADJ
bam-6164	30	34	parameters	parameter	NOUN
bam-6164	30	35	to	to	PART
bam-6164	30	36	work	work	VERB
bam-6164	30	37	correctly	correctly	ADV
bam-6164	30	38	.	.	PUNCT
bam-6164	31	1	this	this	DET
bam-6164	31	2	results	result	VERB
bam-6164	31	3	in	in	ADP
bam-6164	31	4	a	a	DET
bam-6164	31	5	simple	simple	ADJ
bam-6164	31	6	approach	approach	NOUN
bam-6164	31	7	that	that	PRON
bam-6164	31	8	is	be	AUX
bam-6164	31	9	easy	easy	ADJ
bam-6164	31	10	to	to	PART
bam-6164	31	11	deploy	deploy	VERB
bam-6164	31	12	in	in	ADP
bam-6164	31	13	clinical	clinical	ADJ
bam-6164	31	14	settings	setting	NOUN
bam-6164	31	15	.	.	PUNCT
bam-6164	32	1	previous	previous	ADJ
bam-6164	32	2	studies	study	NOUN
bam-6164	32	3	showed	show	VERB
bam-6164	32	4	that	that	SCONJ
bam-6164	32	5	the	the	DET
bam-6164	32	6	fel	fel	NOUN
bam-6164	32	7	scheme	scheme	NOUN
bam-6164	32	8	can	can	AUX
bam-6164	32	9	be	be	AUX
bam-6164	32	10	used	use	VERB
bam-6164	32	11	to	to	PART
bam-6164	32	12	control	control	VERB
bam-6164	32	13	the	the	DET
bam-6164	32	14	hand	hand	NOUN
bam-6164	32	15	and	and	CCONJ
bam-6164	32	16	leg	leg	NOUN
bam-6164	32	17	motion	motion	NOUN
bam-6164	32	18	with	with	ADP
bam-6164	32	19	fes	fes	NOUN
bam-6164	32	20	.	.	PUNCT
bam-6164	33	1	9–11	9–11	PROPN
bam-6164	33	2	however	however	ADV
bam-6164	33	3	,	,	PUNCT
bam-6164	33	4	this	this	DET
bam-6164	33	5	control	control	NOUN
bam-6164	33	6	strategy	strategy	NOUN
bam-6164	33	7	has	have	AUX
bam-6164	33	8	never	never	ADV
bam-6164	33	9	been	be	AUX
bam-6164	33	10	tested	test	VERB
bam-6164	33	11	in	in	ADP
bam-6164	33	12	a	a	DET
bam-6164	33	13	hybrid	hybrid	ADJ
bam-6164	33	14	system	system	NOUN
bam-6164	33	15	for	for	ADP
bam-6164	33	16	rehabilitation	rehabilitation	NOUN
bam-6164	33	17	of	of	ADP
bam-6164	33	18	reaching	reach	VERB
bam-6164	33	19	movements	movement	NOUN
bam-6164	33	20	.	.	PUNCT
bam-6164	34	1	the	the	DET
bam-6164	34	2	main	main	ADJ
bam-6164	34	3	objective	objective	NOUN
bam-6164	34	4	of	of	ADP
bam-6164	34	5	this	this	DET
bam-6164	34	6	paper	paper	NOUN
bam-6164	34	7	is	be	AUX
bam-6164	34	8	to	to	PART
bam-6164	34	9	present	present	VERB
bam-6164	34	10	the	the	DET
bam-6164	34	11	design	design	NOUN
bam-6164	34	12	and	and	CCONJ
bam-6164	34	13	the	the	DET
bam-6164	34	14	implementation	implementation	NOUN
bam-6164	34	15	of	of	ADP
bam-6164	34	16	the	the	DET
bam-6164	34	17	fel	fel	NOUN
bam-6164	34	18	controller	controller	NOUN
bam-6164	34	19	to	to	PART
bam-6164	34	20	guide	guide	VERB
bam-6164	34	21	the	the	DET
bam-6164	34	22	movement	movement	NOUN
bam-6164	34	23	of	of	ADP
bam-6164	34	24	the	the	DET
bam-6164	34	25	shoulder	shoulder	NOUN
bam-6164	34	26	and	and	CCONJ
bam-6164	34	27	elbow	elbow	VERB
bam-6164	34	28	joints	joint	NOUN
bam-6164	34	29	with	with	ADP
bam-6164	34	30	fes	fes	NOUN
bam-6164	34	31	.	.	PUNCT
bam-6164	35	1	the	the	DET
bam-6164	35	2	controller	controller	NOUN
bam-6164	35	3	is	be	AUX
bam-6164	35	4	used	use	VERB
bam-6164	35	5	in	in	ADP
bam-6164	35	6	a	a	DET
bam-6164	35	7	simple	simple	ADJ
bam-6164	35	8	hybrid	hybrid	ADJ
bam-6164	35	9	robotic	robotic	ADJ
bam-6164	35	10	system	system	NOUN
bam-6164	35	11	,	,	PUNCT
bam-6164	35	12	complementing	complement	VERB
bam-6164	35	13	the	the	DET
bam-6164	35	14	fes	fes	NOUN
bam-6164	35	15	assistance	assistance	NOUN
bam-6164	35	16	with	with	ADP
bam-6164	35	17	a	a	DET
bam-6164	35	18	passive	passive	ADJ
bam-6164	35	19	exoskeleton	exoskeleton	NOUN
bam-6164	35	20	to	to	PART
bam-6164	35	21	compensate	compensate	VERB
bam-6164	35	22	the	the	DET
bam-6164	35	23	effects	effect	NOUN
bam-6164	35	24	of	of	ADP
bam-6164	35	25	gravity	gravity	NOUN
bam-6164	35	26	.	.	PUNCT
bam-6164	36	1	material	material	NOUN
bam-6164	36	2	and	and	CCONJ
bam-6164	36	3	methods	method	NOUN
bam-6164	36	4	system	system	NOUN
bam-6164	36	5	overview	overview	NOUN
bam-6164	36	6	typically	typically	ADV
bam-6164	36	7	,	,	PUNCT
bam-6164	36	8	stroke	stroke	NOUN
bam-6164	36	9	patients	patient	NOUN
bam-6164	36	10	suffer	suffer	VERB
bam-6164	36	11	from	from	ADP
bam-6164	36	12	an	an	DET
bam-6164	36	13	over	over	ADP
bam-6164	36	14	-	-	PUNCT
bam-6164	36	15	activity	activity	NOUN
bam-6164	36	16	of	of	ADP
bam-6164	36	17	flexor	flexor	ADJ
bam-6164	36	18	muscles	muscle	NOUN
bam-6164	36	19	of	of	ADP
bam-6164	36	20	the	the	DET
bam-6164	36	21	arm	arm	NOUN
bam-6164	36	22	and	and	CCONJ
bam-6164	36	23	activity	activity	NOUN
bam-6164	36	24	loss	loss	NOUN
bam-6164	36	25	in	in	ADP
bam-6164	36	26	the	the	DET
bam-6164	36	27	triceps	tricep	NOUN
bam-6164	36	28	,	,	PUNCT
bam-6164	36	29	anterior	anterior	ADJ
bam-6164	36	30	deltoids	deltoid	NOUN
bam-6164	36	31	and	and	CCONJ
bam-6164	36	32	finger	finger	NOUN
bam-6164	36	33	extensor	extensor	NOUN
bam-6164	36	34	muscles12	muscles12	NOUN
bam-6164	36	35	.	.	PUNCT
bam-6164	37	1	this	this	PRON
bam-6164	37	2	is	be	AUX
bam-6164	37	3	why	why	SCONJ
bam-6164	37	4	the	the	DET
bam-6164	37	5	present	present	ADJ
bam-6164	37	6	system	system	NOUN
bam-6164	37	7	focuses	focus	VERB
bam-6164	37	8	on	on	ADP
bam-6164	37	9	aiding	aid	VERB
bam-6164	37	10	users	user	NOUN
bam-6164	37	11	to	to	PART
bam-6164	37	12	move	move	VERB
bam-6164	37	13	their	their	PRON
bam-6164	37	14	paretic	paretic	ADJ
bam-6164	37	15	arm	arm	NOUN
bam-6164	37	16	towards	towards	ADP
bam-6164	37	17	distal	distal	ADJ
bam-6164	37	18	directions	direction	NOUN
bam-6164	37	19	in	in	ADP
bam-6164	37	20	3d	3d	NUM
bam-6164	37	21	space	space	NOUN
bam-6164	37	22	.	.	PUNCT
bam-6164	38	1	the	the	DET
bam-6164	38	2	general	general	ADJ
bam-6164	38	3	overview	overview	NOUN
bam-6164	38	4	of	of	ADP
bam-6164	38	5	the	the	DET
bam-6164	38	6	developed	develop	VERB
bam-6164	38	7	hybrid	hybrid	ADJ
bam-6164	38	8	fig	fig	NOUN
bam-6164	38	9	1	1	NUM
bam-6164	38	10	.	.	PUNCT
bam-6164	39	1	a	a	DET
bam-6164	39	2	general	general	ADJ
bam-6164	39	3	overview	overview	NOUN
bam-6164	39	4	of	of	ADP
bam-6164	39	5	the	the	DET
bam-6164	39	6	hybrid	hybrid	ADJ
bam-6164	39	7	robotic	robotic	ADJ
bam-6164	39	8	system	system	NOUN
bam-6164	39	9	for	for	ADP
bam-6164	39	10	reaching	reach	VERB
bam-6164	39	11	rehabilitation	rehabilitation	NOUN
bam-6164	39	12	.	.	PUNCT
bam-6164	40	1	fig	fig	NOUN
bam-6164	40	2	2	2	NUM
bam-6164	40	3	.	.	PUNCT
bam-6164	40	4	a	a	PRON
bam-6164	40	5	)	)	PUNCT
bam-6164	40	6	exoskeleton	exoskeleton	ADJ
bam-6164	40	7	joint	joint	ADJ
bam-6164	40	8	axes	axis	NOUN
bam-6164	40	9	rotation	rotation	NOUN
bam-6164	40	10	;	;	PUNCT
bam-6164	40	11	b	b	X
bam-6164	40	12	)	)	PUNCT
bam-6164	40	13	human	human	ADJ
bam-6164	40	14	arm	arm	NOUN
bam-6164	40	15	joint	joint	ADJ
bam-6164	40	16	axes	axis	NOUN
bam-6164	40	17	rotation	rotation	NOUN
bam-6164	40	18	.	.	PUNCT
bam-6164	41	1	fig	fig	NOUN
bam-6164	41	2	3	3	NUM
bam-6164	41	3	.	.	PUNCT
bam-6164	42	1	functional	functional	ADJ
bam-6164	42	2	electrical	electrical	ADJ
bam-6164	42	3	stimulation	stimulation	NOUN
bam-6164	42	4	(	(	PUNCT
bam-6164	42	5	fes	fes	NOUN
bam-6164	42	6	)	)	PUNCT
bam-6164	42	7	control	control	NOUN
bam-6164	42	8	scheme	scheme	NOUN
bam-6164	42	9	.	.	PUNCT
bam-6164	43	1	block	block	NOUN
bam-6164	43	2	diagram	diagram	NOUN
bam-6164	43	3	of	of	ADP
bam-6164	43	4	the	the	DET
bam-6164	43	5	implemented	implement	VERB
bam-6164	43	6	feedback	feedback	NOUN
bam-6164	43	7	error	error	NOUN
bam-6164	43	8	learning	learn	VERB
bam-6164	43	9	controller	controller	NOUN
bam-6164	43	10	for	for	ADP
bam-6164	43	11	single	single	ADJ
bam-6164	43	12	joint	joint	NOUN
bam-6164	43	13	.	.	PUNCT
bam-6164	44	1	ør	ør	PUNCT
bam-6164	44	2	is	be	AUX
bam-6164	44	3	the	the	DET
bam-6164	44	4	reference	reference	NOUN
bam-6164	44	5	trajectory	trajectory	NOUN
bam-6164	44	6	,	,	PUNCT
bam-6164	44	7	øh	øh	X
bam-6164	44	8	is	be	AUX
bam-6164	44	9	the	the	DET
bam-6164	44	10	measured	measured	ADJ
bam-6164	44	11	joint	joint	ADJ
bam-6164	44	12	angle	angle	NOUN
bam-6164	44	13	corresponding	correspond	VERB
bam-6164	44	14	to	to	ADP
bam-6164	44	15	the	the	DET
bam-6164	44	16	anterior	anterior	ADJ
bam-6164	44	17	deltoid	deltoid	NOUN
bam-6164	44	18	or	or	CCONJ
bam-6164	44	19	triceps	triceps	NOUN
bam-6164	44	20	axes	axis	NOUN
bam-6164	44	21	,	,	PUNCT
bam-6164	44	22	tf	tf	PROPN
bam-6164	44	23	is	be	AUX
bam-6164	44	24	the	the	DET
bam-6164	44	25	torque	torque	NOUN
bam-6164	44	26	generated	generate	VERB
bam-6164	44	27	at	at	ADP
bam-6164	44	28	the	the	DET
bam-6164	44	29	musculoskeletal	musculoskeletal	ADJ
bam-6164	44	30	system	system	NOUN
bam-6164	44	31	due	due	ADP
bam-6164	44	32	to	to	ADP
bam-6164	44	33	the	the	DET
bam-6164	44	34	fes	fes	NOUN
bam-6164	44	35	,	,	PUNCT
bam-6164	44	36	th	th	X
bam-6164	44	37	is	be	AUX
bam-6164	44	38	user	user	NOUN
bam-6164	44	39	voluntary	voluntary	ADJ
bam-6164	44	40	contribution	contribution	NOUN
bam-6164	44	41	to	to	ADP
bam-6164	44	42	movement	movement	NOUN
bam-6164	44	43	and	and	CCONJ
bam-6164	44	44	tg	tg	PROPN
bam-6164	44	45	is	be	AUX
bam-6164	44	46	the	the	DET
bam-6164	44	47	contributed	contribute	VERB
bam-6164	44	48	torque	torque	NOUN
bam-6164	44	49	for	for	ADP
bam-6164	44	50	arm	arm	NOUN
bam-6164	44	51	weight	weight	NOUN
bam-6164	44	52	compensation	compensation	NOUN
bam-6164	44	53	.	.	PUNCT
bam-6164	45	1	feedback	feedback	NOUN
bam-6164	45	2	error	error	NOUN
bam-6164	45	3	learning	learn	VERB
bam-6164	45	4	controller	controller	NOUN
bam-6164	45	5	for	for	ADP
bam-6164	45	6	fes	fes	NOUN
bam-6164	45	7	assistance	assistance	NOUN
bam-6164	45	8	for	for	ADP
bam-6164	45	9	reaching	reach	VERB
bam-6164	45	10	rehabilitation	rehabilitation	NOUN
bam-6164	45	11	eur	eur	PROPN
bam-6164	45	12	j	j	PROPN
bam-6164	45	13	transl	transl	PROPN
bam-6164	45	14	myol	myol	NOUN
bam-6164	45	15	26	26	NUM
bam-6164	45	16	(	(	PUNCT
bam-6164	45	17	3	3	NUM
bam-6164	45	18	):	):	PUNCT
bam-6164	45	19	255	255	NUM
bam-6164	45	20	-	-	SYM
bam-6164	45	21	261	261	NUM
bam-6164	45	22	257	257	NUM
bam-6164	45	23	rehabilitation	rehabilitation	NOUN
bam-6164	45	24	system	system	NOUN
bam-6164	45	25	is	be	AUX
bam-6164	45	26	shown	show	VERB
bam-6164	45	27	in	in	ADP
bam-6164	45	28	figure	figure	NOUN
bam-6164	45	29	1	1	NUM
bam-6164	45	30	.	.	PUNCT
bam-6164	46	1	the	the	DET
bam-6164	46	2	principal	principal	ADJ
bam-6164	46	3	components	component	NOUN
bam-6164	46	4	of	of	ADP
bam-6164	46	5	the	the	DET
bam-6164	46	6	system	system	NOUN
bam-6164	46	7	are	be	AUX
bam-6164	46	8	the	the	DET
bam-6164	46	9	assistive	assistive	ADJ
bam-6164	46	10	devices	device	NOUN
bam-6164	46	11	(	(	PUNCT
bam-6164	46	12	upper	upper	ADJ
bam-6164	46	13	limb	limb	NOUN
bam-6164	46	14	exoskeleton	exoskeleton	NOUN
bam-6164	46	15	and	and	CCONJ
bam-6164	46	16	fes	fes	NOUN
bam-6164	46	17	device	device	NOUN
bam-6164	46	18	)	)	PUNCT
bam-6164	46	19	,	,	PUNCT
bam-6164	46	20	the	the	DET
bam-6164	46	21	highlevel	highlevel	ADJ
bam-6164	46	22	controller	controller	NOUN
bam-6164	46	23	(	(	PUNCT
bam-6164	46	24	hlc	hlc	NOUN
bam-6164	46	25	)	)	PUNCT
bam-6164	46	26	and	and	CCONJ
bam-6164	46	27	the	the	DET
bam-6164	46	28	configuration	configuration	NOUN
bam-6164	46	29	interface	interface	NOUN
bam-6164	46	30	.	.	PUNCT
bam-6164	47	1	the	the	DET
bam-6164	47	2	hybrid	hybrid	ADJ
bam-6164	47	3	assistance	assistance	NOUN
bam-6164	47	4	is	be	AUX
bam-6164	47	5	given	give	VERB
bam-6164	47	6	by	by	ADP
bam-6164	47	7	the	the	DET
bam-6164	47	8	upper	upper	ADJ
bam-6164	47	9	limb	limb	NOUN
bam-6164	47	10	exoskeleton	exoskeleton	NOUN
bam-6164	47	11	,	,	PUNCT
bam-6164	47	12	armeo	armeo	VERB
bam-6164	47	13	spring	spring	NOUN
bam-6164	47	14	®	®	NOUN
bam-6164	47	15	(	(	PUNCT
bam-6164	47	16	hocoma	hocoma	PROPN
bam-6164	47	17	,	,	PUNCT
bam-6164	47	18	switzerland	switzerland	PROPN
bam-6164	47	19	)	)	PUNCT
bam-6164	47	20	,	,	PUNCT
bam-6164	47	21	and	and	CCONJ
bam-6164	47	22	the	the	DET
bam-6164	47	23	intfes	intfes	NOUN
bam-6164	47	24	stimulator	stimulator	NOUN
bam-6164	47	25	(	(	PUNCT
bam-6164	47	26	technalia	technalia	PROPN
bam-6164	47	27	,	,	PUNCT
bam-6164	47	28	spain	spain	PROPN
bam-6164	47	29	)	)	PUNCT
bam-6164	47	30	.	.	PUNCT
bam-6164	48	1	the	the	DET
bam-6164	48	2	stimulator	stimulator	NOUN
bam-6164	48	3	generates	generate	VERB
bam-6164	48	4	biphasic	biphasic	ADJ
bam-6164	48	5	electrical	electrical	ADJ
bam-6164	48	6	pulses	pulse	NOUN
bam-6164	48	7	and	and	CCONJ
bam-6164	48	8	allows	allow	VERB
bam-6164	48	9	stimulating	stimulate	VERB
bam-6164	48	10	in	in	ADP
bam-6164	48	11	a	a	DET
bam-6164	48	12	frequency	frequency	NOUN
bam-6164	48	13	range	range	NOUN
bam-6164	48	14	from	from	ADP
bam-6164	48	15	1	1	NUM
bam-6164	48	16	to	to	PART
bam-6164	48	17	400	400	NUM
bam-6164	48	18	hz	hz	VERB
bam-6164	48	19	,	,	PUNCT
bam-6164	48	20	with	with	ADP
bam-6164	48	21	pulse	pulse	NOUN
bam-6164	48	22	amplitudes	amplitude	NOUN
bam-6164	48	23	from	from	ADP
bam-6164	48	24	1	1	NUM
bam-6164	48	25	to	to	ADP
bam-6164	48	26	50	50	NUM
bam-6164	48	27	ma	ma	NOUN
bam-6164	48	28	and	and	CCONJ
bam-6164	48	29	pulse	pulse	NOUN
bam-6164	48	30	widths	width	NOUN
bam-6164	48	31	from	from	ADP
bam-6164	48	32	50	50	NUM
bam-6164	48	33	to	to	ADP
bam-6164	48	34	1000	1000	NUM
bam-6164	48	35	us	we	PRON
bam-6164	48	36	.	.	PUNCT
bam-6164	49	1	the	the	DET
bam-6164	49	2	hlc	hlc	NOUN
bam-6164	49	3	is	be	AUX
bam-6164	49	4	implemented	implement	VERB
bam-6164	49	5	in	in	ADP
bam-6164	49	6	a	a	DET
bam-6164	49	7	pc104	pc104	NOUN
bam-6164	49	8	architecture	architecture	NOUN
bam-6164	49	9	running	run	VERB
bam-6164	49	10	under	under	ADP
bam-6164	49	11	the	the	DET
bam-6164	49	12	xpc	xpc	PROPN
bam-6164	49	13	target	target	NOUN
bam-6164	49	14	®	®	NOUN
bam-6164	49	15	operating	operating	NOUN
bam-6164	49	16	system	system	NOUN
bam-6164	49	17	(	(	PUNCT
bam-6164	49	18	the	the	DET
bam-6164	49	19	mathworks	mathworks	PROPN
bam-6164	49	20	inc	inc	PROPN
bam-6164	49	21	.	.	PROPN
bam-6164	49	22	)	)	PUNCT
bam-6164	50	1	for	for	ADP
bam-6164	50	2	real	real	ADJ
bam-6164	50	3	-	-	PUNCT
bam-6164	50	4	time	time	NOUN
bam-6164	50	5	operation	operation	NOUN
bam-6164	50	6	.	.	PUNCT
bam-6164	51	1	this	this	DET
bam-6164	51	2	component	component	NOUN
bam-6164	51	3	estimates	estimate	VERB
bam-6164	51	4	the	the	DET
bam-6164	51	5	arm	arm	NOUN
bam-6164	51	6	joint	joint	ADJ
bam-6164	51	7	location	location	NOUN
bam-6164	51	8	,	,	PUNCT
bam-6164	51	9	generates	generate	VERB
bam-6164	51	10	the	the	DET
bam-6164	51	11	reference	reference	NOUN
bam-6164	51	12	trajectory	trajectory	NOUN
bam-6164	51	13	and	and	CCONJ
bam-6164	51	14	executes	execute	VERB
bam-6164	51	15	the	the	DET
bam-6164	51	16	fes	fes	NOUN
bam-6164	51	17	control	control	NOUN
bam-6164	51	18	algorithm	algorithm	NOUN
bam-6164	51	19	.	.	PUNCT
bam-6164	52	1	finally	finally	ADV
bam-6164	52	2	,	,	PUNCT
bam-6164	52	3	a	a	DET
bam-6164	52	4	dedicated	dedicated	ADJ
bam-6164	52	5	computer	computer	NOUN
bam-6164	52	6	acquires	acquire	VERB
bam-6164	52	7	the	the	DET
bam-6164	52	8	joint	joint	ADJ
bam-6164	52	9	angles	angle	NOUN
bam-6164	52	10	of	of	ADP
bam-6164	52	11	the	the	DET
bam-6164	52	12	exoskeleton	exoskeleton	NOUN
bam-6164	52	13	and	and	CCONJ
bam-6164	52	14	it	it	PRON
bam-6164	52	15	sends	send	VERB
bam-6164	52	16	this	this	DET
bam-6164	52	17	information	information	NOUN
bam-6164	52	18	to	to	ADP
bam-6164	52	19	the	the	DET
bam-6164	52	20	hlc	hlc	NOUN
bam-6164	52	21	.	.	PUNCT
bam-6164	53	1	also	also	ADV
bam-6164	53	2	,	,	PUNCT
bam-6164	53	3	it	it	PRON
bam-6164	53	4	allows	allow	VERB
bam-6164	53	5	the	the	DET
bam-6164	53	6	configuration	configuration	NOUN
bam-6164	53	7	of	of	ADP
bam-6164	53	8	the	the	DET
bam-6164	53	9	therapy	therapy	NOUN
bam-6164	53	10	parameters	parameter	NOUN
bam-6164	53	11	(	(	PUNCT
bam-6164	53	12	e.g.	e.g.	ADV
bam-6164	53	13	,	,	PUNCT
bam-6164	53	14	maximum	maximum	ADJ
bam-6164	53	15	fes	fes	NOUN
bam-6164	53	16	intensity	intensity	NOUN
bam-6164	53	17	,	,	PUNCT
bam-6164	53	18	range	range	NOUN
bam-6164	53	19	of	of	ADP
bam-6164	53	20	movement	movement	NOUN
bam-6164	53	21	,	,	PUNCT
bam-6164	53	22	arm	arm	PROPN
bam-6164	53	23	trained	train	VERB
bam-6164	53	24	,	,	PUNCT
bam-6164	53	25	etc	etc	X
bam-6164	53	26	.	.	X
bam-6164	53	27	)	)	PUNCT
bam-6164	53	28	.	.	PUNCT
bam-6164	54	1	fes	fes	NOUN
bam-6164	54	2	controller	controller	PROPN
bam-6164	54	3	human	human	ADJ
bam-6164	54	4	arm	arm	NOUN
bam-6164	54	5	we	we	PRON
bam-6164	54	6	approximated	approximate	VERB
bam-6164	54	7	the	the	DET
bam-6164	54	8	position	position	NOUN
bam-6164	54	9	of	of	ADP
bam-6164	54	10	the	the	DET
bam-6164	54	11	human	human	ADJ
bam-6164	54	12	arm	arm	NOUN
bam-6164	54	13	joints	joint	NOUN
bam-6164	54	14	using	use	VERB
bam-6164	54	15	the	the	DET
bam-6164	54	16	rotation	rotation	NOUN
bam-6164	54	17	axes	axis	NOUN
bam-6164	54	18	of	of	ADP
bam-6164	54	19	position	position	NOUN
bam-6164	54	20	transducers	transducer	NOUN
bam-6164	54	21	embedded	embed	VERB
bam-6164	54	22	in	in	ADP
bam-6164	54	23	the	the	DET
bam-6164	54	24	exoskeleton	exoskeleton	NOUN
bam-6164	54	25	by	by	ADP
bam-6164	54	26	considering	consider	VERB
bam-6164	54	27	several	several	ADJ
bam-6164	54	28	assumptions	assumption	NOUN
bam-6164	54	29	.	.	PUNCT
bam-6164	55	1	first	first	ADV
bam-6164	55	2	,	,	PUNCT
bam-6164	55	3	we	we	PRON
bam-6164	55	4	assumed	assume	VERB
bam-6164	55	5	a	a	DET
bam-6164	55	6	parallel	parallel	ADJ
bam-6164	55	7	arrangement	arrangement	NOUN
bam-6164	55	8	of	of	ADP
bam-6164	55	9	the	the	DET
bam-6164	55	10	human	human	ADJ
bam-6164	55	11	arm	arm	NOUN
bam-6164	55	12	with	with	ADP
bam-6164	55	13	the	the	DET
bam-6164	55	14	exoskeleton	exoskeleton	PROPN
bam-6164	55	15	(	(	PUNCT
bam-6164	55	16	figure	figure	NOUN
bam-6164	55	17	2a	2a	NUM
bam-6164	55	18	)	)	PUNCT
bam-6164	55	19	.	.	PUNCT
bam-6164	56	1	second	second	ADJ
bam-6164	56	2	,	,	PUNCT
bam-6164	56	3	we	we	PRON
bam-6164	56	4	assumed	assume	VERB
bam-6164	56	5	that	that	SCONJ
bam-6164	56	6	stimulation	stimulation	NOUN
bam-6164	56	7	of	of	ADP
bam-6164	56	8	the	the	DET
bam-6164	56	9	triceps	triceps	NOUN
bam-6164	56	10	produces	produce	VERB
bam-6164	56	11	a	a	DET
bam-6164	56	12	moment	moment	NOUN
bam-6164	56	13	about	about	ADP
bam-6164	56	14	an	an	DET
bam-6164	56	15	axis	axis	ADJ
bam-6164	56	16	orthogonal	orthogonal	NOUN
bam-6164	56	17	to	to	ADP
bam-6164	56	18	both	both	CCONJ
bam-6164	56	19	the	the	DET
bam-6164	56	20	forearm	forearm	NOUN
bam-6164	56	21	and	and	CCONJ
bam-6164	56	22	the	the	DET
bam-6164	56	23	upper	upper	ADJ
bam-6164	56	24	arm	arm	NOUN
bam-6164	56	25	and	and	CCONJ
bam-6164	56	26	stimulation	stimulation	NOUN
bam-6164	56	27	of	of	ADP
bam-6164	56	28	the	the	DET
bam-6164	56	29	anterior	anterior	ADJ
bam-6164	56	30	deltoids	deltoid	NOUN
bam-6164	56	31	produces	produce	VERB
bam-6164	56	32	a	a	DET
bam-6164	56	33	moment	moment	NOUN
bam-6164	56	34	about	about	ADP
bam-6164	56	35	an	an	DET
bam-6164	56	36	axis	axis	NOUN
bam-6164	56	37	fixed	fix	VERB
bam-6164	56	38	with	with	ADP
bam-6164	56	39	respect	respect	NOUN
bam-6164	56	40	to	to	ADP
bam-6164	56	41	the	the	DET
bam-6164	56	42	shoulder	shoulder	NOUN
bam-6164	56	43	.	.	PUNCT
bam-6164	57	1	therefore	therefore	ADV
bam-6164	57	2	,	,	PUNCT
bam-6164	57	3	the	the	DET
bam-6164	57	4	same	same	ADJ
bam-6164	57	5	objective	objective	ADJ
bam-6164	57	6	transformation	transformation	NOUN
bam-6164	57	7	as	as	SCONJ
bam-6164	57	8	the	the	DET
bam-6164	57	9	one	one	NOUN
bam-6164	57	10	used	use	VERB
bam-6164	57	11	in	in	ADP
bam-6164	57	12	12,13	12,13	NUM
bam-6164	57	13	was	be	AUX
bam-6164	57	14	implemented	implement	VERB
bam-6164	57	15	to	to	PART
bam-6164	57	16	determine	determine	VERB
bam-6164	57	17	the	the	DET
bam-6164	57	18	arm	arm	NOUN
bam-6164	57	19	axes	axis	NOUN
bam-6164	57	20	(	(	PUNCT
bam-6164	57	21	shoulder	shoulder	NOUN
bam-6164	57	22	and	and	CCONJ
bam-6164	57	23	elbow	elbow	VERB
bam-6164	57	24	)	)	PUNCT
bam-6164	57	25	and	and	CCONJ
bam-6164	57	26	define	define	VERB
bam-6164	57	27	their	their	PRON
bam-6164	57	28	positions	position	NOUN
bam-6164	57	29	given	give	VERB
bam-6164	57	30	by	by	ADP
bam-6164	57	31	the	the	DET
bam-6164	57	32	vector	vector	NOUN
bam-6164	57	33	ø	ø	NOUN
bam-6164	57	34	=	=	PUNCT
bam-6164	58	1	[	[	X
bam-6164	58	2	ø1	ø1	X
bam-6164	58	3	,	,	PUNCT
bam-6164	58	4	ø2	ø2	NOUN
bam-6164	58	5	,	,	PUNCT
bam-6164	58	6	ø3	ø3	NOUN
bam-6164	58	7	,	,	PUNCT
bam-6164	58	8	ø4	ø4	NOUN
bam-6164	58	9	,	,	PUNCT
bam-6164	58	10	ø5	ø5	VERB
bam-6164	58	11	]	]	PUNCT
bam-6164	58	12	(	(	PUNCT
bam-6164	58	13	see	see	VERB
bam-6164	58	14	figure	figure	NOUN
bam-6164	58	15	2b	2b	NOUN
bam-6164	58	16	)	)	PUNCT
bam-6164	58	17	.	.	PUNCT
bam-6164	59	1	feedback	feedback	NOUN
bam-6164	59	2	error	error	NOUN
bam-6164	59	3	learning	learn	VERB
bam-6164	59	4	based	base	VERB
bam-6164	59	5	controller	controller	NOUN
bam-6164	59	6	we	we	PRON
bam-6164	59	7	considered	consider	VERB
bam-6164	59	8	that	that	SCONJ
bam-6164	59	9	the	the	DET
bam-6164	59	10	controlled	control	VERB
bam-6164	59	11	system	system	NOUN
bam-6164	59	12	is	be	AUX
bam-6164	59	13	composed	compose	VERB
bam-6164	59	14	of	of	ADP
bam-6164	59	15	two	two	NUM
bam-6164	59	16	single	single	ADJ
bam-6164	59	17	-	-	PUNCT
bam-6164	59	18	input	input	NOUN
bam-6164	59	19	,	,	PUNCT
bam-6164	59	20	single	single	ADJ
bam-6164	59	21	-	-	PUNCT
bam-6164	59	22	output	output	NOUN
bam-6164	59	23	(	(	PUNCT
bam-6164	59	24	siso	siso	NOUN
bam-6164	59	25	)	)	PUNCT
bam-6164	59	26	system	system	NOUN
bam-6164	59	27	.	.	PUNCT
bam-6164	60	1	thus	thus	ADV
bam-6164	60	2	,	,	PUNCT
bam-6164	60	3	the	the	DET
bam-6164	60	4	movement	movement	NOUN
bam-6164	60	5	of	of	ADP
bam-6164	60	6	the	the	DET
bam-6164	60	7	forearm	forearm	NOUN
bam-6164	60	8	and	and	CCONJ
bam-6164	60	9	upper	upper	ADJ
bam-6164	60	10	arm	arm	NOUN
bam-6164	60	11	are	be	AUX
bam-6164	60	12	independent	independent	ADJ
bam-6164	60	13	of	of	ADP
bam-6164	60	14	each	each	DET
bam-6164	60	15	other	other	ADJ
bam-6164	60	16	.	.	PUNCT
bam-6164	61	1	this	this	DET
bam-6164	61	2	consideration	consideration	NOUN
bam-6164	61	3	allows	allow	VERB
bam-6164	61	4	us	we	PRON
bam-6164	61	5	to	to	PART
bam-6164	61	6	implement	implement	VERB
bam-6164	61	7	two	two	NUM
bam-6164	61	8	independent	independent	ADJ
bam-6164	61	9	fel	fel	NOUN
bam-6164	61	10	controllers	controller	NOUN
bam-6164	61	11	,	,	PUNCT
bam-6164	61	12	one	one	NUM
bam-6164	61	13	for	for	ADP
bam-6164	61	14	each	each	DET
bam-6164	61	15	joint	joint	NOUN
bam-6164	61	16	.	.	PUNCT
bam-6164	62	1	each	each	DET
bam-6164	62	2	controller	controller	NOUN
bam-6164	62	3	consisted	consist	VERB
bam-6164	62	4	of	of	ADP
bam-6164	62	5	a	a	DET
bam-6164	62	6	proportionalintegral	proportionalintegral	ADJ
bam-6164	62	7	-	-	PUNCT
bam-6164	62	8	derivative	derivative	NOUN
bam-6164	62	9	(	(	PUNCT
bam-6164	62	10	pid	pid	NOUN
bam-6164	62	11	)	)	PUNCT
bam-6164	62	12	feedback	feedback	NOUN
bam-6164	62	13	controller	controller	NOUN
bam-6164	62	14	combined	combine	VERB
bam-6164	62	15	with	with	ADP
bam-6164	62	16	feedforward	feedforward	NOUN
bam-6164	62	17	control	control	NOUN
bam-6164	62	18	based	base	VERB
bam-6164	62	19	on	on	ADP
bam-6164	62	20	a	a	DET
bam-6164	62	21	neural	neural	ADJ
bam-6164	62	22	network	network	NOUN
bam-6164	62	23	(	(	PUNCT
bam-6164	62	24	nn	nn	PROPN
bam-6164	62	25	)	)	PUNCT
bam-6164	62	26	,	,	PUNCT
bam-6164	62	27	as	as	SCONJ
bam-6164	62	28	shown	show	VERB
bam-6164	62	29	in	in	ADP
bam-6164	62	30	figure	figure	NOUN
bam-6164	62	31	3	3	NUM
bam-6164	62	32	.	.	PUNCT
bam-6164	63	1	the	the	DET
bam-6164	63	2	controlled	control	VERB
bam-6164	63	3	system	system	NOUN
bam-6164	63	4	was	be	AUX
bam-6164	63	5	underactuated	underactuate	VERB
bam-6164	63	6	since	since	SCONJ
bam-6164	63	7	the	the	DET
bam-6164	63	8	assistance	assistance	NOUN
bam-6164	63	9	was	be	AUX
bam-6164	63	10	applied	apply	VERB
bam-6164	63	11	only	only	ADV
bam-6164	63	12	at	at	ADP
bam-6164	63	13	the	the	DET
bam-6164	63	14	ø2	ø2	NOUN
bam-6164	63	15	and	and	CCONJ
bam-6164	63	16	ø5	ø5	NOUN
bam-6164	63	17	axes	axis	NOUN
bam-6164	63	18	.	.	PUNCT
bam-6164	64	1	as	as	SCONJ
bam-6164	64	2	was	be	AUX
bam-6164	64	3	stated	state	VERB
bam-6164	64	4	in	in	ADP
bam-6164	64	5	12,13	12,13	NUM
bam-6164	64	6	,	,	PUNCT
bam-6164	64	7	the	the	DET
bam-6164	64	8	freedom	freedom	NOUN
bam-6164	64	9	of	of	ADP
bam-6164	64	10	movement	movement	NOUN
bam-6164	64	11	in	in	ADP
bam-6164	64	12	the	the	DET
bam-6164	64	13	remaining	remain	VERB
bam-6164	64	14	joints	joint	NOUN
bam-6164	64	15	(	(	PUNCT
bam-6164	64	16	ø1	ø1	PROPN
bam-6164	64	17	,	,	PUNCT
bam-6164	64	18	ø3	ø3	NOUN
bam-6164	64	19	,	,	PUNCT
bam-6164	64	20	and	and	CCONJ
bam-6164	64	21	ø4	ø4	PROPN
bam-6164	64	22	)	)	PUNCT
bam-6164	64	23	yields	yield	VERB
bam-6164	64	24	a	a	DET
bam-6164	64	25	more	more	ADV
bam-6164	64	26	natural	natural	ADJ
bam-6164	64	27	movement	movement	NOUN
bam-6164	64	28	response	response	NOUN
bam-6164	64	29	.	.	PUNCT
bam-6164	65	1	the	the	DET
bam-6164	65	2	input	input	NOUN
bam-6164	65	3	for	for	ADP
bam-6164	65	4	the	the	DET
bam-6164	65	5	feedback	feedback	NOUN
bam-6164	65	6	loop	loop	NOUN
bam-6164	65	7	was	be	AUX
bam-6164	65	8	the	the	DET
bam-6164	65	9	desired	desire	VERB
bam-6164	65	10	position	position	NOUN
bam-6164	65	11	profile	profile	NOUN
bam-6164	65	12	while	while	SCONJ
bam-6164	65	13	the	the	DET
bam-6164	65	14	input	input	NOUN
bam-6164	65	15	for	for	ADP
bam-6164	65	16	the	the	DET
bam-6164	65	17	feedforward	feedforward	NOUN
bam-6164	65	18	loop	loop	NOUN
bam-6164	65	19	was	be	AUX
bam-6164	65	20	the	the	DET
bam-6164	65	21	desired	desire	VERB
bam-6164	65	22	position	position	NOUN
bam-6164	65	23	,	,	PUNCT
bam-6164	65	24	velocity	velocity	NOUN
bam-6164	65	25	and	and	CCONJ
bam-6164	65	26	acceleration	acceleration	NOUN
bam-6164	65	27	profiles	profile	NOUN
bam-6164	65	28	.	.	PUNCT
bam-6164	66	1	positive	positive	ADJ
bam-6164	66	2	output	output	NOUN
bam-6164	66	3	values	value	NOUN
bam-6164	66	4	of	of	ADP
bam-6164	66	5	the	the	DET
bam-6164	66	6	controller	controller	NOUN
bam-6164	66	7	generated	generate	VERB
bam-6164	66	8	muscle	muscle	NOUN
bam-6164	66	9	motor	motor	NOUN
bam-6164	66	10	unit	unit	NOUN
bam-6164	66	11	activations	activation	NOUN
bam-6164	66	12	while	while	SCONJ
bam-6164	66	13	negative	negative	ADJ
bam-6164	66	14	values	value	NOUN
bam-6164	66	15	were	be	AUX
bam-6164	66	16	ineffective	ineffective	ADJ
bam-6164	66	17	and	and	CCONJ
bam-6164	66	18	could	could	AUX
bam-6164	66	19	lead	lead	VERB
bam-6164	66	20	to	to	AUX
bam-6164	66	21	windup	windup	VERB
bam-6164	66	22	the	the	DET
bam-6164	66	23	integral	integral	ADJ
bam-6164	66	24	term	term	NOUN
bam-6164	66	25	of	of	ADP
bam-6164	66	26	the	the	DET
bam-6164	66	27	feedback	feedback	NOUN
bam-6164	66	28	controller	controller	NOUN
bam-6164	66	29	.	.	PUNCT
bam-6164	67	1	however	however	ADV
bam-6164	67	2	,	,	PUNCT
bam-6164	67	3	negative	negative	ADJ
bam-6164	67	4	values	value	NOUN
bam-6164	67	5	were	be	AUX
bam-6164	67	6	required	require	VERB
bam-6164	67	7	for	for	SCONJ
bam-6164	67	8	the	the	DET
bam-6164	67	9	fel	fel	NOUN
bam-6164	67	10	to	to	PART
bam-6164	67	11	learn	learn	VERB
bam-6164	67	12	.	.	PUNCT
bam-6164	68	1	therefore	therefore	ADV
bam-6164	68	2	,	,	PUNCT
bam-6164	68	3	we	we	PRON
bam-6164	68	4	implemented	implement	VERB
bam-6164	68	5	a	a	DET
bam-6164	68	6	delimiter	delimiter	NOUN
bam-6164	68	7	that	that	PRON
bam-6164	68	8	prevented	prevent	VERB
bam-6164	68	9	the	the	DET
bam-6164	68	10	integral	integral	ADJ
bam-6164	68	11	fig	fig	NOUN
bam-6164	68	12	4	4	NUM
bam-6164	68	13	.	.	PUNCT
bam-6164	68	14	evolution	evolution	NOUN
bam-6164	68	15	of	of	ADP
bam-6164	68	16	the	the	DET
bam-6164	68	17	power	power	NOUN
bam-6164	68	18	ratio	ratio	NOUN
bam-6164	68	19	(	(	PUNCT
bam-6164	68	20	pr	pr	NOUN
bam-6164	68	21	)	)	PUNCT
bam-6164	68	22	for	for	ADP
bam-6164	68	23	the	the	DET
bam-6164	68	24	control	control	NOUN
bam-6164	68	25	action	action	NOUN
bam-6164	68	26	of	of	ADP
bam-6164	68	27	the	the	DET
bam-6164	68	28	feedback	feedback	NOUN
bam-6164	68	29	(	(	PUNCT
bam-6164	68	30	ufb	ufb	NOUN
bam-6164	68	31	)	)	PUNCT
bam-6164	68	32	and	and	CCONJ
bam-6164	68	33	feedforward	feedforward	NOUN
bam-6164	68	34	controllers	controller	NOUN
bam-6164	68	35	(	(	PUNCT
bam-6164	68	36	uff	uff	PROPN
bam-6164	68	37	)	)	PUNCT
bam-6164	68	38	.	.	PUNCT
bam-6164	69	1	the	the	DET
bam-6164	69	2	left	left	ADJ
bam-6164	69	3	plot	plot	NOUN
bam-6164	69	4	illustrates	illustrate	VERB
bam-6164	69	5	the	the	DET
bam-6164	69	6	pr	pr	NOUN
bam-6164	69	7	index	index	NOUN
bam-6164	69	8	at	at	ADP
bam-6164	69	9	the	the	DET
bam-6164	69	10	shoulder	shoulder	NOUN
bam-6164	69	11	joint	joint	NOUN
bam-6164	69	12	(	(	PUNCT
bam-6164	69	13	ø2	ø2	NOUN
bam-6164	69	14	)	)	PUNCT
bam-6164	69	15	while	while	SCONJ
bam-6164	69	16	the	the	DET
bam-6164	69	17	right	right	NOUN
bam-6164	69	18	represents	represent	VERB
bam-6164	69	19	the	the	DET
bam-6164	69	20	result	result	NOUN
bam-6164	69	21	for	for	ADP
bam-6164	69	22	the	the	DET
bam-6164	69	23	elbow	elbow	NOUN
bam-6164	69	24	joint	joint	NOUN
bam-6164	69	25	(	(	PUNCT
bam-6164	69	26	ø5	ø5	NOUN
bam-6164	69	27	)	)	PUNCT
bam-6164	69	28	feedback	feedback	NOUN
bam-6164	69	29	error	error	NOUN
bam-6164	69	30	learning	learn	VERB
bam-6164	69	31	controller	controller	NOUN
bam-6164	69	32	for	for	ADP
bam-6164	69	33	fes	fes	NOUN
bam-6164	69	34	assistance	assistance	NOUN
bam-6164	69	35	for	for	ADP
bam-6164	69	36	reaching	reach	VERB
bam-6164	69	37	rehabilitation	rehabilitation	NOUN
bam-6164	69	38	eur	eur	PROPN
bam-6164	69	39	j	j	PROPN
bam-6164	69	40	transl	transl	PROPN
bam-6164	69	41	myol	myol	NOUN
bam-6164	69	42	26	26	NUM
bam-6164	69	43	(	(	PUNCT
bam-6164	69	44	3	3	NUM
bam-6164	69	45	):	):	PUNCT
bam-6164	69	46	255	255	NUM
bam-6164	69	47	-	-	SYM
bam-6164	69	48	261	261	NUM
bam-6164	69	49	258	258	NUM
bam-6164	69	50	windup	windup	NOUN
bam-6164	69	51	.	.	PUNCT
bam-6164	70	1	the	the	DET
bam-6164	70	2	pid	pid	NOUN
bam-6164	70	3	constant	constant	ADJ
bam-6164	70	4	parameters	parameter	NOUN
bam-6164	70	5	were	be	AUX
bam-6164	70	6	adjusted	adjust	VERB
bam-6164	70	7	using	use	VERB
bam-6164	70	8	the	the	DET
bam-6164	70	9	ziegler	ziegler	NOUN
bam-6164	70	10	and	and	CCONJ
bam-6164	70	11	nichols	nichols	PROPN
bam-6164	70	12	method	method	PROPN
bam-6164	70	13	,	,	PUNCT
bam-6164	70	14	taking	take	VERB
bam-6164	70	15	the	the	DET
bam-6164	70	16	average	average	ADJ
bam-6164	70	17	movement	movement	NOUN
bam-6164	70	18	responses	response	NOUN
bam-6164	70	19	in	in	ADP
bam-6164	70	20	healthy	healthy	ADJ
bam-6164	70	21	subjects	subject	NOUN
bam-6164	70	22	.	.	PUNCT
bam-6164	71	1	feedforward	feedforward	NOUN
bam-6164	71	2	learning	learn	VERB
bam-6164	71	3	controller	controller	NOUN
bam-6164	71	4	the	the	DET
bam-6164	71	5	implemented	implement	VERB
bam-6164	71	6	feedforward	feedforward	NOUN
bam-6164	71	7	loop	loop	NOUN
bam-6164	71	8	of	of	ADP
bam-6164	71	9	the	the	DET
bam-6164	71	10	fel	fel	NOUN
bam-6164	71	11	controller	controller	NOUN
bam-6164	71	12	learned	learn	VERB
bam-6164	71	13	the	the	DET
bam-6164	71	14	nonlinear	nonlinear	ADJ
bam-6164	71	15	inverse	inverse	NOUN
bam-6164	71	16	dynamic	dynamic	NOUN
bam-6164	71	17	of	of	ADP
bam-6164	71	18	the	the	DET
bam-6164	71	19	musculoskeletal	musculoskeletal	ADJ
bam-6164	71	20	system	system	NOUN
bam-6164	71	21	by	by	ADP
bam-6164	71	22	receiving	receive	VERB
bam-6164	71	23	as	as	ADP
bam-6164	71	24	input	input	NOUN
bam-6164	71	25	the	the	DET
bam-6164	71	26	desired	desire	VERB
bam-6164	71	27	kinematic	kinematic	NOUN
bam-6164	71	28	profile	profile	NOUN
bam-6164	71	29	and	and	CCONJ
bam-6164	71	30	using	use	VERB
bam-6164	71	31	the	the	DET
bam-6164	71	32	output	output	NOUN
bam-6164	71	33	of	of	ADP
bam-6164	71	34	the	the	DET
bam-6164	71	35	feedback	feedback	NOUN
bam-6164	71	36	loop	loop	NOUN
bam-6164	71	37	as	as	ADP
bam-6164	71	38	the	the	DET
bam-6164	71	39	correction	correction	NOUN
bam-6164	71	40	parameter	parameter	NOUN
bam-6164	71	41	8	8	NUM
bam-6164	71	42	.	.	PUNCT
bam-6164	72	1	this	this	DET
bam-6164	72	2	learning	learning	NOUN
bam-6164	72	3	process	process	NOUN
bam-6164	72	4	was	be	AUX
bam-6164	72	5	kept	keep	VERB
bam-6164	72	6	along	along	ADP
bam-6164	72	7	the	the	DET
bam-6164	72	8	execution	execution	NOUN
bam-6164	72	9	of	of	ADP
bam-6164	72	10	each	each	DET
bam-6164	72	11	movement	movement	NOUN
bam-6164	72	12	and	and	CCONJ
bam-6164	72	13	the	the	DET
bam-6164	72	14	output	output	NOUN
bam-6164	72	15	of	of	ADP
bam-6164	72	16	the	the	DET
bam-6164	72	17	feedback	feedback	NOUN
bam-6164	72	18	loop	loop	NOUN
bam-6164	72	19	tended	tend	VERB
bam-6164	72	20	to	to	ADP
bam-6164	72	21	zero	zero	NUM
bam-6164	72	22	as	as	SCONJ
bam-6164	72	23	the	the	DET
bam-6164	72	24	learning	learning	NOUN
bam-6164	72	25	proceeds	proceed	NOUN
bam-6164	72	26	evolved	evolve	VERB
bam-6164	72	27	.	.	PUNCT
bam-6164	73	1	the	the	DET
bam-6164	73	2	nn	nn	PROPN
bam-6164	73	3	was	be	AUX
bam-6164	73	4	defined	define	VERB
bam-6164	73	5	as	as	ADP
bam-6164	73	6	a	a	DET
bam-6164	73	7	three	three	NUM
bam-6164	73	8	-	-	PUNCT
bam-6164	73	9	layer	layer	NOUN
bam-6164	73	10	perceptron	perceptron	PROPN
bam-6164	73	11	network	network	NOUN
bam-6164	73	12	.	.	PUNCT
bam-6164	74	1	this	this	DET
bam-6164	74	2	network	network	NOUN
bam-6164	74	3	relied	rely	VERB
bam-6164	74	4	on	on	ADP
bam-6164	74	5	nine	nine	NUM
bam-6164	74	6	input	input	NOUN
bam-6164	74	7	,	,	PUNCT
bam-6164	74	8	nine	nine	NUM
bam-6164	74	9	hidden	hidden	ADJ
bam-6164	74	10	nodes	node	NOUN
bam-6164	74	11	,	,	PUNCT
bam-6164	74	12	and	and	CCONJ
bam-6164	74	13	one	one	NUM
bam-6164	74	14	output	output	NOUN
bam-6164	74	15	node	node	NOUN
bam-6164	74	16	.	.	PUNCT
bam-6164	75	1	the	the	DET
bam-6164	75	2	input	input	NOUN
bam-6164	75	3	and	and	CCONJ
bam-6164	75	4	hidden	hidden	ADJ
bam-6164	75	5	layers	layer	NOUN
bam-6164	75	6	had	have	VERB
bam-6164	75	7	an	an	DET
bam-6164	75	8	additional	additional	ADJ
bam-6164	75	9	bias	bias	NOUN
bam-6164	75	10	node	node	NOUN
bam-6164	75	11	(	(	PUNCT
bam-6164	75	12	value	value	NOUN
bam-6164	75	13	-1	-1	NOUN
bam-6164	75	14	)	)	PUNCT
bam-6164	75	15	.	.	PUNCT
bam-6164	76	1	the	the	DET
bam-6164	76	2	kinematic	kinematic	ADJ
bam-6164	76	3	data	datum	NOUN
bam-6164	76	4	used	use	VERB
bam-6164	76	5	for	for	ADP
bam-6164	76	6	the	the	DET
bam-6164	76	7	nn	nn	PROPN
bam-6164	76	8	was	be	AUX
bam-6164	76	9	calculated	calculate	VERB
bam-6164	76	10	beforehand	beforehand	ADV
bam-6164	76	11	,	,	PUNCT
bam-6164	76	12	and	and	CCONJ
bam-6164	76	13	it	it	PRON
bam-6164	76	14	was	be	AUX
bam-6164	76	15	normalized	normalize	VERB
bam-6164	76	16	in	in	ADP
bam-6164	76	17	the	the	DET
bam-6164	76	18	range	range	NOUN
bam-6164	76	19	of	of	ADP
bam-6164	76	20	-1	-1	INTJ
bam-6164	76	21	to	to	ADP
bam-6164	76	22	1	1	NUM
bam-6164	76	23	to	to	PART
bam-6164	76	24	generate	generate	VERB
bam-6164	76	25	faster	fast	ADJ
bam-6164	76	26	learning	learn	VERB
bam-6164	76	27	rates	rate	NOUN
bam-6164	76	28	.	.	PUNCT
bam-6164	77	1	the	the	DET
bam-6164	77	2	nn	nn	PROPN
bam-6164	77	3	was	be	AUX
bam-6164	77	4	trained	train	VERB
bam-6164	77	5	using	use	VERB
bam-6164	77	6	the	the	DET
bam-6164	77	7	gradient	gradient	ADJ
bam-6164	77	8	descent	descent	NOUN
bam-6164	77	9	algorithm	algorithm	NOUN
bam-6164	77	10	.	.	PUNCT
bam-6164	78	1	14	14	NUM
bam-6164	79	1	the	the	DET
bam-6164	79	2	nn	nn	PROPN
bam-6164	79	3	weights	weight	NOUN
bam-6164	79	4	were	be	AUX
bam-6164	79	5	initialized	initialize	VERB
bam-6164	79	6	with	with	ADP
bam-6164	79	7	small	small	ADJ
bam-6164	79	8	random	random	ADJ
bam-6164	79	9	values	value	NOUN
bam-6164	79	10	close	close	ADJ
bam-6164	79	11	to	to	ADP
bam-6164	79	12	zero	zero	NUM
bam-6164	79	13	,	,	PUNCT
bam-6164	79	14	which	which	PRON
bam-6164	79	15	were	be	AUX
bam-6164	79	16	updated	update	VERB
bam-6164	79	17	during	during	ADP
bam-6164	79	18	the	the	DET
bam-6164	79	19	movement	movement	NOUN
bam-6164	79	20	executions	execution	NOUN
bam-6164	79	21	at	at	ADP
bam-6164	79	22	each	each	DET
bam-6164	79	23	sample	sample	NOUN
bam-6164	79	24	time	time	NOUN
bam-6164	79	25	.	.	PUNCT
bam-6164	80	1	fig	fig	NOUN
bam-6164	80	2	5	5	NUM
bam-6164	80	3	.	.	PUNCT
bam-6164	81	1	evolution	evolution	NOUN
bam-6164	81	2	of	of	ADP
bam-6164	81	3	the	the	DET
bam-6164	81	4	root	root	NOUN
bam-6164	81	5	mean	mean	VERB
bam-6164	81	6	square	square	ADJ
bam-6164	81	7	error	error	NOUN
bam-6164	81	8	over	over	ADP
bam-6164	81	9	the	the	DET
bam-6164	81	10	execution	execution	NOUN
bam-6164	81	11	of	of	ADP
bam-6164	81	12	the	the	DET
bam-6164	81	13	trial	trial	NOUN
bam-6164	81	14	for	for	ADP
bam-6164	81	15	the	the	DET
bam-6164	81	16	shoulder	shoulder	NOUN
bam-6164	81	17	(	(	PUNCT
bam-6164	81	18	ø2	ø2	PROPN
bam-6164	81	19	)	)	PUNCT
bam-6164	81	20	and	and	CCONJ
bam-6164	81	21	elbow	elbow	VERB
bam-6164	81	22	joints	joint	NOUN
bam-6164	81	23	(	(	PUNCT
bam-6164	81	24	ø5	ø5	PROPN
bam-6164	81	25	)	)	PUNCT
bam-6164	81	26	.	.	PUNCT
bam-6164	82	1	fig	fig	NOUN
bam-6164	82	2	6	6	NUM
bam-6164	82	3	.	.	PUNCT
bam-6164	83	1	an	an	DET
bam-6164	83	2	example	example	NOUN
bam-6164	83	3	of	of	ADP
bam-6164	83	4	the	the	DET
bam-6164	83	5	controller	controller	NOUN
bam-6164	83	6	performance	performance	NOUN
bam-6164	83	7	for	for	ADP
bam-6164	83	8	participant	participant	ADJ
bam-6164	83	9	1	1	NUM
bam-6164	83	10	.	.	PUNCT
bam-6164	84	1	a	a	X
bam-6164	84	2	)	)	PUNCT
bam-6164	84	3	tracking	tracking	NOUN
bam-6164	84	4	accuracy	accuracy	NOUN
bam-6164	84	5	during	during	ADP
bam-6164	84	6	trial	trial	NOUN
bam-6164	84	7	1	1	NUM
bam-6164	84	8	(	(	PUNCT
bam-6164	84	9	blue	blue	NOUN
bam-6164	84	10	)	)	PUNCT
bam-6164	84	11	,	,	PUNCT
bam-6164	84	12	trial	trial	NOUN
bam-6164	84	13	4	4	NUM
bam-6164	84	14	(	(	PUNCT
bam-6164	84	15	green	green	ADJ
bam-6164	84	16	)	)	PUNCT
bam-6164	84	17	and	and	CCONJ
bam-6164	84	18	trial	trial	NOUN
bam-6164	84	19	12	12	NUM
bam-6164	84	20	(	(	PUNCT
bam-6164	84	21	red	red	NOUN
bam-6164	84	22	)	)	PUNCT
bam-6164	84	23	for	for	ADP
bam-6164	84	24	shoulder	shoulder	NOUN
bam-6164	84	25	(	(	PUNCT
bam-6164	84	26	left	left	ADJ
bam-6164	84	27	)	)	PUNCT
bam-6164	84	28	and	and	CCONJ
bam-6164	84	29	elbow	elbow	VERB
bam-6164	84	30	(	(	PUNCT
bam-6164	84	31	right	right	ADJ
bam-6164	84	32	)	)	PUNCT
bam-6164	84	33	joints	joint	NOUN
bam-6164	84	34	;	;	PUNCT
bam-6164	84	35	b	b	X
bam-6164	84	36	)	)	PUNCT
bam-6164	84	37	error	error	NOUN
bam-6164	84	38	trajectory	trajectory	NOUN
bam-6164	84	39	of	of	ADP
bam-6164	84	40	each	each	DET
bam-6164	84	41	trial	trial	NOUN
bam-6164	84	42	(	(	PUNCT
bam-6164	84	43	1	1	NUM
bam-6164	84	44	blue-	blue-	NOUN
bam-6164	84	45	,	,	PUNCT
bam-6164	84	46	4	4	NUM
bam-6164	84	47	-greenand	-greenand	NOUN
bam-6164	84	48	12	12	NUM
bam-6164	84	49	–	–	PUNCT
bam-6164	84	50	red-	red-	ADJ
bam-6164	84	51	)	)	PUNCT
bam-6164	84	52	.	.	PUNCT
bam-6164	85	1	feedback	feedback	NOUN
bam-6164	85	2	error	error	NOUN
bam-6164	85	3	learning	learn	VERB
bam-6164	85	4	controller	controller	NOUN
bam-6164	85	5	for	for	ADP
bam-6164	85	6	fes	fes	NOUN
bam-6164	85	7	assistance	assistance	NOUN
bam-6164	85	8	for	for	ADP
bam-6164	85	9	reaching	reach	VERB
bam-6164	85	10	rehabilitation	rehabilitation	NOUN
bam-6164	85	11	eur	eur	PROPN
bam-6164	85	12	j	j	PROPN
bam-6164	85	13	transl	transl	PROPN
bam-6164	85	14	myol	myol	NOUN
bam-6164	85	15	26	26	NUM
bam-6164	85	16	(	(	PUNCT
bam-6164	85	17	3	3	NUM
bam-6164	85	18	):	):	PUNCT
bam-6164	85	19	255	255	NUM
bam-6164	85	20	-	-	SYM
bam-6164	85	21	261	261	NUM
bam-6164	85	22	259	259	NUM
bam-6164	85	23	reference	reference	NOUN
bam-6164	85	24	generator	generator	NOUN
bam-6164	85	25	to	to	PART
bam-6164	85	26	generate	generate	VERB
bam-6164	85	27	the	the	DET
bam-6164	85	28	tracking	tracking	NOUN
bam-6164	85	29	references	reference	NOUN
bam-6164	86	1	,	,	PUNCT
bam-6164	86	2	we	we	PRON
bam-6164	86	3	used	use	VERB
bam-6164	86	4	the	the	DET
bam-6164	86	5	method	method	NOUN
bam-6164	86	6	described	describe	VERB
bam-6164	86	7	by	by	ADP
bam-6164	86	8	flash	flash	NOUN
bam-6164	86	9	and	and	CCONJ
bam-6164	86	10	hogan	hogan	PROPN
bam-6164	86	11	.	.	PUNCT
bam-6164	87	1	15	15	NUM
bam-6164	87	2	they	they	PRON
bam-6164	87	3	derived	derive	VERB
bam-6164	87	4	a	a	DET
bam-6164	87	5	mathematical	mathematical	ADJ
bam-6164	87	6	expression	expression	NOUN
bam-6164	87	7	that	that	PRON
bam-6164	87	8	describes	describe	VERB
bam-6164	87	9	the	the	DET
bam-6164	87	10	way	way	NOUN
bam-6164	87	11	in	in	ADP
bam-6164	87	12	which	which	PRON
bam-6164	87	13	the	the	DET
bam-6164	87	14	central	central	ADJ
bam-6164	87	15	nervous	nervous	ADJ
bam-6164	87	16	system	system	NOUN
bam-6164	87	17	moves	move	VERB
bam-6164	87	18	the	the	DET
bam-6164	87	19	hand	hand	NOUN
bam-6164	87	20	smoothly	smoothly	ADV
bam-6164	87	21	from	from	ADP
bam-6164	87	22	one	one	NUM
bam-6164	87	23	point	point	NOUN
bam-6164	87	24	to	to	ADP
bam-6164	87	25	another	another	PRON
bam-6164	87	26	.	.	PUNCT
bam-6164	88	1	they	they	PRON
bam-6164	88	2	called	call	VERB
bam-6164	88	3	this	this	DET
bam-6164	88	4	function	function	NOUN
bam-6164	88	5	the	the	DET
bam-6164	88	6	minimum	minimum	ADJ
bam-6164	88	7	jerk	jerk	NOUN
bam-6164	88	8	trajectory	trajectory	NOUN
bam-6164	88	9	,	,	PUNCT
bam-6164	88	10	and	and	CCONJ
bam-6164	88	11	it	it	PRON
bam-6164	88	12	only	only	ADV
bam-6164	88	13	requires	require	VERB
bam-6164	88	14	the	the	DET
bam-6164	88	15	target	target	NOUN
bam-6164	88	16	and	and	CCONJ
bam-6164	88	17	the	the	DET
bam-6164	88	18	duration	duration	NOUN
bam-6164	88	19	of	of	ADP
bam-6164	88	20	the	the	DET
bam-6164	88	21	desired	desire	VERB
bam-6164	88	22	position	position	NOUN
bam-6164	88	23	to	to	PART
bam-6164	88	24	describe	describe	VERB
bam-6164	88	25	the	the	DET
bam-6164	88	26	trajectory	trajectory	NOUN
bam-6164	88	27	completely	completely	ADV
bam-6164	88	28	.	.	PUNCT
bam-6164	89	1	robotic	robotic	ADJ
bam-6164	89	2	rehabilitation	rehabilitation	NOUN
bam-6164	89	3	systems	system	NOUN
bam-6164	89	4	like	like	ADP
bam-6164	89	5	the	the	DET
bam-6164	89	6	mit	mit	NOUN
bam-6164	89	7	-	-	PUNCT
bam-6164	89	8	manus	manus	NOUN
bam-6164	89	9	and	and	CCONJ
bam-6164	89	10	arm	arm	NOUN
bam-6164	89	11	guide	guide	NOUN
bam-6164	89	12	have	have	AUX
bam-6164	89	13	also	also	ADV
bam-6164	89	14	used	use	VERB
bam-6164	89	15	this	this	DET
bam-6164	89	16	function	function	NOUN
bam-6164	89	17	as	as	ADP
bam-6164	89	18	reference	reference	NOUN
bam-6164	89	19	.	.	PUNCT
bam-6164	90	1	16	16	NUM
bam-6164	90	2	in	in	ADP
bam-6164	90	3	this	this	DET
bam-6164	90	4	experiment	experiment	NOUN
bam-6164	90	5	,	,	PUNCT
bam-6164	90	6	we	we	PRON
bam-6164	90	7	generated	generate	VERB
bam-6164	90	8	the	the	DET
bam-6164	90	9	profiles	profile	NOUN
bam-6164	90	10	for	for	ADP
bam-6164	90	11	the	the	DET
bam-6164	90	12	position	position	NOUN
bam-6164	90	13	,	,	PUNCT
bam-6164	90	14	the	the	DET
bam-6164	90	15	velocity	velocity	NOUN
bam-6164	90	16	,	,	PUNCT
bam-6164	90	17	and	and	CCONJ
bam-6164	90	18	the	the	DET
bam-6164	90	19	acceleration	acceleration	NOUN
bam-6164	90	20	.	.	PUNCT
bam-6164	91	1	experiment	experiment	NOUN
bam-6164	91	2	settings	setting	VERB
bam-6164	91	3	seven	seven	NUM
bam-6164	91	4	healthy	healthy	ADJ
bam-6164	91	5	subjects	subject	NOUN
bam-6164	91	6	participated	participate	VERB
bam-6164	91	7	in	in	ADP
bam-6164	91	8	the	the	DET
bam-6164	91	9	study	study	NOUN
bam-6164	91	10	.	.	PUNCT
bam-6164	92	1	they	they	PRON
bam-6164	92	2	gave	give	VERB
bam-6164	92	3	their	their	PRON
bam-6164	92	4	informed	informed	ADJ
bam-6164	92	5	consent	consent	NOUN
bam-6164	92	6	to	to	PART
bam-6164	92	7	take	take	VERB
bam-6164	92	8	part	part	NOUN
bam-6164	92	9	in	in	ADP
bam-6164	92	10	the	the	DET
bam-6164	92	11	experiment	experiment	NOUN
bam-6164	92	12	.	.	PUNCT
bam-6164	93	1	subjects	subject	NOUN
bam-6164	93	2	were	be	AUX
bam-6164	93	3	asked	ask	VERB
bam-6164	93	4	to	to	PART
bam-6164	93	5	execute	execute	VERB
bam-6164	93	6	a	a	DET
bam-6164	93	7	set	set	NOUN
bam-6164	93	8	of	of	ADP
bam-6164	93	9	twelve	twelve	NUM
bam-6164	93	10	movements	movement	NOUN
bam-6164	93	11	.	.	PUNCT
bam-6164	94	1	they	they	PRON
bam-6164	94	2	were	be	AUX
bam-6164	94	3	instructed	instruct	VERB
bam-6164	94	4	to	to	PART
bam-6164	94	5	keep	keep	VERB
bam-6164	94	6	their	their	PRON
bam-6164	94	7	arms	arm	NOUN
bam-6164	94	8	passive	passive	ADJ
bam-6164	94	9	,	,	PUNCT
bam-6164	94	10	without	without	ADP
bam-6164	94	11	making	make	VERB
bam-6164	94	12	any	any	DET
bam-6164	94	13	voluntary	voluntary	ADJ
bam-6164	94	14	effort	effort	NOUN
bam-6164	94	15	,	,	PUNCT
bam-6164	94	16	while	while	SCONJ
bam-6164	94	17	the	the	DET
bam-6164	94	18	fes	fes	NOUN
bam-6164	94	19	activated	activate	VERB
bam-6164	94	20	the	the	DET
bam-6164	94	21	target	target	NOUN
bam-6164	94	22	muscles	muscle	NOUN
bam-6164	94	23	(	(	PUNCT
bam-6164	94	24	anterior	anterior	ADJ
bam-6164	94	25	deltoids	deltoid	NOUN
bam-6164	94	26	and	and	CCONJ
bam-6164	94	27	triceps	tricep	NOUN
bam-6164	94	28	)	)	PUNCT
bam-6164	94	29	.	.	PUNCT
bam-6164	95	1	the	the	DET
bam-6164	95	2	armeospring	armeospring	NOUN
bam-6164	95	3	was	be	AUX
bam-6164	95	4	adjusted	adjust	VERB
bam-6164	95	5	according	accord	VERB
bam-6164	95	6	to	to	ADP
bam-6164	95	7	the	the	DET
bam-6164	95	8	subjects	subject	NOUN
bam-6164	95	9	’	'	PUNCT
bam-6164	95	10	arm	arm	NOUN
bam-6164	95	11	lengths	length	NOUN
bam-6164	95	12	.	.	PUNCT
bam-6164	96	1	the	the	DET
bam-6164	96	2	level	level	NOUN
bam-6164	96	3	of	of	ADP
bam-6164	96	4	support	support	NOUN
bam-6164	96	5	was	be	AUX
bam-6164	96	6	regulated	regulate	VERB
bam-6164	96	7	such	such	ADJ
bam-6164	96	8	that	that	SCONJ
bam-6164	96	9	their	their	PRON
bam-6164	96	10	arm	arm	NOUN
bam-6164	96	11	was	be	AUX
bam-6164	96	12	kept	keep	VERB
bam-6164	96	13	about	about	ADP
bam-6164	96	14	their	their	PRON
bam-6164	96	15	thigh	thigh	NOUN
bam-6164	96	16	in	in	ADP
bam-6164	96	17	the	the	DET
bam-6164	96	18	horizontal	horizontal	ADJ
bam-6164	96	19	plane	plane	NOUN
bam-6164	96	20	.	.	PUNCT
bam-6164	97	1	surface	surface	NOUN
bam-6164	97	2	electrodes	electrode	NOUN
bam-6164	97	3	(	(	PUNCT
bam-6164	97	4	pals	pal	NOUN
bam-6164	97	5	platinum	platinum	NOUN
bam-6164	97	6	rectangle	rectangle	NOUN
bam-6164	97	7	5x5	5x5	NUM
bam-6164	97	8	)	)	PUNCT
bam-6164	97	9	were	be	AUX
bam-6164	97	10	attached	attach	VERB
bam-6164	97	11	to	to	ADP
bam-6164	97	12	the	the	DET
bam-6164	97	13	anterior	anterior	ADJ
bam-6164	97	14	deltoids	deltoid	NOUN
bam-6164	97	15	and	and	CCONJ
bam-6164	97	16	triceps	triceps	ADJ
bam-6164	97	17	muscles	muscle	NOUN
bam-6164	97	18	.	.	PUNCT
bam-6164	98	1	the	the	DET
bam-6164	98	2	maximum	maximum	ADJ
bam-6164	98	3	pulse	pulse	NOUN
bam-6164	98	4	amplitude	amplitude	NOUN
bam-6164	98	5	was	be	AUX
bam-6164	98	6	determined	determine	VERB
bam-6164	98	7	by	by	ADP
bam-6164	98	8	increasing	increase	VERB
bam-6164	98	9	gradually	gradually	ADV
bam-6164	98	10	the	the	DET
bam-6164	98	11	current	current	NOUN
bam-6164	98	12	of	of	ADP
bam-6164	98	13	the	the	DET
bam-6164	98	14	stimulator	stimulator	NOUN
bam-6164	98	15	,	,	PUNCT
bam-6164	98	16	with	with	ADP
bam-6164	98	17	a	a	DET
bam-6164	98	18	fixed	fix	VERB
bam-6164	98	19	pulse	pulse	NOUN
bam-6164	98	20	width	width	NOUN
bam-6164	98	21	of	of	ADP
bam-6164	98	22	450	450	NUM
bam-6164	98	23	μs	μs	NUM
bam-6164	98	24	,	,	PUNCT
bam-6164	98	25	until	until	SCONJ
bam-6164	98	26	a	a	DET
bam-6164	98	27	comfortable	comfortable	ADJ
bam-6164	98	28	motor	motor	NOUN
bam-6164	98	29	response	response	NOUN
bam-6164	98	30	was	be	AUX
bam-6164	98	31	observed	observe	VERB
bam-6164	98	32	.	.	PUNCT
bam-6164	99	1	the	the	DET
bam-6164	99	2	fel	fel	PROPN
bam-6164	99	3	control	control	NOUN
bam-6164	99	4	modified	modify	VERB
bam-6164	99	5	the	the	DET
bam-6164	99	6	pulse	pulse	NOUN
bam-6164	99	7	width	width	NOUN
bam-6164	99	8	of	of	ADP
bam-6164	99	9	the	the	DET
bam-6164	99	10	stimulation	stimulation	NOUN
bam-6164	99	11	during	during	ADP
bam-6164	99	12	movement	movement	NOUN
bam-6164	99	13	execution	execution	NOUN
bam-6164	99	14	to	to	PART
bam-6164	99	15	adjust	adjust	VERB
bam-6164	99	16	the	the	DET
bam-6164	99	17	level	level	NOUN
bam-6164	99	18	of	of	ADP
bam-6164	99	19	assistance	assistance	NOUN
bam-6164	99	20	.	.	PUNCT
bam-6164	100	1	the	the	DET
bam-6164	100	2	pulse	pulse	NOUN
bam-6164	100	3	width	width	NOUN
bam-6164	100	4	was	be	AUX
bam-6164	100	5	modulated	modulate	VERB
bam-6164	100	6	in	in	ADP
bam-6164	100	7	the	the	DET
bam-6164	100	8	range	range	NOUN
bam-6164	100	9	of	of	ADP
bam-6164	100	10	50	50	NUM
bam-6164	100	11	to	to	PART
bam-6164	100	12	450	450	NUM
bam-6164	100	13	s	s	PROPN
bam-6164	100	14	.	.	PUNCT
bam-6164	101	1	to	to	PART
bam-6164	101	2	define	define	VERB
bam-6164	101	3	the	the	DET
bam-6164	101	4	maximum	maximum	ADJ
bam-6164	101	5	range	range	NOUN
bam-6164	101	6	of	of	ADP
bam-6164	101	7	movement	movement	NOUN
bam-6164	101	8	and	and	CCONJ
bam-6164	101	9	determine	determine	VERB
bam-6164	101	10	the	the	DET
bam-6164	101	11	target	target	NOUN
bam-6164	101	12	position	position	NOUN
bam-6164	101	13	,	,	PUNCT
bam-6164	101	14	we	we	PRON
bam-6164	101	15	applied	apply	VERB
bam-6164	101	16	the	the	DET
bam-6164	101	17	maximum	maximum	ADJ
bam-6164	101	18	electrical	electrical	ADJ
bam-6164	101	19	stimulation	stimulation	NOUN
bam-6164	101	20	intensity	intensity	NOUN
bam-6164	101	21	simultaneously	simultaneously	ADV
bam-6164	101	22	to	to	ADP
bam-6164	101	23	both	both	DET
bam-6164	101	24	muscles	muscle	NOUN
bam-6164	101	25	and	and	CCONJ
bam-6164	101	26	recorded	record	VERB
bam-6164	101	27	the	the	DET
bam-6164	101	28	resulting	result	VERB
bam-6164	101	29	movement	movement	NOUN
bam-6164	101	30	.	.	PUNCT
bam-6164	102	1	after	after	ADP
bam-6164	102	2	analyzing	analyze	VERB
bam-6164	102	3	the	the	DET
bam-6164	102	4	recording	recording	NOUN
bam-6164	102	5	data	data	NOUN
bam-6164	102	6	,	,	PUNCT
bam-6164	102	7	the	the	DET
bam-6164	102	8	target	target	NOUN
bam-6164	102	9	position	position	NOUN
bam-6164	102	10	was	be	AUX
bam-6164	102	11	defined	define	VERB
bam-6164	102	12	as	as	ADP
bam-6164	102	13	the	the	DET
bam-6164	102	14	maximum	maximum	ADJ
bam-6164	102	15	articular	articular	ADJ
bam-6164	102	16	angle	angle	NOUN
bam-6164	102	17	achieved	achieve	VERB
bam-6164	102	18	at	at	ADP
bam-6164	102	19	each	each	DET
bam-6164	102	20	joint	joint	ADJ
bam-6164	102	21	(	(	PUNCT
bam-6164	102	22	shoulder	shoulder	NOUN
bam-6164	102	23	and	and	CCONJ
bam-6164	102	24	elbow	elbow	NOUN
bam-6164	102	25	)	)	PUNCT
bam-6164	102	26	.	.	PUNCT
bam-6164	103	1	these	these	DET
bam-6164	103	2	maximum	maximum	ADJ
bam-6164	103	3	angles	angle	NOUN
bam-6164	103	4	were	be	AUX
bam-6164	103	5	used	use	VERB
bam-6164	103	6	in	in	ADP
bam-6164	103	7	the	the	DET
bam-6164	103	8	minimum	minimum	ADJ
bam-6164	103	9	jerk	jerk	NOUN
bam-6164	103	10	function	function	NOUN
bam-6164	103	11	to	to	PART
bam-6164	103	12	generate	generate	VERB
bam-6164	103	13	the	the	DET
bam-6164	103	14	reference	reference	NOUN
bam-6164	103	15	trajectory	trajectory	NOUN
bam-6164	103	16	.	.	PUNCT
bam-6164	104	1	in	in	ADP
bam-6164	104	2	all	all	DET
bam-6164	104	3	trials	trial	NOUN
bam-6164	104	4	,	,	PUNCT
bam-6164	104	5	a	a	DET
bam-6164	104	6	period	period	NOUN
bam-6164	104	7	of	of	ADP
bam-6164	104	8	three	three	NUM
bam-6164	104	9	seconds	second	NOUN
bam-6164	104	10	was	be	AUX
bam-6164	104	11	used	use	VERB
bam-6164	104	12	to	to	PART
bam-6164	104	13	drive	drive	VERB
bam-6164	104	14	the	the	DET
bam-6164	104	15	arm	arm	NOUN
bam-6164	104	16	from	from	ADP
bam-6164	104	17	the	the	DET
bam-6164	104	18	starting	starting	NOUN
bam-6164	104	19	position	position	NOUN
bam-6164	104	20	to	to	ADP
bam-6164	104	21	the	the	DET
bam-6164	104	22	target	target	NOUN
bam-6164	104	23	.	.	PUNCT
bam-6164	105	1	results	result	NOUN
bam-6164	105	2	to	to	PART
bam-6164	105	3	analyze	analyze	VERB
bam-6164	105	4	the	the	DET
bam-6164	105	5	actuation	actuation	NOUN
bam-6164	105	6	control	control	NOUN
bam-6164	105	7	signal	signal	NOUN
bam-6164	105	8	of	of	ADP
bam-6164	105	9	the	the	DET
bam-6164	105	10	fel	fel	NOUN
bam-6164	105	11	controller	controller	NOUN
bam-6164	105	12	,	,	PUNCT
bam-6164	105	13	we	we	PRON
bam-6164	105	14	calculated	calculate	VERB
bam-6164	105	15	the	the	DET
bam-6164	105	16	power	power	NOUN
bam-6164	105	17	ratio	ratio	NOUN
bam-6164	105	18	(	(	PUNCT
bam-6164	105	19	pr	pr	NOUN
bam-6164	105	20	)	)	PUNCT
bam-6164	105	21	between	between	ADP
bam-6164	105	22	the	the	DET
bam-6164	105	23	feedforward	feedforward	NOUN
bam-6164	105	24	and	and	CCONJ
bam-6164	105	25	the	the	DET
bam-6164	105	26	feedback	feedback	NOUN
bam-6164	105	27	controllers	controller	NOUN
bam-6164	105	28	across	across	ADP
bam-6164	105	29	trials	trial	NOUN
bam-6164	105	30	.	.	PUNCT
bam-6164	106	1	the	the	DET
bam-6164	106	2	pr	pr	NOUN
bam-6164	106	3	was	be	AUX
bam-6164	106	4	defined	define	VERB
bam-6164	106	5	as	as	ADP
bam-6164	106	6	the	the	DET
bam-6164	106	7	relation	relation	NOUN
bam-6164	106	8	between	between	ADP
bam-6164	106	9	the	the	DET
bam-6164	106	10	squared	square	VERB
bam-6164	106	11	value	value	NOUN
bam-6164	106	12	of	of	ADP
bam-6164	106	13	the	the	DET
bam-6164	106	14	stimulation	stimulation	NOUN
bam-6164	106	15	intensity	intensity	NOUN
bam-6164	106	16	(	(	PUNCT
bam-6164	106	17	output	output	NOUN
bam-6164	106	18	power	power	NOUN
bam-6164	106	19	)	)	PUNCT
bam-6164	106	20	of	of	ADP
bam-6164	106	21	the	the	DET
bam-6164	106	22	feedforward	feedforward	NOUN
bam-6164	106	23	or	or	CCONJ
bam-6164	106	24	at	at	ADP
bam-6164	106	25	the	the	DET
bam-6164	106	26	feedback	feedback	NOUN
bam-6164	106	27	loop	loop	NOUN
bam-6164	106	28	,	,	PUNCT
bam-6164	106	29	and	and	CCONJ
bam-6164	106	30	their	their	PRON
bam-6164	106	31	sum	sum	NOUN
bam-6164	106	32	.	.	PUNCT
bam-6164	107	1	this	this	DET
bam-6164	107	2	analysis	analysis	NOUN
bam-6164	107	3	allows	allow	VERB
bam-6164	107	4	us	we	PRON
bam-6164	107	5	to	to	PART
bam-6164	107	6	evaluate	evaluate	VERB
bam-6164	107	7	the	the	DET
bam-6164	107	8	learning	learning	NOUN
bam-6164	107	9	rate	rate	NOUN
bam-6164	107	10	since	since	SCONJ
bam-6164	107	11	the	the	DET
bam-6164	107	12	feedforward	feedforward	ADJ
bam-6164	107	13	controller	controller	NOUN
bam-6164	107	14	should	should	AUX
bam-6164	107	15	produce	produce	VERB
bam-6164	107	16	the	the	DET
bam-6164	107	17	full	full	ADJ
bam-6164	107	18	actuation	actuation	NOUN
bam-6164	107	19	command	command	NOUN
bam-6164	107	20	to	to	PART
bam-6164	107	21	drive	drive	VERB
bam-6164	107	22	the	the	DET
bam-6164	107	23	movement	movement	NOUN
bam-6164	107	24	once	once	SCONJ
bam-6164	107	25	the	the	DET
bam-6164	107	26	inverse	inverse	ADJ
bam-6164	107	27	dynamic	dynamic	ADJ
bam-6164	107	28	model	model	NOUN
bam-6164	107	29	of	of	ADP
bam-6164	107	30	the	the	DET
bam-6164	107	31	controlled	control	VERB
bam-6164	107	32	system	system	NOUN
bam-6164	107	33	has	have	AUX
bam-6164	107	34	been	be	AUX
bam-6164	107	35	learned	learn	VERB
bam-6164	107	36	.	.	PUNCT
bam-6164	108	1	the	the	DET
bam-6164	108	2	first	first	ADJ
bam-6164	108	3	row	row	NOUN
bam-6164	108	4	of	of	ADP
bam-6164	108	5	figure	figure	NOUN
bam-6164	108	6	4	4	NUM
bam-6164	108	7	shows	show	VERB
bam-6164	108	8	the	the	DET
bam-6164	108	9	pr	pr	NOUN
bam-6164	108	10	for	for	ADP
bam-6164	108	11	the	the	DET
bam-6164	108	12	feedback	feedback	NOUN
bam-6164	108	13	(	(	PUNCT
bam-6164	108	14	ufb	ufb	NOUN
bam-6164	108	15	)	)	PUNCT
bam-6164	108	16	and	and	CCONJ
bam-6164	108	17	feedforward	feedforward	NOUN
bam-6164	108	18	(	(	PUNCT
bam-6164	108	19	uff	uff	PROPN
bam-6164	108	20	)	)	PUNCT
bam-6164	108	21	controllers	controller	NOUN
bam-6164	108	22	for	for	ADP
bam-6164	108	23	the	the	DET
bam-6164	108	24	shoulder	shoulder	NOUN
bam-6164	108	25	(	(	PUNCT
bam-6164	108	26	ø2	ø2	PROPN
bam-6164	108	27	)	)	PUNCT
bam-6164	108	28	and	and	CCONJ
bam-6164	108	29	elbow	elbow	VERB
bam-6164	108	30	(	(	PUNCT
bam-6164	108	31	ø5	ø5	NOUN
bam-6164	108	32	)	)	PUNCT
bam-6164	108	33	joints	joint	NOUN
bam-6164	108	34	.	.	PUNCT
bam-6164	109	1	it	it	PRON
bam-6164	109	2	is	be	AUX
bam-6164	109	3	shown	show	VERB
bam-6164	109	4	that	that	SCONJ
bam-6164	109	5	from	from	ADP
bam-6164	109	6	the	the	DET
bam-6164	109	7	fourth	fourth	ADJ
bam-6164	109	8	trial	trial	NOUN
bam-6164	109	9	,	,	PUNCT
bam-6164	109	10	the	the	DET
bam-6164	109	11	assistance	assistance	NOUN
bam-6164	109	12	is	be	AUX
bam-6164	109	13	almost	almost	ADV
bam-6164	109	14	given	give	VERB
bam-6164	109	15	entirely	entirely	ADV
bam-6164	109	16	by	by	ADP
bam-6164	109	17	the	the	DET
bam-6164	109	18	feedforward	feedforward	ADJ
bam-6164	109	19	controller	controller	NOUN
bam-6164	109	20	in	in	ADP
bam-6164	109	21	both	both	DET
bam-6164	109	22	cases	case	NOUN
bam-6164	109	23	.	.	PUNCT
bam-6164	110	1	the	the	DET
bam-6164	110	2	second	second	ADJ
bam-6164	110	3	analysis	analysis	NOUN
bam-6164	110	4	relies	rely	VERB
bam-6164	110	5	on	on	ADP
bam-6164	110	6	the	the	DET
bam-6164	110	7	calculation	calculation	NOUN
bam-6164	110	8	of	of	ADP
bam-6164	110	9	the	the	DET
bam-6164	110	10	root	root	NOUN
bam-6164	110	11	mean	mean	NOUN
bam-6164	110	12	square	square	PROPN
bam-6164	110	13	(	(	PUNCT
bam-6164	110	14	rms	rm	NOUN
bam-6164	110	15	)	)	PUNCT
bam-6164	110	16	error	error	NOUN
bam-6164	110	17	for	for	ADP
bam-6164	110	18	each	each	DET
bam-6164	110	19	trial	trial	NOUN
bam-6164	110	20	.	.	PUNCT
bam-6164	111	1	figure	figure	NOUN
bam-6164	111	2	5	5	NUM
bam-6164	111	3	depicts	depict	VERB
bam-6164	111	4	the	the	DET
bam-6164	111	5	evolution	evolution	NOUN
bam-6164	111	6	of	of	ADP
bam-6164	111	7	the	the	DET
bam-6164	111	8	rms	rm	NOUN
bam-6164	111	9	error	error	NOUN
bam-6164	111	10	for	for	ADP
bam-6164	111	11	each	each	DET
bam-6164	111	12	participant	participant	NOUN
bam-6164	111	13	(	(	PUNCT
bam-6164	111	14	n=7	n=7	PROPN
bam-6164	111	15	)	)	PUNCT
bam-6164	111	16	during	during	ADP
bam-6164	111	17	the	the	DET
bam-6164	111	18	execution	execution	NOUN
bam-6164	111	19	of	of	ADP
bam-6164	111	20	the	the	DET
bam-6164	111	21	twelfth	twelfth	ADJ
bam-6164	111	22	trial	trial	NOUN
bam-6164	111	23	.	.	PUNCT
bam-6164	112	1	here	here	ADV
bam-6164	112	2	,	,	PUNCT
bam-6164	112	3	the	the	DET
bam-6164	112	4	black	black	ADJ
bam-6164	112	5	line	line	NOUN
bam-6164	112	6	represents	represent	VERB
bam-6164	112	7	the	the	DET
bam-6164	112	8	average	average	ADJ
bam-6164	112	9	rms	rm	NOUN
bam-6164	112	10	error	error	NOUN
bam-6164	112	11	for	for	ADP
bam-6164	112	12	all	all	DET
bam-6164	112	13	subjects	subject	NOUN
bam-6164	112	14	,	,	PUNCT
bam-6164	112	15	and	and	CCONJ
bam-6164	112	16	the	the	DET
bam-6164	112	17	shaded	shaded	ADJ
bam-6164	112	18	area	area	NOUN
bam-6164	112	19	is	be	AUX
bam-6164	112	20	the	the	DET
bam-6164	112	21	width	width	NOUN
bam-6164	112	22	of	of	ADP
bam-6164	112	23	the	the	DET
bam-6164	112	24	standard	standard	ADJ
bam-6164	112	25	fig	fig	NOUN
bam-6164	112	26	7	7	NUM
bam-6164	112	27	.	.	PUNCT
bam-6164	113	1	a	a	X
bam-6164	113	2	)	)	PUNCT
bam-6164	113	3	,	,	PUNCT
bam-6164	113	4	b	b	NOUN
bam-6164	113	5	)	)	PUNCT
bam-6164	113	6	and	and	CCONJ
bam-6164	113	7	c	c	X
bam-6164	113	8	)	)	PUNCT
bam-6164	114	1	the	the	DET
bam-6164	114	2	output	output	NOUN
bam-6164	114	3	of	of	ADP
bam-6164	114	4	the	the	DET
bam-6164	114	5	fel	fel	NOUN
bam-6164	114	6	controller	controller	NOUN
bam-6164	114	7	during	during	ADP
bam-6164	114	8	the	the	DET
bam-6164	114	9	first	first	ADJ
bam-6164	114	10	,	,	PUNCT
bam-6164	114	11	fourth	fourth	ADJ
bam-6164	114	12	and	and	CCONJ
bam-6164	114	13	twelfth	twelfth	ADJ
bam-6164	114	14	movement	movement	NOUN
bam-6164	114	15	execution	execution	NOUN
bam-6164	114	16	respectively	respectively	ADV
bam-6164	114	17	for	for	ADP
bam-6164	114	18	the	the	DET
bam-6164	114	19	shoulder	shoulder	NOUN
bam-6164	114	20	(	(	PUNCT
bam-6164	114	21	left	left	ADJ
bam-6164	114	22	)	)	PUNCT
bam-6164	114	23	and	and	CCONJ
bam-6164	114	24	elbow	elbow	VERB
bam-6164	114	25	(	(	PUNCT
bam-6164	114	26	right	right	ADJ
bam-6164	114	27	)	)	PUNCT
bam-6164	114	28	joints	joint	NOUN
bam-6164	114	29	;	;	PUNCT
bam-6164	114	30	black	black	ADJ
bam-6164	114	31	:	:	PUNCT
bam-6164	114	32	total	total	ADJ
bam-6164	114	33	actuation	actuation	NOUN
bam-6164	114	34	signal	signal	NOUN
bam-6164	114	35	;	;	PUNCT
bam-6164	114	36	red	red	ADJ
bam-6164	114	37	:	:	PUNCT
bam-6164	114	38	actuation	actuation	NOUN
bam-6164	114	39	given	give	VERB
bam-6164	114	40	by	by	ADP
bam-6164	114	41	the	the	DET
bam-6164	114	42	feedback	feedback	NOUN
bam-6164	114	43	loop	loop	NOUN
bam-6164	114	44	;	;	PUNCT
bam-6164	114	45	blue	blue	ADJ
bam-6164	114	46	:	:	PUNCT
bam-6164	114	47	actuation	actuation	NOUN
bam-6164	114	48	signal	signal	NOUN
bam-6164	114	49	given	give	VERB
bam-6164	114	50	by	by	ADP
bam-6164	114	51	the	the	DET
bam-6164	114	52	feedforward	feedforward	NOUN
bam-6164	114	53	loop	loop	NOUN
bam-6164	114	54	feedback	feedback	NOUN
bam-6164	114	55	error	error	NOUN
bam-6164	114	56	learning	learn	VERB
bam-6164	114	57	controller	controller	NOUN
bam-6164	114	58	for	for	ADP
bam-6164	114	59	fes	fes	NOUN
bam-6164	114	60	assistance	assistance	NOUN
bam-6164	114	61	for	for	ADP
bam-6164	114	62	reaching	reach	VERB
bam-6164	114	63	rehabilitation	rehabilitation	NOUN
bam-6164	114	64	eur	eur	PROPN
bam-6164	114	65	j	j	PROPN
bam-6164	114	66	transl	transl	PROPN
bam-6164	114	67	myol	myol	NOUN
bam-6164	114	68	26	26	NUM
bam-6164	114	69	(	(	PUNCT
bam-6164	114	70	3	3	NUM
bam-6164	114	71	):	):	PUNCT
bam-6164	114	72	255	255	NUM
bam-6164	114	73	-	-	SYM
bam-6164	114	74	261	261	NUM
bam-6164	114	75	260	260	NUM
bam-6164	114	76	deviation	deviation	NOUN
bam-6164	114	77	with	with	ADP
bam-6164	114	78	respect	respect	NOUN
bam-6164	114	79	to	to	ADP
bam-6164	114	80	the	the	DET
bam-6164	114	81	average	average	NOUN
bam-6164	114	82	.	.	PUNCT
bam-6164	115	1	it	it	PRON
bam-6164	115	2	is	be	AUX
bam-6164	115	3	observed	observe	VERB
bam-6164	115	4	that	that	SCONJ
bam-6164	115	5	,	,	PUNCT
bam-6164	115	6	for	for	ADP
bam-6164	115	7	both	both	DET
bam-6164	115	8	joints	joint	NOUN
bam-6164	115	9	,	,	PUNCT
bam-6164	115	10	the	the	DET
bam-6164	115	11	error	error	NOUN
bam-6164	115	12	was	be	AUX
bam-6164	115	13	reduced	reduce	VERB
bam-6164	115	14	as	as	SCONJ
bam-6164	115	15	the	the	DET
bam-6164	115	16	number	number	NOUN
bam-6164	115	17	of	of	ADP
bam-6164	115	18	executed	execute	VERB
bam-6164	115	19	tasks	task	NOUN
bam-6164	115	20	increased	increase	VERB
bam-6164	115	21	.	.	PUNCT
bam-6164	116	1	this	this	PRON
bam-6164	116	2	points	point	VERB
bam-6164	116	3	out	out	ADP
bam-6164	116	4	that	that	SCONJ
bam-6164	116	5	the	the	DET
bam-6164	116	6	fel	fel	NOUN
bam-6164	116	7	algorithm	algorithm	NOUN
bam-6164	116	8	can	can	AUX
bam-6164	116	9	learn	learn	VERB
bam-6164	116	10	the	the	DET
bam-6164	116	11	dynamic	dynamic	NOUN
bam-6164	116	12	of	of	ADP
bam-6164	116	13	the	the	DET
bam-6164	116	14	movements	movement	NOUN
bam-6164	116	15	,	,	PUNCT
bam-6164	116	16	resulting	result	VERB
bam-6164	116	17	in	in	ADP
bam-6164	116	18	enhancements	enhancement	NOUN
bam-6164	116	19	of	of	ADP
bam-6164	116	20	the	the	DET
bam-6164	116	21	tracking	tracking	NOUN
bam-6164	116	22	accuracy	accuracy	NOUN
bam-6164	116	23	.	.	PUNCT
bam-6164	117	1	figure	figure	NOUN
bam-6164	117	2	6	6	NUM
bam-6164	117	3	shows	show	VERB
bam-6164	117	4	the	the	DET
bam-6164	117	5	joints	joint	NOUN
bam-6164	117	6	(	(	PUNCT
bam-6164	117	7	shoulder	shoulder	NOUN
bam-6164	117	8	-leftand	-leftand	PROPN
bam-6164	117	9	elbow	elbow	NOUN
bam-6164	117	10	–	–	PUNCT
bam-6164	117	11	right-	right-	X
bam-6164	117	12	)	)	PUNCT
bam-6164	117	13	tracking	tracking	NOUN
bam-6164	117	14	accuracy	accuracy	NOUN
bam-6164	117	15	during	during	ADP
bam-6164	117	16	the	the	DET
bam-6164	117	17	first	first	ADJ
bam-6164	117	18	,	,	PUNCT
bam-6164	117	19	fourth	fourth	ADJ
bam-6164	117	20	and	and	CCONJ
bam-6164	117	21	twelfth	twelfth	ADJ
bam-6164	117	22	movement	movement	NOUN
bam-6164	117	23	execution	execution	NOUN
bam-6164	117	24	.	.	PUNCT
bam-6164	118	1	this	this	DET
bam-6164	118	2	result	result	NOUN
bam-6164	118	3	shows	show	VERB
bam-6164	118	4	that	that	SCONJ
bam-6164	118	5	after	after	SCONJ
bam-6164	118	6	the	the	DET
bam-6164	118	7	fourth	fourth	ADJ
bam-6164	118	8	trial	trial	NOUN
bam-6164	118	9	execution	execution	NOUN
bam-6164	118	10	,	,	PUNCT
bam-6164	118	11	the	the	DET
bam-6164	118	12	trajectory	trajectory	NOUN
bam-6164	118	13	error	error	NOUN
bam-6164	118	14	(	(	PUNCT
bam-6164	118	15	row	row	NOUN
bam-6164	118	16	2	2	NUM
bam-6164	118	17	)	)	PUNCT
bam-6164	118	18	was	be	AUX
bam-6164	118	19	significantly	significantly	ADV
bam-6164	118	20	decreased	decrease	VERB
bam-6164	118	21	in	in	ADP
bam-6164	118	22	both	both	DET
bam-6164	118	23	joints	joint	NOUN
bam-6164	118	24	(	(	PUNCT
bam-6164	118	25	blue	blue	ADJ
bam-6164	118	26	and	and	CCONJ
bam-6164	118	27	green	green	ADJ
bam-6164	118	28	lines	line	NOUN
bam-6164	118	29	)	)	PUNCT
bam-6164	118	30	.	.	PUNCT
bam-6164	119	1	however	however	ADV
bam-6164	119	2	,	,	PUNCT
bam-6164	119	3	the	the	DET
bam-6164	119	4	difference	difference	NOUN
bam-6164	119	5	between	between	ADP
bam-6164	119	6	the	the	DET
bam-6164	119	7	fourth	fourth	ADJ
bam-6164	119	8	and	and	CCONJ
bam-6164	119	9	twelfth	twelfth	ADJ
bam-6164	119	10	trials	trial	NOUN
bam-6164	119	11	is	be	AUX
bam-6164	119	12	smaller	small	ADJ
bam-6164	119	13	.	.	PUNCT
bam-6164	120	1	this	this	PRON
bam-6164	120	2	is	be	AUX
bam-6164	120	3	in	in	ADP
bam-6164	120	4	agreement	agreement	NOUN
bam-6164	120	5	with	with	ADP
bam-6164	120	6	fig	fig	NOUN
bam-6164	120	7	.	.	PUNCT
bam-6164	121	1	5	5	NUM
bam-6164	121	2	,	,	PUNCT
bam-6164	121	3	where	where	SCONJ
bam-6164	121	4	the	the	DET
bam-6164	121	5	first	first	ADJ
bam-6164	121	6	movements	movement	NOUN
bam-6164	121	7	present	present	VERB
bam-6164	121	8	a	a	DET
bam-6164	121	9	bigger	big	ADJ
bam-6164	121	10	slope	slope	NOUN
bam-6164	121	11	in	in	ADP
bam-6164	121	12	the	the	DET
bam-6164	121	13	learning	learning	NOUN
bam-6164	121	14	curve	curve	NOUN
bam-6164	121	15	.	.	PUNCT
bam-6164	122	1	as	as	SCONJ
bam-6164	122	2	learning	learn	VERB
bam-6164	122	3	proceeds	proceed	NOUN
bam-6164	122	4	,	,	PUNCT
bam-6164	122	5	the	the	DET
bam-6164	122	6	corresponding	corresponding	ADJ
bam-6164	122	7	slope	slope	NOUN
bam-6164	122	8	flattens	flatten	VERB
bam-6164	122	9	resulting	result	VERB
bam-6164	122	10	in	in	ADP
bam-6164	122	11	the	the	DET
bam-6164	122	12	final	final	ADJ
bam-6164	122	13	learned	learn	VERB
bam-6164	122	14	model	model	NOUN
bam-6164	122	15	.	.	PUNCT
bam-6164	123	1	in	in	ADP
bam-6164	123	2	regards	regard	NOUN
bam-6164	123	3	to	to	ADP
bam-6164	123	4	the	the	DET
bam-6164	123	5	actuation	actuation	NOUN
bam-6164	123	6	signal	signal	NOUN
bam-6164	123	7	,	,	PUNCT
bam-6164	123	8	figure	figure	VERB
bam-6164	123	9	7	7	NUM
bam-6164	123	10	depicts	depict	VERB
bam-6164	123	11	that	that	SCONJ
bam-6164	123	12	in	in	ADP
bam-6164	123	13	the	the	DET
bam-6164	123	14	first	first	ADJ
bam-6164	123	15	movement	movement	NOUN
bam-6164	123	16	,	,	PUNCT
bam-6164	123	17	most	most	ADJ
bam-6164	123	18	of	of	ADP
bam-6164	123	19	the	the	DET
bam-6164	123	20	output	output	NOUN
bam-6164	123	21	is	be	AUX
bam-6164	123	22	given	give	VERB
bam-6164	123	23	by	by	ADP
bam-6164	123	24	the	the	DET
bam-6164	123	25	feedback	feedback	NOUN
bam-6164	123	26	loop	loop	NOUN
bam-6164	123	27	(	(	PUNCT
bam-6164	123	28	row	row	NOUN
bam-6164	123	29	1	1	NUM
bam-6164	123	30	,	,	PUNCT
bam-6164	123	31	red	red	ADJ
bam-6164	123	32	line	line	NOUN
bam-6164	123	33	)	)	PUNCT
bam-6164	123	34	.	.	PUNCT
bam-6164	124	1	however	however	ADV
bam-6164	124	2	,	,	PUNCT
bam-6164	124	3	after	after	ADP
bam-6164	124	4	the	the	DET
bam-6164	124	5	learning	learning	NOUN
bam-6164	124	6	process	process	NOUN
bam-6164	124	7	,	,	PUNCT
bam-6164	124	8	the	the	DET
bam-6164	124	9	output	output	NOUN
bam-6164	124	10	is	be	AUX
bam-6164	124	11	mainly	mainly	ADV
bam-6164	124	12	due	due	ADJ
bam-6164	124	13	to	to	ADP
bam-6164	124	14	the	the	DET
bam-6164	124	15	learned	learn	VERB
bam-6164	124	16	model	model	NOUN
bam-6164	124	17	(	(	PUNCT
bam-6164	124	18	row	row	NOUN
bam-6164	124	19	2	2	NUM
bam-6164	124	20	and	and	CCONJ
bam-6164	124	21	3	3	NUM
bam-6164	124	22	,	,	PUNCT
bam-6164	124	23	blue	blue	ADJ
bam-6164	124	24	line	line	NOUN
bam-6164	124	25	)	)	PUNCT
bam-6164	124	26	.	.	PUNCT
bam-6164	125	1	at	at	ADP
bam-6164	125	2	this	this	DET
bam-6164	125	3	point	point	NOUN
bam-6164	125	4	,	,	PUNCT
bam-6164	125	5	the	the	DET
bam-6164	125	6	feedback	feedback	NOUN
bam-6164	125	7	loop	loop	NOUN
bam-6164	125	8	is	be	AUX
bam-6164	125	9	only	only	ADV
bam-6164	125	10	compensating	compensate	VERB
bam-6164	125	11	for	for	ADP
bam-6164	125	12	small	small	ADJ
bam-6164	125	13	disturbances	disturbance	NOUN
bam-6164	125	14	in	in	ADP
bam-6164	125	15	the	the	DET
bam-6164	125	16	movements	movement	NOUN
bam-6164	125	17	.	.	PUNCT
bam-6164	126	1	this	this	DET
bam-6164	126	2	compensation	compensation	NOUN
bam-6164	126	3	causes	cause	VERB
bam-6164	126	4	a	a	DET
bam-6164	126	5	ripple	ripple	NOUN
bam-6164	126	6	in	in	ADP
bam-6164	126	7	the	the	DET
bam-6164	126	8	output	output	NOUN
bam-6164	126	9	,	,	PUNCT
bam-6164	126	10	as	as	SCONJ
bam-6164	126	11	shown	show	VERB
bam-6164	126	12	in	in	ADP
bam-6164	126	13	the	the	DET
bam-6164	126	14	figure	figure	NOUN
bam-6164	126	15	.	.	PUNCT
bam-6164	127	1	however	however	ADV
bam-6164	127	2	,	,	PUNCT
bam-6164	127	3	lowering	lower	VERB
bam-6164	127	4	the	the	DET
bam-6164	127	5	gains	gain	NOUN
bam-6164	127	6	of	of	ADP
bam-6164	127	7	the	the	DET
bam-6164	127	8	pid	pid	NOUN
bam-6164	127	9	controller	controller	NOUN
bam-6164	127	10	can	can	AUX
bam-6164	127	11	effectively	effectively	ADV
bam-6164	127	12	reduce	reduce	VERB
bam-6164	127	13	this	this	DET
bam-6164	127	14	ripple	ripple	NOUN
bam-6164	127	15	.	.	PUNCT
bam-6164	128	1	discussion	discussion	NOUN
bam-6164	128	2	we	we	PRON
bam-6164	128	3	have	have	AUX
bam-6164	128	4	implemented	implement	VERB
bam-6164	128	5	a	a	DET
bam-6164	128	6	fes	fes	NOUN
bam-6164	128	7	controller	controller	NOUN
bam-6164	128	8	based	base	VERB
bam-6164	128	9	on	on	ADP
bam-6164	128	10	the	the	DET
bam-6164	128	11	feedback	feedback	NOUN
bam-6164	128	12	error	error	NOUN
bam-6164	128	13	learning	learning	NOUN
bam-6164	128	14	(	(	PUNCT
bam-6164	128	15	fel	fel	NOUN
bam-6164	128	16	)	)	PUNCT
bam-6164	128	17	scheme	scheme	NOUN
bam-6164	128	18	to	to	PART
bam-6164	128	19	assist	assist	VERB
bam-6164	128	20	a	a	DET
bam-6164	128	21	reaching	reach	VERB
bam-6164	128	22	movement	movement	NOUN
bam-6164	128	23	.	.	PUNCT
bam-6164	129	1	we	we	PRON
bam-6164	129	2	combined	combine	VERB
bam-6164	129	3	this	this	DET
bam-6164	129	4	controller	controller	NOUN
bam-6164	129	5	with	with	ADP
bam-6164	129	6	a	a	DET
bam-6164	129	7	passive	passive	ADJ
bam-6164	129	8	exoskeleton	exoskeleton	NOUN
bam-6164	129	9	into	into	ADP
bam-6164	129	10	a	a	DET
bam-6164	129	11	simple	simple	ADJ
bam-6164	129	12	hybrid	hybrid	ADJ
bam-6164	129	13	robotic	robotic	ADJ
bam-6164	129	14	system	system	NOUN
bam-6164	129	15	setting	set	VERB
bam-6164	129	16	.	.	PUNCT
bam-6164	130	1	the	the	DET
bam-6164	130	2	controller	controller	NOUN
bam-6164	130	3	adjusted	adjust	VERB
bam-6164	130	4	dynamically	dynamically	ADV
bam-6164	130	5	the	the	DET
bam-6164	130	6	fes	fes	NOUN
bam-6164	130	7	at	at	ADP
bam-6164	130	8	the	the	DET
bam-6164	130	9	shoulder	shoulder	NOUN
bam-6164	130	10	and	and	CCONJ
bam-6164	130	11	elbow	elbow	VERB
bam-6164	130	12	simultaneously	simultaneously	ADV
bam-6164	130	13	to	to	PART
bam-6164	130	14	track	track	VERB
bam-6164	130	15	the	the	DET
bam-6164	130	16	desired	desire	VERB
bam-6164	130	17	trajectory	trajectory	NOUN
bam-6164	130	18	.	.	PUNCT
bam-6164	131	1	the	the	DET
bam-6164	131	2	fel	fel	PROPN
bam-6164	131	3	algorithm	algorithm	NOUN
bam-6164	131	4	was	be	AUX
bam-6164	131	5	able	able	ADJ
bam-6164	131	6	to	to	PART
bam-6164	131	7	learn	learn	VERB
bam-6164	131	8	the	the	DET
bam-6164	131	9	inverse	inverse	NOUN
bam-6164	131	10	dynamic	dynamic	NOUN
bam-6164	131	11	of	of	ADP
bam-6164	131	12	the	the	DET
bam-6164	131	13	system	system	NOUN
bam-6164	131	14	and	and	CCONJ
bam-6164	131	15	reduced	reduce	VERB
bam-6164	131	16	the	the	DET
bam-6164	131	17	error	error	NOUN
bam-6164	131	18	within	within	ADP
bam-6164	131	19	acceptable	acceptable	ADJ
bam-6164	131	20	ranges	range	NOUN
bam-6164	131	21	.	.	PUNCT
bam-6164	132	1	this	this	DET
bam-6164	132	2	controller	controller	NOUN
bam-6164	132	3	is	be	AUX
bam-6164	132	4	very	very	ADV
bam-6164	132	5	attractive	attractive	ADJ
bam-6164	132	6	to	to	PART
bam-6164	132	7	use	use	VERB
bam-6164	132	8	in	in	ADP
bam-6164	132	9	clinical	clinical	ADJ
bam-6164	132	10	environments	environment	NOUN
bam-6164	132	11	since	since	SCONJ
bam-6164	132	12	it	it	PRON
bam-6164	132	13	achieves	achieve	VERB
bam-6164	132	14	good	good	ADJ
bam-6164	132	15	accuracy	accuracy	NOUN
bam-6164	132	16	in	in	ADP
bam-6164	132	17	tracking	track	VERB
bam-6164	132	18	a	a	DET
bam-6164	132	19	movement	movement	NOUN
bam-6164	132	20	without	without	ADP
bam-6164	132	21	needing	need	VERB
bam-6164	132	22	a	a	DET
bam-6164	132	23	mathematical	mathematical	ADJ
bam-6164	132	24	description	description	NOUN
bam-6164	132	25	of	of	ADP
bam-6164	132	26	the	the	DET
bam-6164	132	27	musculoskeletal	musculoskeletal	ADJ
bam-6164	132	28	system	system	NOUN
bam-6164	132	29	of	of	ADP
bam-6164	132	30	the	the	DET
bam-6164	132	31	patient	patient	NOUN
bam-6164	132	32	.	.	PUNCT
bam-6164	133	1	also	also	ADV
bam-6164	133	2	,	,	PUNCT
bam-6164	133	3	it	it	PRON
bam-6164	133	4	only	only	ADV
bam-6164	133	5	needs	need	VERB
bam-6164	133	6	a	a	DET
bam-6164	133	7	few	few	ADJ
bam-6164	133	8	parameters	parameter	NOUN
bam-6164	133	9	to	to	PART
bam-6164	133	10	work	work	VERB
bam-6164	133	11	.	.	PUNCT
bam-6164	134	1	furthermore	furthermore	ADV
bam-6164	134	2	,	,	PUNCT
bam-6164	134	3	due	due	ADP
bam-6164	134	4	to	to	ADP
bam-6164	134	5	its	its	PRON
bam-6164	134	6	learning	learning	NOUN
bam-6164	134	7	capabilities	capability	NOUN
bam-6164	134	8	,	,	PUNCT
bam-6164	134	9	this	this	DET
bam-6164	134	10	controller	controller	NOUN
bam-6164	134	11	could	could	AUX
bam-6164	134	12	be	be	AUX
bam-6164	134	13	implemented	implement	VERB
bam-6164	134	14	in	in	ADP
bam-6164	134	15	a	a	DET
bam-6164	134	16	full	full	ADJ
bam-6164	134	17	hybrid	hybrid	ADJ
bam-6164	134	18	robotic	robotic	ADJ
bam-6164	134	19	system	system	NOUN
bam-6164	134	20	with	with	ADP
bam-6164	134	21	an	an	DET
bam-6164	134	22	active	active	ADJ
bam-6164	134	23	exoskeleton	exoskeleton	NOUN
bam-6164	134	24	.	.	PUNCT
bam-6164	135	1	usability	usability	NOUN
bam-6164	135	2	tests	test	NOUN
bam-6164	135	3	with	with	ADP
bam-6164	135	4	stroke	stroke	NOUN
bam-6164	135	5	patients	patient	NOUN
bam-6164	135	6	will	will	AUX
bam-6164	135	7	be	be	AUX
bam-6164	135	8	addressed	address	VERB
bam-6164	135	9	in	in	ADP
bam-6164	135	10	future	future	ADJ
bam-6164	135	11	work	work	NOUN
bam-6164	135	12	.	.	PUNCT
bam-6164	136	1	these	these	DET
bam-6164	136	2	tests	test	NOUN
bam-6164	136	3	will	will	AUX
bam-6164	136	4	verify	verify	VERB
bam-6164	136	5	the	the	DET
bam-6164	136	6	capability	capability	NOUN
bam-6164	136	7	of	of	ADP
bam-6164	136	8	the	the	DET
bam-6164	136	9	controller	controller	NOUN
bam-6164	136	10	to	to	PART
bam-6164	136	11	learn	learn	VERB
bam-6164	136	12	the	the	DET
bam-6164	136	13	inverse	inverse	NOUN
bam-6164	136	14	dynamics	dynamic	NOUN
bam-6164	136	15	and	and	CCONJ
bam-6164	136	16	adjust	adjust	VERB
bam-6164	136	17	the	the	DET
bam-6164	136	18	level	level	NOUN
bam-6164	136	19	of	of	ADP
bam-6164	136	20	assistance	assistance	NOUN
bam-6164	136	21	when	when	SCONJ
bam-6164	136	22	spasticity	spasticity	NOUN
bam-6164	136	23	and	and	CCONJ
bam-6164	136	24	other	other	ADJ
bam-6164	136	25	alterations	alteration	NOUN
bam-6164	136	26	due	due	ADJ
bam-6164	136	27	to	to	ADP
bam-6164	136	28	stroke	stroke	NOUN
bam-6164	136	29	are	be	AUX
bam-6164	136	30	present	present	ADJ
bam-6164	136	31	.	.	PUNCT
bam-6164	137	1	author	author	NOUN
bam-6164	137	2	’s	’s	PART
bam-6164	137	3	contribution	contribution	NOUN
bam-6164	137	4	fr	fr	PROPN
bam-6164	137	5	implemented	implement	VERB
bam-6164	137	6	the	the	DET
bam-6164	137	7	system	system	NOUN
bam-6164	137	8	;	;	PUNCT
bam-6164	137	9	fr	fr	PROPN
bam-6164	137	10	,	,	PUNCT
bam-6164	137	11	jg	jg	PROPN
bam-6164	137	12	-	-	PUNCT
bam-6164	137	13	v	v	NOUN
bam-6164	137	14	and	and	CCONJ
bam-6164	137	15	fb	fb	INTJ
bam-6164	137	16	designed	design	VERB
bam-6164	137	17	the	the	DET
bam-6164	137	18	experiments	experiment	NOUN
bam-6164	137	19	;	;	PUNCT
bam-6164	137	20	fr	fr	PROPN
bam-6164	137	21	ran	run	VERB
bam-6164	137	22	the	the	DET
bam-6164	137	23	experiment	experiment	NOUN
bam-6164	137	24	,	,	PUNCT
bam-6164	137	25	collected	collect	VERB
bam-6164	137	26	and	and	CCONJ
bam-6164	137	27	analyzed	analyze	VERB
bam-6164	137	28	data	datum	NOUN
bam-6164	137	29	;	;	PUNCT
bam-6164	137	30	fr	fr	PROPN
bam-6164	137	31	,	,	PUNCT
bam-6164	137	32	jg	jg	PROPN
bam-6164	137	33	-	-	PUNCT
bam-6164	137	34	v	v	NOUN
bam-6164	137	35	and	and	CCONJ
bam-6164	137	36	ji	ji	PROPN
bam-6164	137	37	interpreted	interpret	VERB
bam-6164	137	38	data	datum	NOUN
bam-6164	137	39	;	;	PUNCT
bam-6164	137	40	fr	fr	PROPN
bam-6164	137	41	draft	draft	NOUN
bam-6164	137	42	and	and	CCONJ
bam-6164	137	43	wrote	write	VERB
bam-6164	137	44	the	the	DET
bam-6164	137	45	manuscripts	manuscript	NOUN
bam-6164	137	46	.	.	PUNCT
bam-6164	138	1	jg	jg	PROPN
bam-6164	138	2	-	-	PUNCT
bam-6164	138	3	v	v	PROPN
bam-6164	138	4	contributed	contribute	VERB
bam-6164	138	5	to	to	ADP
bam-6164	138	6	writing	write	VERB
bam-6164	138	7	the	the	DET
bam-6164	138	8	manuscript	manuscript	NOUN
bam-6164	138	9	.	.	PUNCT
bam-6164	139	1	ji	ji	PROPN
bam-6164	139	2	,	,	PUNCT
bam-6164	139	3	fb	fb	NOUN
bam-6164	139	4	and	and	CCONJ
bam-6164	139	5	jlp	jlp	PROPN
bam-6164	139	6	reviewed	review	VERB
bam-6164	139	7	the	the	DET
bam-6164	139	8	draft	draft	NOUN
bam-6164	139	9	.	.	PUNCT
bam-6164	140	1	jlp	jlp	PROPN
bam-6164	140	2	were	be	AUX
bam-6164	140	3	responsible	responsible	ADJ
bam-6164	140	4	for	for	ADP
bam-6164	140	5	founding	founding	NOUN
bam-6164	140	6	.	.	PUNCT
bam-6164	141	1	acknowledgment	acknowledgment	NOUN
bam-6164	141	2	this	this	DET
bam-6164	141	3	work	work	NOUN
bam-6164	141	4	has	have	AUX
bam-6164	141	5	been	be	AUX
bam-6164	141	6	done	do	VERB
bam-6164	141	7	with	with	ADP
bam-6164	141	8	the	the	DET
bam-6164	141	9	financial	financial	ADJ
bam-6164	141	10	support	support	NOUN
bam-6164	141	11	of	of	ADP
bam-6164	141	12	the	the	DET
bam-6164	141	13	ministry	ministry	PROPN
bam-6164	141	14	of	of	ADP
bam-6164	141	15	science	science	NOUN
bam-6164	141	16	and	and	CCONJ
bam-6164	141	17	innovation	innovation	NOUN
bam-6164	141	18	of	of	ADP
bam-6164	141	19	spain	spain	PROPN
bam-6164	141	20	,	,	PUNCT
bam-6164	141	21	project	project	NOUN
bam-6164	141	22	hyper	hyper	NOUN
bam-6164	141	23	(	(	PUNCT
bam-6164	141	24	csd	csd	PROPN
bam-6164	141	25	2009	2009	NUM
bam-6164	141	26	-	-	SYM
bam-6164	141	27	00067	00067	NUM
bam-6164	141	28	hybrid	hybrid	ADJ
bam-6164	141	29	neuroprosthetic	neuroprosthetic	ADJ
bam-6164	141	30	and	and	CCONJ
bam-6164	141	31	neurorobotic	neurorobotic	ADJ
bam-6164	141	32	devices	device	NOUN
bam-6164	141	33	for	for	ADP
bam-6164	141	34	functional	functional	ADJ
bam-6164	141	35	compensation	compensation	NOUN
bam-6164	141	36	and	and	CCONJ
bam-6164	141	37	rehabilitation	rehabilitation	NOUN
bam-6164	141	38	of	of	ADP
bam-6164	141	39	motor	motor	NOUN
bam-6164	141	40	disorders	disorder	NOUN
bam-6164	141	41	)	)	PUNCT
bam-6164	141	42	.	.	PUNCT
bam-6164	142	1	this	this	DET
bam-6164	142	2	paper	paper	NOUN
bam-6164	142	3	was	be	AUX
bam-6164	142	4	presented	present	VERB
bam-6164	142	5	at	at	ADP
bam-6164	142	6	the	the	DET
bam-6164	142	7	20th	20th	ADJ
bam-6164	142	8	international	international	ADJ
bam-6164	142	9	functional	functional	ADJ
bam-6164	142	10	electrical	electrical	ADJ
bam-6164	142	11	stimulation	stimulation	NOUN
bam-6164	142	12	society	society	NOUN
bam-6164	142	13	(	(	PUNCT
bam-6164	142	14	ifess	ifess	NOUN
bam-6164	142	15	)	)	PUNCT
bam-6164	142	16	conference	conference	NOUN
bam-6164	142	17	,	,	PUNCT
bam-6164	142	18	2016	2016	NUM
bam-6164	142	19	june	june	PROPN
bam-6164	142	20	810	810	NUM
bam-6164	142	21	,	,	PUNCT
bam-6164	142	22	grande	grande	NOUN
bam-6164	142	23	-	-	PUNCT
bam-6164	142	24	motte	motte	NOUN
bam-6164	142	25	,	,	PUNCT
bam-6164	142	26	france	france	PROPN
bam-6164	142	27	.	.	PUNCT
bam-6164	143	1	conflict	conflict	NOUN
bam-6164	143	2	of	of	ADP
bam-6164	143	3	interest	interest	NOUN
bam-6164	143	4	the	the	DET
bam-6164	143	5	authors	author	NOUN
bam-6164	143	6	declare	declare	VERB
bam-6164	143	7	no	no	DET
bam-6164	143	8	conflict	conflict	NOUN
bam-6164	143	9	of	of	ADP
bam-6164	143	10	interests	interest	NOUN
bam-6164	143	11	.	.	PUNCT
bam-6164	144	1	corresponding	correspond	VERB
bam-6164	144	2	author	author	PROPN
bam-6164	144	3	francisco	francisco	PROPN
bam-6164	144	4	resquín	resquín	PROPN
bam-6164	144	5	,	,	PUNCT
bam-6164	144	6	neural	neural	ADJ
bam-6164	144	7	rehabilitation	rehabilitation	NOUN
bam-6164	144	8	group	group	NOUN
bam-6164	144	9	,	,	PUNCT
bam-6164	144	10	cajal	cajal	PROPN
bam-6164	144	11	institute	institute	PROPN
bam-6164	144	12	,	,	PUNCT
bam-6164	144	13	spanish	spanish	ADJ
bam-6164	144	14	national	national	PROPN
bam-6164	144	15	research	research	PROPN
bam-6164	144	16	council	council	PROPN
bam-6164	144	17	(	(	PUNCT
bam-6164	144	18	csic	csic	PROPN
bam-6164	144	19	)	)	PUNCT
bam-6164	144	20	.	.	PUNCT
bam-6164	145	1	avda	avda	ADJ
bam-6164	145	2	.	.	PUNCT
bam-6164	146	1	doctor	doctor	PROPN
bam-6164	146	2	arce	arce	PROPN
bam-6164	146	3	,	,	PUNCT
bam-6164	146	4	37	37	NUM
bam-6164	146	5	,	,	PUNCT
bam-6164	146	6	28002	28002	NUM
bam-6164	146	7	.	.	PUNCT
bam-6164	147	1	madrid	madrid	PROPN
bam-6164	147	2	,	,	PUNCT
bam-6164	147	3	spain	spain	PROPN
bam-6164	147	4	.	.	PUNCT
bam-6164	148	1	e	e	X
bam-6164	148	2	-	-	NOUN
bam-6164	148	3	mail	mail	NOUN
bam-6164	148	4	:	:	PUNCT
bam-6164	148	5	franresquin@gmail.com	franresquin@gmail.com	X
bam-6164	149	1	e	e	NOUN
bam-6164	149	2	-	-	NOUN
bam-6164	149	3	mail	mail	NOUN
bam-6164	149	4	of	of	ADP
bam-6164	149	5	coauthors	coauthor	NOUN
bam-6164	149	6	jose	jose	PROPN
bam-6164	149	7	gonzalez	gonzalez	PROPN
bam-6164	149	8	-	-	PUNCT
bam-6164	149	9	vargas	vargas	NOUN
bam-6164	149	10	:	:	PUNCT
bam-6164	149	11	je.gonzalez@csic.es	je.gonzalez@csic.es	NUM
bam-6164	149	12	jaime	jaime	NOUN
bam-6164	149	13	ibáñez	ibáñez	NOUN
bam-6164	149	14	:	:	PUNCT
bam-6164	149	15	jaime.ibanez@csic.es	jaime.ibanez@csic.es	PROPN
bam-6164	149	16	fernando	fernando	PROPN
bam-6164	149	17	brunetti	brunetti	PROPN
bam-6164	149	18	:	:	PUNCT
bam-6164	150	1	fjbrunetti@gmail.com	fjbrunetti@gmail.com	PROPN
bam-6164	150	2	josé	josé	PROPN
bam-6164	150	3	luis	luis	PROPN
bam-6164	150	4	pons	pons	PROPN
bam-6164	150	5	:	:	PUNCT
bam-6164	150	6	jose.pons@csic.es	jose.pons@csic.es	PROPN
bam-6164	150	7	references	reference	NOUN
bam-6164	150	8	1	1	NUM
bam-6164	150	9	.	.	PUNCT
bam-6164	151	1	mackay	mackay	PROPN
bam-6164	151	2	j	j	PROPN
bam-6164	151	3	,	,	PUNCT
bam-6164	151	4	mensah	mensah	PROPN
bam-6164	151	5	ga	ga	PROPN
bam-6164	151	6	,	,	PUNCT
bam-6164	151	7	mendis	mendis	PROPN
bam-6164	151	8	s	s	PROPN
bam-6164	151	9	,	,	PUNCT
bam-6164	151	10	greenlund	greenlund	PROPN
bam-6164	151	11	k.	k.	PROPN
bam-6164	152	1	the	the	DET
bam-6164	152	2	atlas	atlas	PROPN
bam-6164	152	3	of	of	ADP
bam-6164	152	4	heart	heart	NOUN
bam-6164	152	5	disease	disease	NOUN
bam-6164	152	6	and	and	CCONJ
bam-6164	152	7	stroke	stroke	NOUN
bam-6164	152	8	.	.	PUNCT
bam-6164	153	1	world	world	PROPN
bam-6164	153	2	health	health	PROPN
bam-6164	153	3	organization	organization	NOUN
bam-6164	153	4	;	;	PUNCT
bam-6164	153	5	2004	2004	NUM
bam-6164	153	6	.	.	PUNCT
bam-6164	154	1	2	2	X
bam-6164	154	2	.	.	X
bam-6164	154	3	popovic	popovic	PROPN
bam-6164	154	4	mr	mr	PROPN
bam-6164	154	5	,	,	PUNCT
bam-6164	154	6	thrasher	thrasher	NOUN
bam-6164	154	7	ta	ta	PROPN
bam-6164	154	8	,	,	PUNCT
bam-6164	154	9	zivanovic	zivanovic	PROPN
bam-6164	154	10	v	v	NOUN
bam-6164	154	11	,	,	PUNCT
bam-6164	154	12	takaki	takaki	PROPN
bam-6164	154	13	j	j	PROPN
bam-6164	154	14	,	,	PUNCT
bam-6164	154	15	hajek	hajek	NOUN
bam-6164	154	16	v.	v.	ADP
bam-6164	154	17	neuroprosthesis	neuroprosthesis	NOUN
bam-6164	154	18	for	for	ADP
bam-6164	154	19	retraining	retrain	VERB
bam-6164	154	20	reaching	reach	VERB
bam-6164	154	21	and	and	CCONJ
bam-6164	154	22	grasping	grasp	VERB
bam-6164	154	23	functions	function	NOUN
bam-6164	154	24	in	in	ADP
bam-6164	154	25	severe	severe	ADJ
bam-6164	154	26	hemiplegic	hemiplegic	ADJ
bam-6164	154	27	patients	patient	NOUN
bam-6164	154	28	.	.	PUNCT
bam-6164	155	1	neuromodulation	neuromodulation	NOUN
bam-6164	155	2	2005;8:58–72	2005;8:58–72	NUM
bam-6164	155	3	.	.	PUNCT
bam-6164	156	1	doi:10	doi:10	PROPN
bam-6164	156	2	.	.	PUNCT
bam-6164	157	1	1111	1111	NUM
bam-6164	157	2	/	/	SYM
bam-6164	157	3	j.1094	j.1094	NOUN
bam-6164	157	4	-	-	PUNCT
bam-6164	157	5	7159.2005.05221.x	7159.2005.05221.x	NOUN
bam-6164	157	6	.	.	PUNCT
bam-6164	158	1	3	3	X
bam-6164	158	2	.	.	X
bam-6164	158	3	hara	hara	PROPN
bam-6164	158	4	y.	y.	PROPN
bam-6164	158	5	rehabilitation	rehabilitation	PROPN
bam-6164	158	6	with	with	ADP
bam-6164	158	7	functional	functional	ADJ
bam-6164	158	8	electrical	electrical	ADJ
bam-6164	158	9	stimulation	stimulation	NOUN
bam-6164	158	10	in	in	ADP
bam-6164	158	11	stroke	stroke	NOUN
bam-6164	158	12	patients	patient	NOUN
bam-6164	158	13	.	.	PUNCT
bam-6164	159	1	int	int	NOUN
bam-6164	159	2	j	j	PROPN
bam-6164	159	3	phys	phy	NOUN
bam-6164	159	4	med	me	VERB
bam-6164	159	5	rehabil	rehabil	ADJ
bam-6164	159	6	2013;01:1–6	2013;01:1–6	NUM
bam-6164	159	7	.	.	PUNCT
bam-6164	160	1	4	4	NUM
bam-6164	160	2	.	.	X
bam-6164	160	3	maffiuletti	maffiuletti	PROPN
bam-6164	160	4	na	na	NOUN
bam-6164	160	5	.	.	NOUN
bam-6164	160	6	physiological	physiological	ADJ
bam-6164	160	7	and	and	CCONJ
bam-6164	160	8	methodological	methodological	ADJ
bam-6164	160	9	considerations	consideration	NOUN
bam-6164	160	10	for	for	ADP
bam-6164	160	11	the	the	DET
bam-6164	160	12	use	use	NOUN
bam-6164	160	13	of	of	ADP
bam-6164	160	14	neuromuscular	neuromuscular	ADJ
bam-6164	160	15	electrical	electrical	ADJ
bam-6164	160	16	stimulation	stimulation	NOUN
bam-6164	160	17	.	.	PUNCT
bam-6164	161	1	eur	eur	PROPN
bam-6164	161	2	j	j	PROPN
bam-6164	161	3	appl	appl	PROPN
bam-6164	161	4	physiol	physiol	PROPN
bam-6164	161	5	2010;110(2):223–4	2010;110(2):223–4	PROPN
bam-6164	161	6	.	.	PUNCT
bam-6164	162	1	doi:10.1007	doi:10.1007	VERB
bam-6164	162	2	/	/	SYM
bam-6164	162	3	s00421	s00421	NOUN
bam-6164	162	4	-	-	PUNCT
bam-6164	162	5	0101502	0101502	NUM
bam-6164	162	6	-	-	PUNCT
bam-6164	162	7	y.	y.	NOUN
bam-6164	162	8	5	5	NUM
bam-6164	162	9	.	.	PUNCT
bam-6164	163	1	thompson	thompson	PROPN
bam-6164	163	2	ak	ak	PROPN
bam-6164	163	3	,	,	PUNCT
bam-6164	163	4	stein	stein	PROPN
bam-6164	163	5	rb	rb	PROPN
bam-6164	163	6	.	.	PUNCT
bam-6164	163	7	short	short	ADJ
bam-6164	163	8	-	-	PUNCT
bam-6164	163	9	term	term	NOUN
bam-6164	163	10	effects	effect	NOUN
bam-6164	163	11	of	of	ADP
bam-6164	163	12	functional	functional	ADJ
bam-6164	163	13	electrical	electrical	ADJ
bam-6164	163	14	stimulation	stimulation	NOUN
bam-6164	163	15	on	on	ADP
bam-6164	163	16	motor	motor	NOUN
bam-6164	163	17	-	-	PUNCT
bam-6164	163	18	evoked	evoke	VERB
bam-6164	163	19	potentials	potential	NOUN
bam-6164	163	20	in	in	ADP
bam-6164	163	21	ankle	ankle	NOUN
bam-6164	163	22	flexor	flexor	NOUN
bam-6164	163	23	and	and	CCONJ
bam-6164	163	24	extensor	extensor	NOUN
bam-6164	163	25	muscles	muscle	NOUN
bam-6164	163	26	.	.	PUNCT
bam-6164	164	1	exp	exp	NOUN
bam-6164	164	2	brain	brain	NOUN
bam-6164	164	3	res	re	NOUN
bam-6164	164	4	2004;159:491–500	2004;159:491–500	NUM
bam-6164	164	5	.	.	PUNCT
bam-6164	165	1	doi:10.1007/	doi:10.1007/	PROPN
bam-6164	165	2	s00221	s00221	NOUN
bam-6164	165	3	-	-	PUNCT
bam-6164	165	4	004	004	NUM
bam-6164	165	5	-	-	PUNCT
bam-6164	165	6	1972	1972	NUM
bam-6164	165	7	-	-	SYM
bam-6164	165	8	4	4	NUM
bam-6164	165	9	.	.	NOUN
bam-6164	165	10	6	6	NUM
bam-6164	165	11	.	.	X
bam-6164	165	12	del	del	PROPN
bam-6164	165	13	-	-	PUNCT
bam-6164	165	14	ama	ama	NOUN
bam-6164	165	15	aj	aj	PROPN
bam-6164	165	16	,	,	PUNCT
bam-6164	165	17	koutsou	koutsou	VERB
bam-6164	165	18	ad	ad	NOUN
bam-6164	165	19	,	,	PUNCT
bam-6164	165	20	moreno	moreno	PROPN
bam-6164	165	21	jc	jc	PROPN
bam-6164	165	22	,	,	PUNCT
bam-6164	165	23	et	et	PROPN
bam-6164	165	24	al	al	PROPN
bam-6164	165	25	.	.	PROPN
bam-6164	165	26	review	review	NOUN
bam-6164	165	27	of	of	ADP
bam-6164	165	28	hybrid	hybrid	ADJ
bam-6164	165	29	exoskeletons	exoskeleton	NOUN
bam-6164	165	30	to	to	PART
bam-6164	165	31	restore	restore	VERB
bam-6164	165	32	gait	gait	NOUN
bam-6164	165	33	following	follow	VERB
bam-6164	165	34	spinal	spinal	ADJ
bam-6164	165	35	cord	cord	NOUN
bam-6164	165	36	injury	injury	NOUN
bam-6164	165	37	.	.	PUNCT
bam-6164	166	1	j	j	PROPN
bam-6164	166	2	rehabil	rehabil	VERB
bam-6164	166	3	res	res	PROPN
bam-6164	166	4	dev	dev	PROPN
bam-6164	166	5	2012;49:497	2012;49:497	PROPN
bam-6164	166	6	.	.	PUNCT
bam-6164	167	1	7	7	X
bam-6164	167	2	.	.	X
bam-6164	167	3	freeman	freeman	PROPN
bam-6164	167	4	ct	ct	PROPN
bam-6164	167	5	,	,	PUNCT
bam-6164	167	6	rogers	rogers	PROPN
bam-6164	167	7	e	e	PROPN
bam-6164	167	8	,	,	PUNCT
bam-6164	167	9	hughes	hughes	PROPN
bam-6164	167	10	am	be	AUX
bam-6164	167	11	,	,	PUNCT
bam-6164	167	12	et	et	PROPN
bam-6164	167	13	al	al	PROPN
bam-6164	167	14	.	.	PROPN
bam-6164	167	15	iterative	iterative	PROPN
bam-6164	167	16	learning	learning	NOUN
bam-6164	167	17	control	control	NOUN
bam-6164	167	18	in	in	ADP
bam-6164	167	19	health	health	NOUN
bam-6164	167	20	care	care	NOUN
bam-6164	167	21	:	:	PUNCT
bam-6164	167	22	electrical	electrical	ADJ
bam-6164	167	23	stimulation	stimulation	NOUN
bam-6164	167	24	and	and	CCONJ
bam-6164	167	25	robotic	robotic	NOUN
bam-6164	167	26	-	-	PUNCT
bam-6164	167	27	assisted	assist	VERB
bam-6164	167	28	upper	upper	ADJ
bam-6164	167	29	-	-	PUNCT
bam-6164	167	30	limb	limb	NOUN
bam-6164	167	31	stroke	stroke	NOUN
bam-6164	167	32	rehabilitation	rehabilitation	NOUN
bam-6164	167	33	.	.	PUNCT
bam-6164	168	1	ieee	ieee	PROPN
bam-6164	168	2	control	control	PROPN
bam-6164	168	3	syst	syst	PROPN
bam-6164	168	4	2012;32(1):18–43	2012;32(1):18–43	PROPN
bam-6164	168	5	.	.	PUNCT
bam-6164	169	1	doi:10.1109	doi:10.1109	PROPN
bam-6164	169	2	/	/	SYM
bam-6164	169	3	mcs.2011.2173261	mcs.2011.2173261	PROPN
bam-6164	169	4	.	.	PROPN
bam-6164	169	5	feedback	feedback	NOUN
bam-6164	169	6	error	error	NOUN
bam-6164	169	7	learning	learn	VERB
bam-6164	169	8	controller	controller	NOUN
bam-6164	169	9	for	for	ADP
bam-6164	169	10	fes	fes	NOUN
bam-6164	169	11	assistance	assistance	NOUN
bam-6164	169	12	for	for	ADP
bam-6164	169	13	reaching	reach	VERB
bam-6164	169	14	rehabilitation	rehabilitation	NOUN
bam-6164	169	15	eur	eur	PROPN
bam-6164	169	16	j	j	PROPN
bam-6164	169	17	transl	transl	PROPN
bam-6164	169	18	myol	myol	NOUN
bam-6164	169	19	26	26	NUM
bam-6164	169	20	(	(	PUNCT
bam-6164	169	21	3	3	NUM
bam-6164	169	22	):	):	PUNCT
bam-6164	169	23	255	255	NUM
bam-6164	169	24	-	-	SYM
bam-6164	169	25	261	261	NUM
bam-6164	169	26	261	261	NUM
bam-6164	169	27	8	8	NUM
bam-6164	169	28	.	.	PUNCT
bam-6164	170	1	kawato	kawato	NOUN
bam-6164	170	2	m.	m.	NOUN
bam-6164	170	3	feedback	feedback	NOUN
bam-6164	170	4	-	-	PUNCT
bam-6164	170	5	error	error	NOUN
bam-6164	170	6	-	-	PUNCT
bam-6164	170	7	learning	learn	VERB
bam-6164	170	8	neural	neural	ADJ
bam-6164	170	9	network	network	NOUN
bam-6164	170	10	for	for	ADP
bam-6164	170	11	supervised	supervised	ADJ
bam-6164	170	12	motor	motor	NOUN
bam-6164	170	13	learning	learning	NOUN
bam-6164	170	14	.	.	PUNCT
bam-6164	171	1	adv	adv	PROPN
bam-6164	171	2	neural	neural	ADJ
bam-6164	171	3	comput	comput	NOUN
bam-6164	171	4	1990;6:365–72	1990;6:365–72	PROPN
bam-6164	171	5	.	.	PUNCT
bam-6164	172	1	9	9	NUM
bam-6164	172	2	.	.	PUNCT
bam-6164	172	3	kurosawa	kurosawa	PROPN
bam-6164	172	4	k	k	PROPN
bam-6164	172	5	,	,	PUNCT
bam-6164	172	6	futami	futami	ADJ
bam-6164	172	7	r	r	NOUN
bam-6164	172	8	,	,	PUNCT
bam-6164	172	9	watanabe	watanabe	PROPN
bam-6164	172	10	t	t	PROPN
bam-6164	172	11	,	,	PUNCT
bam-6164	172	12	hoshimiya	hoshimiya	PROPN
bam-6164	172	13	n.	n.	PROPN
bam-6164	172	14	joint	joint	PROPN
bam-6164	172	15	angle	angle	NOUN
bam-6164	172	16	control	control	NOUN
bam-6164	172	17	by	by	ADP
bam-6164	172	18	fes	fes	NOUN
bam-6164	172	19	using	use	VERB
bam-6164	172	20	a	a	DET
bam-6164	172	21	feedback	feedback	NOUN
bam-6164	172	22	error	error	NOUN
bam-6164	172	23	learning	learning	NOUN
bam-6164	172	24	controller	controller	NOUN
bam-6164	172	25	.	.	PUNCT
bam-6164	173	1	ieee	ieee	PROPN
bam-6164	173	2	trans	trans	PROPN
bam-6164	173	3	neural	neural	PROPN
bam-6164	173	4	syst	syst	PROPN
bam-6164	173	5	rehabil	rehabil	PROPN
bam-6164	173	6	eng	eng	PROPN
bam-6164	173	7	2005;13:359–71	2005;13:359–71	NUM
bam-6164	173	8	.	.	PROPN
bam-6164	173	9	10	10	NUM
bam-6164	173	10	.	.	PUNCT
bam-6164	174	1	watanabe	watanabe	PROPN
bam-6164	174	2	t	t	PROPN
bam-6164	174	3	,	,	PUNCT
bam-6164	174	4	fukushima	fukushima	PROPN
bam-6164	174	5	k.	k.	PROPN
bam-6164	175	1	an	an	DET
bam-6164	175	2	approach	approach	NOUN
bam-6164	175	3	to	to	ADP
bam-6164	175	4	applying	apply	VERB
bam-6164	175	5	feedback	feedback	NOUN
bam-6164	175	6	error	error	NOUN
bam-6164	175	7	learning	learning	NOUN
bam-6164	175	8	for	for	ADP
bam-6164	175	9	functional	functional	ADJ
bam-6164	175	10	electrical	electrical	ADJ
bam-6164	175	11	stimulation	stimulation	NOUN
bam-6164	175	12	controller	controller	NOUN
bam-6164	175	13	:	:	PUNCT
bam-6164	175	14	computer	computer	NOUN
bam-6164	175	15	simulation	simulation	NOUN
bam-6164	175	16	tests	test	NOUN
bam-6164	175	17	of	of	ADP
bam-6164	175	18	wrist	wrist	NOUN
bam-6164	175	19	joint	joint	ADJ
bam-6164	175	20	control	control	NOUN
bam-6164	175	21	.	.	PUNCT
bam-6164	176	1	adv	adv	PROPN
bam-6164	176	2	artif	artif	PROPN
bam-6164	176	3	neural	neural	PROPN
bam-6164	176	4	syst	syst	PROPN
bam-6164	176	5	2010;2010:1–8	2010;2010:1–8	NUM
bam-6164	176	6	.	.	PUNCT
bam-6164	177	1	doi:10.1155/2010/	doi:10.1155/2010/	VERB
bam-6164	177	2	814702	814702	NUM
bam-6164	177	3	.	.	PUNCT
bam-6164	178	1	11	11	NUM
bam-6164	178	2	.	.	PUNCT
bam-6164	179	1	koike	koike	PROPN
bam-6164	179	2	y	y	PROPN
bam-6164	179	3	,	,	PUNCT
bam-6164	179	4	gonzalez	gonzalez	PROPN
bam-6164	179	5	j	j	PROPN
bam-6164	179	6	,	,	PUNCT
bam-6164	179	7	gomez	gomez	PROPN
bam-6164	179	8	j	j	PROPN
bam-6164	179	9	,	,	PUNCT
bam-6164	179	10	yu	yu	PROPN
bam-6164	179	11	w.	w.	PROPN
bam-6164	179	12	implementing	implement	VERB
bam-6164	179	13	feedback	feedback	NOUN
bam-6164	179	14	error	error	NOUN
bam-6164	179	15	learning	learning	NOUN
bam-6164	179	16	for	for	ADP
bam-6164	179	17	fes	fes	NOUN
bam-6164	179	18	control	control	NOUN
bam-6164	179	19	.	.	PUNCT
bam-6164	180	1	in	in	ADP
bam-6164	180	2	:	:	PUNCT
bam-6164	180	3	2011	2011	NUM
bam-6164	180	4	4th	4th	ADJ
bam-6164	180	5	international	international	ADJ
bam-6164	180	6	conference	conference	NOUN
bam-6164	180	7	on	on	ADP
bam-6164	180	8	biomedical	biomedical	ADJ
bam-6164	180	9	engineering	engineering	NOUN
bam-6164	180	10	and	and	CCONJ
bam-6164	180	11	informatics	informatics	PROPN
bam-6164	180	12	(	(	PUNCT
bam-6164	180	13	bmei	bmei	PROPN
bam-6164	180	14	)	)	PUNCT
bam-6164	180	15	ieee	ieee	NOUN
bam-6164	180	16	;	;	PUNCT
bam-6164	180	17	2011	2011	NUM
bam-6164	180	18	.	.	PUNCT
bam-6164	181	1	doi:10.1109	doi:10.1109	VERB
bam-6164	181	2	/	/	SYM
bam-6164	181	3	bmei.2011.6098623	bmei.2011.6098623	PROPN
bam-6164	181	4	.	.	PUNCT
bam-6164	182	1	12	12	NUM
bam-6164	182	2	.	.	PUNCT
bam-6164	182	3	lum	lum	PROPN
bam-6164	182	4	ps	ps	PROPN
bam-6164	182	5	,	,	PUNCT
bam-6164	182	6	burgar	burgar	PROPN
bam-6164	182	7	cg	cg	PROPN
bam-6164	182	8	,	,	PUNCT
bam-6164	182	9	shor	shor	PROPN
bam-6164	182	10	pc	pc	PROPN
bam-6164	182	11	.	.	PUNCT
bam-6164	182	12	evidence	evidence	NOUN
bam-6164	182	13	for	for	ADP
bam-6164	182	14	improved	improved	ADJ
bam-6164	182	15	muscle	muscle	NOUN
bam-6164	182	16	activation	activation	NOUN
bam-6164	182	17	patterns	pattern	NOUN
bam-6164	182	18	after	after	ADP
bam-6164	182	19	retraining	retrain	VERB
bam-6164	182	20	of	of	ADP
bam-6164	182	21	reaching	reach	VERB
bam-6164	182	22	movements	movement	NOUN
bam-6164	182	23	with	with	ADP
bam-6164	182	24	the	the	DET
bam-6164	182	25	mime	mime	ADJ
bam-6164	182	26	robotic	robotic	ADJ
bam-6164	182	27	system	system	NOUN
bam-6164	182	28	in	in	ADP
bam-6164	182	29	subjects	subject	NOUN
bam-6164	182	30	with	with	ADP
bam-6164	182	31	post	post	ADJ
bam-6164	182	32	-	-	ADJ
bam-6164	182	33	stroke	stroke	ADJ
bam-6164	182	34	hemiparesis	hemiparesis	NOUN
bam-6164	182	35	.	.	PUNCT
bam-6164	183	1	neural	neural	ADJ
bam-6164	183	2	syst	syst	PROPN
bam-6164	183	3	rehabil	rehabil	PROPN
bam-6164	183	4	eng	eng	PROPN
bam-6164	183	5	ieee	ieee	PROPN
bam-6164	183	6	trans	trans	PROPN
bam-6164	183	7	2004;12(2):186–194	2004;12(2):186–194	PROPN
bam-6164	183	8	.	.	PROPN
bam-6164	183	9	13	13	NUM
bam-6164	183	10	.	.	PUNCT
bam-6164	184	1	cai	cai	PROPN
bam-6164	185	1	z	z	PROPN
bam-6164	185	2	,	,	PUNCT
bam-6164	185	3	tong	tong	PROPN
bam-6164	185	4	d	d	PROPN
bam-6164	185	5	,	,	PUNCT
bam-6164	185	6	meadmore	meadmore	ADJ
bam-6164	185	7	kl	kl	PROPN
bam-6164	185	8	,	,	PUNCT
bam-6164	185	9	et	et	PROPN
bam-6164	185	10	al	al	PROPN
bam-6164	185	11	.	.	PROPN
bam-6164	185	12	design	design	PROPN
bam-6164	185	13	&	&	CCONJ
bam-6164	185	14	amp	amp	PROPN
bam-6164	185	15	;	;	PUNCT
bam-6164	185	16	control	control	NOUN
bam-6164	185	17	of	of	ADP
bam-6164	185	18	a	a	DET
bam-6164	185	19	3d	3d	NUM
bam-6164	185	20	stroke	stroke	NOUN
bam-6164	185	21	rehabilitation	rehabilitation	NOUN
bam-6164	185	22	platform	platform	NOUN
bam-6164	185	23	.	.	PUNCT
bam-6164	186	1	2011	2011	NUM
bam-6164	186	2	ieee	ieee	PROPN
bam-6164	186	3	int	int	NOUN
bam-6164	186	4	conf	conf	NOUN
bam-6164	186	5	rehabil	rehabil	PROPN
bam-6164	186	6	robot	robot	NOUN
bam-6164	186	7	2011:1–6	2011:1–6	PROPN
bam-6164	186	8	.	.	PUNCT
bam-6164	186	9	doi:10.1109	doi:10.1109	PROPN
bam-6164	186	10	/	/	SYM
bam-6164	186	11	icorr.2011.5975412	icorr.2011.5975412	PROPN
bam-6164	186	12	.	.	NOUN
bam-6164	186	13	14	14	NUM
bam-6164	186	14	.	.	X
bam-6164	187	1	14	14	NUM
bam-6164	187	2	.	.	PUNCT
bam-6164	188	1	freeman	freeman	PROPN
bam-6164	188	2	ct	ct	PROPN
bam-6164	188	3	.	.	PUNCT
bam-6164	189	1	upper	upper	ADJ
bam-6164	189	2	limb	limb	NOUN
bam-6164	189	3	electrical	electrical	ADJ
bam-6164	189	4	stimulation	stimulation	NOUN
bam-6164	189	5	using	use	VERB
bam-6164	189	6	input	input	NOUN
bam-6164	189	7	-	-	PUNCT
bam-6164	189	8	output	output	NOUN
bam-6164	189	9	linearization	linearization	NOUN
bam-6164	189	10	and	and	CCONJ
bam-6164	189	11	iterative	iterative	NOUN
bam-6164	189	12	learning	learning	NOUN
bam-6164	189	13	control	control	NOUN
bam-6164	189	14	.	.	PUNCT
bam-6164	190	1	control	control	PROPN
bam-6164	190	2	syst	syst	PROPN
bam-6164	190	3	technol	technol	PROPN
bam-6164	190	4	ieee	ieee	PROPN
bam-6164	190	5	trans	trans	PROPN
bam-6164	190	6	2014;99:1	2014;99:1	NOUN
bam-6164	190	7	.	.	PUNCT
bam-6164	191	1	doi:10.1109	doi:10.1109	PROPN
bam-6164	191	2	/	/	SYM
bam-6164	191	3	tcst.2014	tcst.2014	PROPN
bam-6164	191	4	.	.	PROPN
bam-6164	191	5	2363412	2363412	NUM
bam-6164	191	6	.	.	PUNCT
bam-6164	192	1	15	15	NUM
bam-6164	192	2	.	.	PUNCT
bam-6164	192	3	marsland	marsland	PROPN
bam-6164	192	4	s.	s.	PROPN
bam-6164	192	5	machine	machine	PROPN
bam-6164	192	6	learning	learning	PROPN
bam-6164	192	7	:	:	PUNCT
bam-6164	192	8	an	an	DET
bam-6164	192	9	algorithmic	algorithmic	ADJ
bam-6164	192	10	perspective	perspective	NOUN
bam-6164	192	11	.	.	PUNCT
bam-6164	193	1	crc	crc	PROPN
bam-6164	193	2	press	press	PROPN
bam-6164	193	3	;	;	PUNCT
bam-6164	193	4	2015	2015	NUM
bam-6164	193	5	.	.	PUNCT
bam-6164	194	1	16	16	NUM
bam-6164	194	2	.	.	PUNCT
bam-6164	195	1	flash	flash	PROPN
bam-6164	195	2	t	t	PROPN
bam-6164	195	3	,	,	PUNCT
bam-6164	195	4	hogan	hogan	PROPN
bam-6164	195	5	n.	n.	PROPN
bam-6164	195	6	the	the	DET
bam-6164	195	7	coordination	coordination	NOUN
bam-6164	195	8	of	of	ADP
bam-6164	195	9	arm	arm	NOUN
bam-6164	195	10	movements	movement	NOUN
bam-6164	195	11	:	:	PUNCT
bam-6164	195	12	an	an	DET
bam-6164	195	13	experimentally	experimentally	ADV
bam-6164	195	14	confirmed	confirm	VERB
bam-6164	195	15	mathematical	mathematical	ADJ
bam-6164	195	16	model	model	NOUN
bam-6164	195	17	.	.	PUNCT
bam-6164	196	1	j	j	PROPN
bam-6164	196	2	neurosci	neurosci	PROPN
bam-6164	196	3	1985;5:1688	1985;5:1688	NUM
bam-6164	196	4	–	–	PUNCT
bam-6164	196	5	1703	1703	NUM
bam-6164	196	6	.	.	PUNCT
bam-6164	197	1	doi:4020415	doi:4020415	ADJ
bam-6164	197	2	.	.	PUNCT
bam-6164	198	1	17	17	NUM
bam-6164	198	2	.	.	PUNCT
bam-6164	199	1	huang	huang	PROPN
bam-6164	199	2	vs	vs	PROPN
bam-6164	199	3	,	,	PUNCT
bam-6164	199	4	krakauer	krakauer	PROPN
bam-6164	199	5	jw	jw	PROPN
bam-6164	199	6	.	.	PROPN
bam-6164	199	7	robotic	robotic	PROPN
bam-6164	199	8	neurorehabilitation	neurorehabilitation	NOUN
bam-6164	199	9	:	:	PUNCT
bam-6164	199	10	a	a	DET
bam-6164	199	11	computational	computational	ADJ
bam-6164	199	12	motor	motor	NOUN
bam-6164	199	13	learning	learning	NOUN
bam-6164	199	14	perspective	perspective	NOUN
bam-6164	199	15	.	.	PUNCT
bam-6164	200	1	j	j	PROPN
bam-6164	200	2	neuroeng	neuroeng	PROPN
bam-6164	200	3	rehabil	rehabil	PROPN
bam-6164	200	4	2009;6:5	2009;6:5	NOUN
bam-6164	200	5	.	.	PUNCT