id	sid	tid	token	lemma	pos
fuelectenerg-1866	1	1	instruction	instruction	NOUN
fuelectenerg-1866	1	2	facta	facta	PROPN
fuelectenerg-1866	1	3	universitatis	universitatis	PROPN
fuelectenerg-1866	1	4	series	series	NOUN
fuelectenerg-1866	1	5	:	:	PUNCT
fuelectenerg-1866	1	6	electronics	electronic	NOUN
fuelectenerg-1866	1	7	and	and	CCONJ
fuelectenerg-1866	1	8	energetics	energetics	NOUN
fuelectenerg-1866	1	9	vol	vol	NOUN
fuelectenerg-1866	1	10	.	.	PROPN
fuelectenerg-1866	1	11	30	30	NUM
fuelectenerg-1866	1	12	,	,	PUNCT
fuelectenerg-1866	1	13	no	no	DET
fuelectenerg-1866	1	14	1	1	NUM
fuelectenerg-1866	1	15	,	,	PUNCT
fuelectenerg-1866	1	16	march	march	PROPN
fuelectenerg-1866	1	17	2017	2017	NUM
fuelectenerg-1866	1	18	,	,	PUNCT
fuelectenerg-1866	1	19	pp	pp	ADP
fuelectenerg-1866	1	20	.	.	PUNCT
fuelectenerg-1866	2	1	137	137	NUM
fuelectenerg-1866	2	2	144	144	NUM
fuelectenerg-1866	2	3	doi	doi	NOUN
fuelectenerg-1866	2	4	:	:	PUNCT
fuelectenerg-1866	2	5	10.2298	10.2298	NUM
fuelectenerg-1866	2	6	/	/	SYM
fuelectenerg-1866	2	7	fuee1701137k	fuee1701137k	NOUN
fuelectenerg-1866	2	8	modified	modify	VERB
fuelectenerg-1866	2	9	internal	internal	ADJ
fuelectenerg-1866	2	10	model	model	NOUN
fuelectenerg-1866	2	11	control	control	NOUN
fuelectenerg-1866	2	12	for	for	ADP
fuelectenerg-1866	2	13	a	a	DET
fuelectenerg-1866	2	14	therapeutic	therapeutic	ADJ
fuelectenerg-1866	2	15	robot	robot	NOUN
fuelectenerg-1866	2	16			PROPN
fuelectenerg-1866	2	17	miloš	miloš	PROPN
fuelectenerg-1866	2	18	d.	d.	PROPN
fuelectenerg-1866	2	19	kostić	kostić	VERB
fuelectenerg-1866	2	20	1	1	NUM
fuelectenerg-1866	2	21	,	,	PUNCT
fuelectenerg-1866	2	22	miroslav	miroslav	PROPN
fuelectenerg-1866	2	23	r.	r.	PROPN
fuelectenerg-1866	2	24	mataušek	mataušek	PROPN
fuelectenerg-1866	2	25	2	2	NUM
fuelectenerg-1866	2	26	,	,	PUNCT
fuelectenerg-1866	2	27	dejan	dejan	PROPN
fuelectenerg-1866	2	28	b.	b.	PROPN
fuelectenerg-1866	2	29	popović	popović	PROPN
fuelectenerg-1866	2	30	2,3	2,3	NUM
fuelectenerg-1866	2	31	1	1	NUM
fuelectenerg-1866	2	32	tecnalia	tecnalia	NOUN
fuelectenerg-1866	2	33	,	,	PUNCT
fuelectenerg-1866	2	34	san	san	PROPN
fuelectenerg-1866	2	35	sebastian	sebastian	PROPN
fuelectenerg-1866	2	36	,	,	PUNCT
fuelectenerg-1866	2	37	spain	spain	PROPN
fuelectenerg-1866	2	38	2	2	NUM
fuelectenerg-1866	2	39	university	university	PROPN
fuelectenerg-1866	2	40	of	of	ADP
fuelectenerg-1866	2	41	belgrade	belgrade	PROPN
fuelectenerg-1866	2	42	,	,	PUNCT
fuelectenerg-1866	2	43	faculty	faculty	NOUN
fuelectenerg-1866	2	44	of	of	ADP
fuelectenerg-1866	2	45	electrical	electrical	ADJ
fuelectenerg-1866	2	46	engineering	engineering	NOUN
fuelectenerg-1866	2	47	,	,	PUNCT
fuelectenerg-1866	2	48	belgrade	belgrade	PROPN
fuelectenerg-1866	2	49	,	,	PUNCT
fuelectenerg-1866	2	50	serbia	serbia	PROPN
fuelectenerg-1866	2	51	3	3	NUM
fuelectenerg-1866	2	52	institute	institute	PROPN
fuelectenerg-1866	2	53	of	of	ADP
fuelectenerg-1866	2	54	technical	technical	PROPN
fuelectenerg-1866	2	55	sciences	science	NOUN
fuelectenerg-1866	2	56	of	of	ADP
fuelectenerg-1866	2	57	the	the	DET
fuelectenerg-1866	2	58	serbian	serbian	ADJ
fuelectenerg-1866	2	59	academy	academy	PROPN
fuelectenerg-1866	2	60	of	of	ADP
fuelectenerg-1866	2	61	sciences	sciences	PROPN
fuelectenerg-1866	2	62	and	and	CCONJ
fuelectenerg-1866	2	63	arts	art	NOUN
fuelectenerg-1866	2	64	,	,	PUNCT
fuelectenerg-1866	2	65	belgrade	belgrade	PROPN
fuelectenerg-1866	2	66	,	,	PUNCT
fuelectenerg-1866	2	67	serbia	serbia	PROPN
fuelectenerg-1866	2	68	abstract	abstract	ADJ
fuelectenerg-1866	2	69	.	.	PUNCT
fuelectenerg-1866	3	1	we	we	PRON
fuelectenerg-1866	3	2	present	present	VERB
fuelectenerg-1866	3	3	the	the	DET
fuelectenerg-1866	3	4	use	use	NOUN
fuelectenerg-1866	3	5	of	of	ADP
fuelectenerg-1866	3	6	the	the	DET
fuelectenerg-1866	3	7	modified	modify	VERB
fuelectenerg-1866	3	8	internal	internal	ADJ
fuelectenerg-1866	3	9	model	model	NOUN
fuelectenerg-1866	3	10	controller	controller	NOUN
fuelectenerg-1866	3	11	(	(	PUNCT
fuelectenerg-1866	3	12	mimc	mimc	NOUN
fuelectenerg-1866	3	13	)	)	PUNCT
fuelectenerg-1866	3	14	and	and	CCONJ
fuelectenerg-1866	3	15	the	the	DET
fuelectenerg-1866	3	16	“	"	PUNCT
fuelectenerg-1866	3	17	probability	probability	NOUN
fuelectenerg-1866	3	18	tube	tube	NOUN
fuelectenerg-1866	3	19	”	"	PUNCT
fuelectenerg-1866	3	20	(	(	PUNCT
fuelectenerg-1866	3	21	pt	pt	NOUN
fuelectenerg-1866	3	22	)	)	PUNCT
fuelectenerg-1866	3	23	action	action	NOUN
fuelectenerg-1866	3	24	representation	representation	NOUN
fuelectenerg-1866	3	25	for	for	ADP
fuelectenerg-1866	3	26	robot	robot	NOUN
fuelectenerg-1866	3	27	-	-	PUNCT
fuelectenerg-1866	3	28	assisted	assist	VERB
fuelectenerg-1866	3	29	upper	upper	ADJ
fuelectenerg-1866	3	30	extremities	extremity	NOUN
fuelectenerg-1866	3	31	training	training	NOUN
fuelectenerg-1866	3	32	of	of	ADP
fuelectenerg-1866	3	33	hemiplegic	hemiplegic	ADJ
fuelectenerg-1866	3	34	patients	patient	NOUN
fuelectenerg-1866	3	35	.	.	PUNCT
fuelectenerg-1866	4	1	the	the	DET
fuelectenerg-1866	4	2	robot	robot	NOUN
fuelectenerg-1866	4	3	-	-	PUNCT
fuelectenerg-1866	4	4	assisted	assist	VERB
fuelectenerg-1866	4	5	training	training	NOUN
fuelectenerg-1866	4	6	session	session	NOUN
fuelectenerg-1866	4	7	has	have	VERB
fuelectenerg-1866	4	8	two	two	NUM
fuelectenerg-1866	4	9	phases	phase	NOUN
fuelectenerg-1866	4	10	.	.	PUNCT
fuelectenerg-1866	5	1	during	during	ADP
fuelectenerg-1866	5	2	the	the	DET
fuelectenerg-1866	5	3	first	first	ADJ
fuelectenerg-1866	5	4	"	"	PUNCT
fuelectenerg-1866	5	5	demonstration	demonstration	NOUN
fuelectenerg-1866	5	6	"	"	PUNCT
fuelectenerg-1866	5	7	phase	phase	NOUN
fuelectenerg-1866	5	8	the	the	DET
fuelectenerg-1866	5	9	robot	robot	NOUN
fuelectenerg-1866	5	10	learns	learn	VERB
fuelectenerg-1866	5	11	from	from	ADP
fuelectenerg-1866	5	12	the	the	DET
fuelectenerg-1866	5	13	therapist	therapist	NOUN
fuelectenerg-1866	5	14	the	the	DET
fuelectenerg-1866	5	15	target	target	NOUN
fuelectenerg-1866	5	16	path	path	NOUN
fuelectenerg-1866	5	17	through	through	ADP
fuelectenerg-1866	5	18	examples	example	NOUN
fuelectenerg-1866	5	19	.	.	PUNCT
fuelectenerg-1866	6	1	in	in	ADP
fuelectenerg-1866	6	2	the	the	DET
fuelectenerg-1866	6	3	second	second	ADJ
fuelectenerg-1866	6	4	"	"	PUNCT
fuelectenerg-1866	6	5	exercise	exercise	NOUN
fuelectenerg-1866	6	6	"	"	PUNCT
fuelectenerg-1866	6	7	phase	phase	NOUN
fuelectenerg-1866	6	8	the	the	DET
fuelectenerg-1866	6	9	robot	robot	NOUN
fuelectenerg-1866	6	10	assists	assist	VERB
fuelectenerg-1866	6	11	a	a	DET
fuelectenerg-1866	6	12	patient	patient	NOUN
fuelectenerg-1866	6	13	to	to	PART
fuelectenerg-1866	6	14	follow	follow	VERB
fuelectenerg-1866	6	15	the	the	DET
fuelectenerg-1866	6	16	target	target	NOUN
fuelectenerg-1866	6	17	path	path	NOUN
fuelectenerg-1866	6	18	.	.	PUNCT
fuelectenerg-1866	7	1	during	during	ADP
fuelectenerg-1866	7	2	this	this	DET
fuelectenerg-1866	7	3	process	process	NOUN
fuelectenerg-1866	7	4	,	,	PUNCT
fuelectenerg-1866	7	5	the	the	DET
fuelectenerg-1866	7	6	control	control	NOUN
fuelectenerg-1866	7	7	limits	limit	VERB
fuelectenerg-1866	7	8	the	the	DET
fuelectenerg-1866	7	9	interface	interface	NOUN
fuelectenerg-1866	7	10	force	force	NOUN
fuelectenerg-1866	7	11	between	between	ADP
fuelectenerg-1866	7	12	the	the	DET
fuelectenerg-1866	7	13	robot	robot	NOUN
fuelectenerg-1866	7	14	and	and	CCONJ
fuelectenerg-1866	7	15	the	the	DET
fuelectenerg-1866	7	16	hand	hand	NOUN
fuelectenerg-1866	7	17	to	to	PART
fuelectenerg-1866	7	18	be	be	AUX
fuelectenerg-1866	7	19	below	below	ADP
fuelectenerg-1866	7	20	the	the	DET
fuelectenerg-1866	7	21	preset	preset	ADJ
fuelectenerg-1866	7	22	threshold	threshold	NOUN
fuelectenerg-1866	7	23	(	(	PUNCT
fuelectenerg-1866	7	24	f	f	NOUN
fuelectenerg-1866	7	25	=	=	SYM
fuelectenerg-1866	7	26	50	50	NUM
fuelectenerg-1866	7	27	n	n	NUM
fuelectenerg-1866	7	28	)	)	PUNCT
fuelectenerg-1866	7	29	.	.	PUNCT
fuelectenerg-1866	8	1	the	the	DET
fuelectenerg-1866	8	2	system	system	NOUN
fuelectenerg-1866	8	3	allows	allow	VERB
fuelectenerg-1866	8	4	the	the	DET
fuelectenerg-1866	8	5	assessment	assessment	NOUN
fuelectenerg-1866	8	6	of	of	ADP
fuelectenerg-1866	8	7	the	the	DET
fuelectenerg-1866	8	8	range	range	NOUN
fuelectenerg-1866	8	9	of	of	ADP
fuelectenerg-1866	8	10	movement	movement	NOUN
fuelectenerg-1866	8	11	,	,	PUNCT
fuelectenerg-1866	8	12	the	the	DET
fuelectenerg-1866	8	13	positional	positional	ADJ
fuelectenerg-1866	8	14	error	error	NOUN
fuelectenerg-1866	8	15	between	between	ADP
fuelectenerg-1866	8	16	the	the	DET
fuelectenerg-1866	8	17	target	target	NOUN
fuelectenerg-1866	8	18	and	and	CCONJ
fuelectenerg-1866	8	19	the	the	DET
fuelectenerg-1866	8	20	reached	reach	VERB
fuelectenerg-1866	8	21	position	position	NOUN
fuelectenerg-1866	8	22	,	,	PUNCT
fuelectenerg-1866	8	23	the	the	DET
fuelectenerg-1866	8	24	amount	amount	NOUN
fuelectenerg-1866	8	25	of	of	ADP
fuelectenerg-1866	8	26	added	add	VERB
fuelectenerg-1866	8	27	assistance	assistance	NOUN
fuelectenerg-1866	8	28	(	(	PUNCT
fuelectenerg-1866	8	29	the	the	DET
fuelectenerg-1866	8	30	interface	interface	NOUN
fuelectenerg-1866	8	31	force	force	NOUN
fuelectenerg-1866	8	32	between	between	ADP
fuelectenerg-1866	8	33	the	the	DET
fuelectenerg-1866	8	34	hand	hand	NOUN
fuelectenerg-1866	8	35	and	and	CCONJ
fuelectenerg-1866	8	36	the	the	DET
fuelectenerg-1866	8	37	robot	robot	NOUN
fuelectenerg-1866	8	38	)	)	PUNCT
fuelectenerg-1866	8	39	.	.	PUNCT
fuelectenerg-1866	9	1	we	we	PRON
fuelectenerg-1866	9	2	demonstrate	demonstrate	VERB
fuelectenerg-1866	9	3	the	the	DET
fuelectenerg-1866	9	4	operation	operation	NOUN
fuelectenerg-1866	9	5	in	in	ADP
fuelectenerg-1866	9	6	two	two	NUM
fuelectenerg-1866	9	7	hemiplegic	hemiplegic	ADJ
fuelectenerg-1866	9	8	patients	patient	NOUN
fuelectenerg-1866	9	9	.	.	PUNCT
fuelectenerg-1866	10	1	the	the	DET
fuelectenerg-1866	10	2	patients	patient	NOUN
fuelectenerg-1866	10	3	and	and	CCONJ
fuelectenerg-1866	10	4	therapist	therapist	NOUN
fuelectenerg-1866	10	5	suggested	suggest	VERB
fuelectenerg-1866	10	6	after	after	ADP
fuelectenerg-1866	10	7	the	the	DET
fuelectenerg-1866	10	8	tests	test	NOUN
fuelectenerg-1866	10	9	that	that	PRON
fuelectenerg-1866	10	10	the	the	DET
fuelectenerg-1866	10	11	new	new	ADJ
fuelectenerg-1866	10	12	system	system	NOUN
fuelectenerg-1866	10	13	is	be	AUX
fuelectenerg-1866	10	14	straightforward	straightforward	ADJ
fuelectenerg-1866	10	15	and	and	CCONJ
fuelectenerg-1866	10	16	intuitive	intuitive	ADJ
fuelectenerg-1866	10	17	for	for	ADP
fuelectenerg-1866	10	18	clinical	clinical	ADJ
fuelectenerg-1866	10	19	applications	application	NOUN
fuelectenerg-1866	10	20	.	.	PUNCT
fuelectenerg-1866	11	1	key	key	ADJ
fuelectenerg-1866	11	2	words	word	NOUN
fuelectenerg-1866	11	3	:	:	PUNCT
fuelectenerg-1866	11	4	stroke	stroke	NOUN
fuelectenerg-1866	11	5	,	,	PUNCT
fuelectenerg-1866	11	6	disability	disability	NOUN
fuelectenerg-1866	11	7	,	,	PUNCT
fuelectenerg-1866	11	8	assistant	assistant	NOUN
fuelectenerg-1866	11	9	robot	robot	NOUN
fuelectenerg-1866	11	10	,	,	PUNCT
fuelectenerg-1866	11	11	modified	modify	VERB
fuelectenerg-1866	11	12	internal	internal	ADJ
fuelectenerg-1866	11	13	model	model	NOUN
fuelectenerg-1866	11	14	control	control	NOUN
fuelectenerg-1866	11	15	,	,	PUNCT
fuelectenerg-1866	11	16	assessment	assessment	NOUN
fuelectenerg-1866	11	17	1	1	NUM
fuelectenerg-1866	11	18	.	.	PUNCT
fuelectenerg-1866	12	1	introduction	introduction	NOUN
fuelectenerg-1866	12	2	intensive	intensive	ADJ
fuelectenerg-1866	12	3	repetition	repetition	NOUN
fuelectenerg-1866	12	4	of	of	ADP
fuelectenerg-1866	12	5	functional	functional	ADJ
fuelectenerg-1866	12	6	movements	movement	NOUN
fuelectenerg-1866	12	7	is	be	AUX
fuelectenerg-1866	12	8	proven	prove	VERB
fuelectenerg-1866	12	9	to	to	PART
fuelectenerg-1866	12	10	be	be	AUX
fuelectenerg-1866	12	11	an	an	DET
fuelectenerg-1866	12	12	efficient	efficient	ADJ
fuelectenerg-1866	12	13	method	method	NOUN
fuelectenerg-1866	12	14	of	of	ADP
fuelectenerg-1866	12	15	motor	motor	NOUN
fuelectenerg-1866	12	16	control	control	NOUN
fuelectenerg-1866	12	17	relearning	relearn	VERB
fuelectenerg-1866	12	18	during	during	ADP
fuelectenerg-1866	12	19	the	the	DET
fuelectenerg-1866	12	20	neurorehabilitation	neurorehabilitation	NOUN
fuelectenerg-1866	12	21	process	process	NOUN
fuelectenerg-1866	12	22	[	[	X
fuelectenerg-1866	12	23	1	1	NUM
fuelectenerg-1866	12	24	]	]	PUNCT
fuelectenerg-1866	12	25	.	.	PUNCT
fuelectenerg-1866	13	1	robotic	robotic	ADJ
fuelectenerg-1866	13	2	devices	device	NOUN
fuelectenerg-1866	13	3	are	be	AUX
fuelectenerg-1866	13	4	inherently	inherently	ADV
fuelectenerg-1866	13	5	well	well	ADV
fuelectenerg-1866	13	6	suited	suited	ADJ
fuelectenerg-1866	13	7	for	for	ADP
fuelectenerg-1866	13	8	repetitive	repetitive	ADJ
fuelectenerg-1866	13	9	tasks	task	NOUN
fuelectenerg-1866	13	10	as	as	ADV
fuelectenerg-1866	13	11	well	well	ADV
fuelectenerg-1866	13	12	as	as	ADP
fuelectenerg-1866	13	13	for	for	ADP
fuelectenerg-1866	13	14	providing	provide	VERB
fuelectenerg-1866	13	15	the	the	DET
fuelectenerg-1866	13	16	quantitative	quantitative	ADJ
fuelectenerg-1866	13	17	assessment	assessment	NOUN
fuelectenerg-1866	13	18	of	of	ADP
fuelectenerg-1866	13	19	performed	perform	VERB
fuelectenerg-1866	13	20	movements	movement	NOUN
fuelectenerg-1866	13	21	,	,	PUNCT
fuelectenerg-1866	13	22	which	which	PRON
fuelectenerg-1866	13	23	is	be	AUX
fuelectenerg-1866	13	24	why	why	SCONJ
fuelectenerg-1866	13	25	they	they	PRON
fuelectenerg-1866	13	26	are	be	AUX
fuelectenerg-1866	13	27	becoming	become	VERB
fuelectenerg-1866	13	28	the	the	DET
fuelectenerg-1866	13	29	preferred	preferred	ADJ
fuelectenerg-1866	13	30	tools	tool	NOUN
fuelectenerg-1866	13	31	to	to	PART
fuelectenerg-1866	13	32	support	support	VERB
fuelectenerg-1866	13	33	such	such	ADJ
fuelectenerg-1866	13	34	therapeutic	therapeutic	ADJ
fuelectenerg-1866	13	35	modality	modality	NOUN
fuelectenerg-1866	13	36	[	[	X
fuelectenerg-1866	13	37	2	2	NUM
fuelectenerg-1866	13	38	]	]	PUNCT
fuelectenerg-1866	13	39	.	.	PUNCT
fuelectenerg-1866	14	1	two	two	NUM
fuelectenerg-1866	14	2	types	type	NOUN
fuelectenerg-1866	14	3	of	of	ADP
fuelectenerg-1866	14	4	robot	robot	NOUN
fuelectenerg-1866	14	5	assistants	assistant	NOUN
fuelectenerg-1866	14	6	are	be	AUX
fuelectenerg-1866	14	7	dominantly	dominantly	ADV
fuelectenerg-1866	14	8	used	use	VERB
fuelectenerg-1866	14	9	for	for	ADP
fuelectenerg-1866	14	10	intensive	intensive	ADJ
fuelectenerg-1866	14	11	exercise	exercise	NOUN
fuelectenerg-1866	14	12	:	:	PUNCT
fuelectenerg-1866	14	13	1	1	X
fuelectenerg-1866	14	14	)	)	PUNCT
fuelectenerg-1866	14	15	devices	device	NOUN
fuelectenerg-1866	14	16	that	that	PRON
fuelectenerg-1866	14	17	assist	assist	VERB
fuelectenerg-1866	14	18	the	the	DET
fuelectenerg-1866	14	19	end	end	NOUN
fuelectenerg-1866	14	20	-	-	PUNCT
fuelectenerg-1866	14	21	point	point	NOUN
fuelectenerg-1866	14	22	movement	movement	NOUN
fuelectenerg-1866	14	23	of	of	ADP
fuelectenerg-1866	14	24	the	the	DET
fuelectenerg-1866	14	25	arm	arm	NOUN
fuelectenerg-1866	14	26	and	and	CCONJ
fuelectenerg-1866	14	27	interface	interface	VERB
fuelectenerg-1866	14	28	the	the	DET
fuelectenerg-1866	14	29	patient	patient	NOUN
fuelectenerg-1866	14	30	at	at	ADP
fuelectenerg-1866	14	31	hand	hand	NOUN
fuelectenerg-1866	14	32	(	(	PUNCT
fuelectenerg-1866	14	33	e.g.	e.g.	ADV
fuelectenerg-1866	14	34	,	,	PUNCT
fuelectenerg-1866	14	35	mit	mit	NOUN
fuelectenerg-1866	14	36	-	-	PUNCT
fuelectenerg-1866	14	37	manus	manus	NOUN
fuelectenerg-1866	15	1	[	[	X
fuelectenerg-1866	15	2	3	3	NUM
fuelectenerg-1866	15	3	]	]	PUNCT
fuelectenerg-1866	15	4	,	,	PUNCT
fuelectenerg-1866	15	5	braccio	braccio	X
fuelectenerg-1866	15	6	di	di	X
fuelectenerg-1866	15	7	ferro	ferro	NOUN
fuelectenerg-1866	16	1	[	[	X
fuelectenerg-1866	16	2	4	4	NUM
fuelectenerg-1866	16	3	]	]	PUNCT
fuelectenerg-1866	16	4	)	)	PUNCT
fuelectenerg-1866	16	5	and	and	CCONJ
fuelectenerg-1866	16	6	2	2	X
fuelectenerg-1866	16	7	)	)	PUNCT
fuelectenerg-1866	16	8	exoskeleton	exoskeleton	NOUN
fuelectenerg-1866	16	9	robots	robot	NOUN
fuelectenerg-1866	16	10	that	that	PRON
fuelectenerg-1866	16	11	assist	assist	VERB
fuelectenerg-1866	16	12	individual	individual	ADJ
fuelectenerg-1866	16	13	arm	arm	NOUN
fuelectenerg-1866	16	14	joints	joint	NOUN
fuelectenerg-1866	16	15	and	and	CCONJ
fuelectenerg-1866	16	16	interface	interface	VERB
fuelectenerg-1866	16	17	the	the	DET
fuelectenerg-1866	16	18	arm	arm	NOUN
fuelectenerg-1866	16	19	at	at	ADP
fuelectenerg-1866	16	20	multiple	multiple	ADJ
fuelectenerg-1866	16	21	points	point	NOUN
fuelectenerg-1866	16	22	(	(	PUNCT
fuelectenerg-1866	16	23	e.g.	e.g.	ADV
fuelectenerg-1866	16	24	,	,	PUNCT
fuelectenerg-1866	16	25	armin	armin	PROPN
fuelectenerg-1866	17	1	[	[	X
fuelectenerg-1866	17	2	5	5	NUM
fuelectenerg-1866	17	3	]	]	PUNCT
fuelectenerg-1866	17	4	,	,	PUNCT
fuelectenerg-1866	17	5	cozens	cozen	NOUN
fuelectenerg-1866	17	6	arm	arm	NOUN
fuelectenerg-1866	17	7	robot	robot	NOUN
fuelectenerg-1866	17	8	[	[	X
fuelectenerg-1866	17	9	6	6	NUM
fuelectenerg-1866	17	10	]	]	NUM
fuelectenerg-1866	17	11	)	)	PUNCT
fuelectenerg-1866	17	12	.	.	PUNCT
fuelectenerg-1866	18	1			PROPN
fuelectenerg-1866	18	2	received	receive	VERB
fuelectenerg-1866	18	3	may	may	AUX
fuelectenerg-1866	18	4	24	24	NUM
fuelectenerg-1866	18	5	,	,	PUNCT
fuelectenerg-1866	18	6	2016	2016	NUM
fuelectenerg-1866	18	7	;	;	PUNCT
fuelectenerg-1866	18	8	received	receive	VERB
fuelectenerg-1866	18	9	in	in	ADP
fuelectenerg-1866	18	10	revised	revise	VERB
fuelectenerg-1866	18	11	form	form	NOUN
fuelectenerg-1866	18	12	june	june	PROPN
fuelectenerg-1866	18	13	15	15	NUM
fuelectenerg-1866	18	14	,	,	PUNCT
fuelectenerg-1866	18	15	2016	2016	NUM
fuelectenerg-1866	18	16	corresponding	correspond	VERB
fuelectenerg-1866	18	17	author	author	NOUN
fuelectenerg-1866	18	18	:	:	PUNCT
fuelectenerg-1866	18	19	dejan	dejan	PROPN
fuelectenerg-1866	18	20	b.	b.	PROPN
fuelectenerg-1866	18	21	popović	popović	PROPN
fuelectenerg-1866	18	22	institute	institute	PROPN
fuelectenerg-1866	18	23	of	of	ADP
fuelectenerg-1866	18	24	technical	technical	PROPN
fuelectenerg-1866	18	25	sciences	sciences	PROPN
fuelectenerg-1866	18	26	of	of	ADP
fuelectenerg-1866	18	27	sanu	sanu	PROPN
fuelectenerg-1866	18	28	,	,	PUNCT
fuelectenerg-1866	18	29	kneza	kneza	PROPN
fuelectenerg-1866	18	30	mihaila	mihaila	VERB
fuelectenerg-1866	18	31	35	35	NUM
fuelectenerg-1866	18	32	,	,	PUNCT
fuelectenerg-1866	18	33	11000	11000	NUM
fuelectenerg-1866	18	34	belgrade	belgrade	NOUN
fuelectenerg-1866	18	35	,	,	PUNCT
fuelectenerg-1866	18	36	serbia	serbia	PROPN
fuelectenerg-1866	18	37	(	(	PUNCT
fuelectenerg-1866	18	38	e	e	NOUN
fuelectenerg-1866	18	39	-	-	NOUN
fuelectenerg-1866	18	40	mail	mail	NOUN
fuelectenerg-1866	18	41	:	:	PUNCT
fuelectenerg-1866	18	42	dbp@etf.rs	dbp@etf.rs	NOUN
fuelectenerg-1866	18	43	)	)	PUNCT
fuelectenerg-1866	18	44	138	138	NUM
fuelectenerg-1866	18	45	m.	m.	NOUN
fuelectenerg-1866	18	46	d.	d.	PROPN
fuelectenerg-1866	18	47	kostić	kostić	PROPN
fuelectenerg-1866	18	48	,	,	PUNCT
fuelectenerg-1866	18	49	m.	m.	PROPN
fuelectenerg-1866	18	50	r.	r.	PROPN
fuelectenerg-1866	18	51	mataušek	mataušek	PROPN
fuelectenerg-1866	18	52	,	,	PUNCT
fuelectenerg-1866	18	53	d.	d.	PROPN
fuelectenerg-1866	18	54	b.	b.	PROPN
fuelectenerg-1866	18	55	popović	popović	PROPN
fuelectenerg-1866	18	56	depending	depend	VERB
fuelectenerg-1866	18	57	on	on	ADP
fuelectenerg-1866	18	58	the	the	DET
fuelectenerg-1866	18	59	chosen	choose	VERB
fuelectenerg-1866	18	60	therapy	therapy	NOUN
fuelectenerg-1866	18	61	modality	modality	NOUN
fuelectenerg-1866	18	62	the	the	DET
fuelectenerg-1866	18	63	robotic	robotic	ADJ
fuelectenerg-1866	18	64	device	device	NOUN
fuelectenerg-1866	18	65	can	can	AUX
fuelectenerg-1866	18	66	support	support	VERB
fuelectenerg-1866	18	67	,	,	PUNCT
fuelectenerg-1866	18	68	assist	assist	VERB
fuelectenerg-1866	18	69	,	,	PUNCT
fuelectenerg-1866	18	70	resist	resist	VERB
fuelectenerg-1866	18	71	or	or	CCONJ
fuelectenerg-1866	18	72	even	even	ADV
fuelectenerg-1866	18	73	perturb	perturb	VERB
fuelectenerg-1866	18	74	the	the	DET
fuelectenerg-1866	18	75	movement	movement	NOUN
fuelectenerg-1866	18	76	of	of	ADP
fuelectenerg-1866	18	77	the	the	DET
fuelectenerg-1866	18	78	arm	arm	NOUN
fuelectenerg-1866	18	79	/	/	SYM
fuelectenerg-1866	18	80	hand	hand	NOUN
fuelectenerg-1866	18	81	.	.	PUNCT
fuelectenerg-1866	19	1	to	to	PART
fuelectenerg-1866	19	2	do	do	VERB
fuelectenerg-1866	19	3	so	so	ADV
fuelectenerg-1866	19	4	,	,	PUNCT
fuelectenerg-1866	19	5	robot	robot	NOUN
fuelectenerg-1866	19	6	assistants	assistant	NOUN
fuelectenerg-1866	19	7	apply	apply	VERB
fuelectenerg-1866	19	8	sophisticated	sophisticated	ADJ
fuelectenerg-1866	19	9	methods	method	NOUN
fuelectenerg-1866	19	10	for	for	ADP
fuelectenerg-1866	19	11	actuator	actuator	NOUN
fuelectenerg-1866	19	12	control	control	NOUN
fuelectenerg-1866	19	13	in	in	ADP
fuelectenerg-1866	19	14	position	position	NOUN
fuelectenerg-1866	19	15	,	,	PUNCT
fuelectenerg-1866	19	16	velocity	velocity	NOUN
fuelectenerg-1866	19	17	or	or	CCONJ
fuelectenerg-1866	19	18	impedance	impedance	NOUN
fuelectenerg-1866	19	19	space	space	NOUN
fuelectenerg-1866	19	20	.	.	PUNCT
fuelectenerg-1866	20	1	the	the	DET
fuelectenerg-1866	20	2	rehabilitation	rehabilitation	NOUN
fuelectenerg-1866	20	3	gain	gain	NOUN
fuelectenerg-1866	20	4	is	be	AUX
fuelectenerg-1866	20	5	maximized	maximize	VERB
fuelectenerg-1866	20	6	when	when	SCONJ
fuelectenerg-1866	20	7	the	the	DET
fuelectenerg-1866	20	8	device	device	NOUN
fuelectenerg-1866	20	9	adapts	adapt	VERB
fuelectenerg-1866	20	10	to	to	ADP
fuelectenerg-1866	20	11	the	the	DET
fuelectenerg-1866	20	12	patient	patient	NOUN
fuelectenerg-1866	20	13	’s	’s	PART
fuelectenerg-1866	20	14	performance	performance	NOUN
fuelectenerg-1866	20	15	in	in	ADP
fuelectenerg-1866	20	16	a	a	DET
fuelectenerg-1866	20	17	manner	manner	NOUN
fuelectenerg-1866	20	18	which	which	PRON
fuelectenerg-1866	20	19	encourages	encourage	VERB
fuelectenerg-1866	20	20	the	the	DET
fuelectenerg-1866	20	21	efforts	effort	NOUN
fuelectenerg-1866	20	22	,	,	PUNCT
fuelectenerg-1866	20	23	e.g.	e.g.	ADV
fuelectenerg-1866	20	24	,	,	PUNCT
fuelectenerg-1866	20	25	by	by	ADP
fuelectenerg-1866	20	26	providing	provide	VERB
fuelectenerg-1866	20	27	"	"	PUNCT
fuelectenerg-1866	20	28	assistance	assistance	NOUN
fuelectenerg-1866	20	29	-	-	PUNCT
fuelectenerg-1866	20	30	as	as	ADP
fuelectenerg-1866	20	31	-	-	PUNCT
fuelectenerg-1866	20	32	needed	need	VERB
fuelectenerg-1866	20	33	"	"	PUNCT
fuelectenerg-1866	20	34	or	or	CCONJ
fuelectenerg-1866	20	35	"	"	PUNCT
fuelectenerg-1866	20	36	faded	faded	ADJ
fuelectenerg-1866	20	37	guidance	guidance	NOUN
fuelectenerg-1866	20	38	"	"	PUNCT
fuelectenerg-1866	21	1	[	[	X
fuelectenerg-1866	21	2	5	5	NUM
fuelectenerg-1866	21	3	9	9	NUM
fuelectenerg-1866	21	4	]	]	PUNCT
fuelectenerg-1866	21	5	.	.	PUNCT
fuelectenerg-1866	22	1	to	to	PART
fuelectenerg-1866	22	2	implement	implement	VERB
fuelectenerg-1866	22	3	these	these	DET
fuelectenerg-1866	22	4	complex	complex	ADJ
fuelectenerg-1866	22	5	assistance	assistance	NOUN
fuelectenerg-1866	22	6	schemes	scheme	NOUN
fuelectenerg-1866	22	7	the	the	DET
fuelectenerg-1866	22	8	“	"	PUNCT
fuelectenerg-1866	22	9	haptic	haptic	ADJ
fuelectenerg-1866	22	10	”	"	PUNCT
fuelectenerg-1866	22	11	approach	approach	NOUN
fuelectenerg-1866	22	12	,	,	PUNCT
fuelectenerg-1866	22	13	where	where	SCONJ
fuelectenerg-1866	22	14	the	the	DET
fuelectenerg-1866	22	15	device	device	NOUN
fuelectenerg-1866	22	16	acts	act	VERB
fuelectenerg-1866	22	17	on	on	ADP
fuelectenerg-1866	22	18	the	the	DET
fuelectenerg-1866	22	19	patient	patient	NOUN
fuelectenerg-1866	22	20	with	with	ADP
fuelectenerg-1866	22	21	the	the	DET
fuelectenerg-1866	22	22	force	force	NOUN
fuelectenerg-1866	22	23	determined	determine	VERB
fuelectenerg-1866	22	24	by	by	ADP
fuelectenerg-1866	22	25	the	the	DET
fuelectenerg-1866	22	26	computer	computer	NOUN
fuelectenerg-1866	22	27	model	model	NOUN
fuelectenerg-1866	22	28	,	,	PUNCT
fuelectenerg-1866	22	29	is	be	AUX
fuelectenerg-1866	22	30	frequently	frequently	ADV
fuelectenerg-1866	22	31	employed	employ	VERB
fuelectenerg-1866	22	32	in	in	ADP
fuelectenerg-1866	22	33	the	the	DET
fuelectenerg-1866	22	34	control	control	NOUN
fuelectenerg-1866	22	35	of	of	ADP
fuelectenerg-1866	22	36	robot	robot	NOUN
fuelectenerg-1866	22	37	assistants	assistant	NOUN
fuelectenerg-1866	22	38	[	[	X
fuelectenerg-1866	22	39	4	4	NUM
fuelectenerg-1866	22	40	,	,	PUNCT
fuelectenerg-1866	22	41	5	5	NUM
fuelectenerg-1866	22	42	,	,	PUNCT
fuelectenerg-1866	22	43	10	10	NUM
fuelectenerg-1866	22	44	,	,	PUNCT
fuelectenerg-1866	22	45	11	11	NUM
fuelectenerg-1866	22	46	]	]	PUNCT
fuelectenerg-1866	22	47	.	.	PUNCT
fuelectenerg-1866	23	1	the	the	DET
fuelectenerg-1866	23	2	essential	essential	ADJ
fuelectenerg-1866	23	3	elements	element	NOUN
fuelectenerg-1866	23	4	of	of	ADP
fuelectenerg-1866	23	5	haptic	haptic	ADJ
fuelectenerg-1866	23	6	control	control	NOUN
fuelectenerg-1866	23	7	that	that	PRON
fuelectenerg-1866	23	8	are	be	AUX
fuelectenerg-1866	23	9	used	use	VERB
fuelectenerg-1866	23	10	in	in	ADP
fuelectenerg-1866	23	11	current	current	ADJ
fuelectenerg-1866	23	12	robot	robot	NOUN
fuelectenerg-1866	23	13	assistants	assistant	NOUN
fuelectenerg-1866	23	14	can	can	AUX
fuelectenerg-1866	23	15	be	be	AUX
fuelectenerg-1866	23	16	described	describe	VERB
fuelectenerg-1866	23	17	with	with	ADP
fuelectenerg-1866	23	18	the	the	DET
fuelectenerg-1866	23	19	following	follow	VERB
fuelectenerg-1866	23	20	two	two	NUM
fuelectenerg-1866	23	21	equations	equation	NOUN
fuelectenerg-1866	23	22	:	:	PUNCT
fuelectenerg-1866	23	23	motor	motor	NOUN
fuelectenerg-1866	23	24	intrinsic	intrinsic	ADJ
fuelectenerg-1866	23	25	haptict	haptict	PROPN
fuelectenerg-1866	23	26	(	(	PUNCT
fuelectenerg-1866	23	27	t	t	PROPN
fuelectenerg-1866	23	28	)	)	PUNCT
fuelectenerg-1866	23	29	=	=	SYM
fuelectenerg-1866	23	30	t	t	PROPN
fuelectenerg-1866	23	31	(	(	PUNCT
fuelectenerg-1866	23	32	q	q	NOUN
fuelectenerg-1866	23	33	,	,	PUNCT
fuelectenerg-1866	23	34	q	q	ADJ
fuelectenerg-1866	23	35	,	,	PUNCT
fuelectenerg-1866	23	36	q	q	ADJ
fuelectenerg-1866	23	37	,	,	PUNCT
fuelectenerg-1866	23	38	p	p	NOUN
fuelectenerg-1866	23	39	)	)	PUNCT
fuelectenerg-1866	24	1	+	+	NUM
fuelectenerg-1866	24	2	t	t	PROPN
fuelectenerg-1866	24	3	(	(	PUNCT
fuelectenerg-1866	24	4	t	t	PROPN
fuelectenerg-1866	24	5	)	)	PUNCT
fuelectenerg-1866	24	6	(	(	PUNCT
fuelectenerg-1866	24	7	1	1	X
fuelectenerg-1866	24	8	)	)	PUNCT
fuelectenerg-1866	24	9	t	t	PROPN
fuelectenerg-1866	24	10	haptic	haptic	PROPN
fuelectenerg-1866	24	11	haptict	haptict	PROPN
fuelectenerg-1866	24	12	(	(	PUNCT
fuelectenerg-1866	24	13	t	t	PROPN
fuelectenerg-1866	24	14	)	)	PUNCT
fuelectenerg-1866	24	15	=	=	SYM
fuelectenerg-1866	24	16	j(q	j(q	PROPN
fuelectenerg-1866	24	17	)	)	PUNCT
fuelectenerg-1866	24	18	f	f	PROPN
fuelectenerg-1866	24	19	(	(	PUNCT
fuelectenerg-1866	24	20	t	t	PROPN
fuelectenerg-1866	24	21	)	)	PUNCT
fuelectenerg-1866	24	22	(	(	PUNCT
fuelectenerg-1866	24	23	2	2	X
fuelectenerg-1866	24	24	)	)	PUNCT
fuelectenerg-1866	24	25	where	where	SCONJ
fuelectenerg-1866	24	26	[	[	PUNCT
fuelectenerg-1866	24	27	q	q	X
fuelectenerg-1866	24	28	,	,	PUNCT
fuelectenerg-1866	24	29	q	q	NOUN
fuelectenerg-1866	24	30	,	,	PUNCT
fuelectenerg-1866	24	31	q	q	PROPN
fuelectenerg-1866	24	32			PROPN
fuelectenerg-1866	24	33	]	]	PUNCT
fuelectenerg-1866	24	34	are	be	AUX
fuelectenerg-1866	24	35	kinematic	kinematic	ADJ
fuelectenerg-1866	24	36	variables	variable	NOUN
fuelectenerg-1866	24	37	and	and	CCONJ
fuelectenerg-1866	24	38	p	p	NOUN
fuelectenerg-1866	24	39	is	be	AUX
fuelectenerg-1866	24	40	a	a	DET
fuelectenerg-1866	24	41	set	set	NOUN
fuelectenerg-1866	24	42	of	of	ADP
fuelectenerg-1866	24	43	unknown	unknown	ADJ
fuelectenerg-1866	24	44	parameters	parameter	NOUN
fuelectenerg-1866	24	45	in	in	ADP
fuelectenerg-1866	24	46	the	the	DET
fuelectenerg-1866	24	47	nonlinear	nonlinear	ADJ
fuelectenerg-1866	24	48	model	model	NOUN
fuelectenerg-1866	24	49	of	of	ADP
fuelectenerg-1866	24	50	intrinsic	intrinsic	ADJ
fuelectenerg-1866	24	51	torque	torque	NOUN
fuelectenerg-1866	24	52	,	,	PUNCT
fuelectenerg-1866	24	53	tintrinsic	tintrinsic	ADJ
fuelectenerg-1866	24	54	[	[	X
fuelectenerg-1866	24	55	4	4	NUM
fuelectenerg-1866	24	56	]	]	PUNCT
fuelectenerg-1866	24	57	.	.	PUNCT
fuelectenerg-1866	25	1	this	this	DET
fuelectenerg-1866	25	2	torque	torque	NOUN
fuelectenerg-1866	25	3	relates	relate	VERB
fuelectenerg-1866	25	4	to	to	ADP
fuelectenerg-1866	25	5	inertia	inertia	NOUN
fuelectenerg-1866	25	6	,	,	PUNCT
fuelectenerg-1866	25	7	dissipative	dissipative	ADJ
fuelectenerg-1866	25	8	friction	friction	NOUN
fuelectenerg-1866	25	9	,	,	PUNCT
fuelectenerg-1866	25	10	and	and	CCONJ
fuelectenerg-1866	25	11	external	external	ADJ
fuelectenerg-1866	25	12	forces	force	NOUN
fuelectenerg-1866	25	13	(	(	PUNCT
fuelectenerg-1866	25	14	i.e.	i.e.	X
fuelectenerg-1866	25	15	,	,	PUNCT
fuelectenerg-1866	25	16	gravity	gravity	NOUN
fuelectenerg-1866	25	17	)	)	PUNCT
fuelectenerg-1866	25	18	.	.	PUNCT
fuelectenerg-1866	26	1	j(q	j(q	NOUN
fuelectenerg-1866	26	2	)	)	PUNCT
fuelectenerg-1866	26	3	is	be	AUX
fuelectenerg-1866	26	4	the	the	DET
fuelectenerg-1866	26	5	jacobean	jacobean	NOUN
fuelectenerg-1866	26	6	of	of	ADP
fuelectenerg-1866	26	7	the	the	DET
fuelectenerg-1866	26	8	device	device	NOUN
fuelectenerg-1866	26	9	's	's	PART
fuelectenerg-1866	26	10	geometry	geometry	NOUN
fuelectenerg-1866	26	11	,	,	PUNCT
fuelectenerg-1866	26	12	and	and	CCONJ
fuelectenerg-1866	26	13	fhaptic	fhaptic	ADJ
fuelectenerg-1866	26	14	is	be	AUX
fuelectenerg-1866	26	15	the	the	DET
fuelectenerg-1866	26	16	targeted	target	VERB
fuelectenerg-1866	26	17	interface	interface	NOUN
fuelectenerg-1866	26	18	force	force	NOUN
fuelectenerg-1866	26	19	between	between	ADP
fuelectenerg-1866	26	20	the	the	DET
fuelectenerg-1866	26	21	arm	arm	NOUN
fuelectenerg-1866	26	22	and	and	CCONJ
fuelectenerg-1866	26	23	the	the	DET
fuelectenerg-1866	26	24	apparatus	apparatus	NOUN
fuelectenerg-1866	26	25	.	.	PUNCT
fuelectenerg-1866	27	1	the	the	DET
fuelectenerg-1866	27	2	application	application	NOUN
fuelectenerg-1866	27	3	of	of	ADP
fuelectenerg-1866	27	4	such	such	DET
fuelectenerg-1866	27	5	a	a	DET
fuelectenerg-1866	27	6	system	system	NOUN
fuelectenerg-1866	27	7	requires	require	VERB
fuelectenerg-1866	27	8	an	an	DET
fuelectenerg-1866	27	9	adequate	adequate	ADJ
fuelectenerg-1866	27	10	nonlinear	nonlinear	ADJ
fuelectenerg-1866	27	11	model	model	NOUN
fuelectenerg-1866	27	12	and	and	CCONJ
fuelectenerg-1866	27	13	experimental	experimental	ADJ
fuelectenerg-1866	27	14	assessment	assessment	NOUN
fuelectenerg-1866	27	15	of	of	ADP
fuelectenerg-1866	27	16	unknown	unknown	ADJ
fuelectenerg-1866	27	17	parameter	parameter	NOUN
fuelectenerg-1866	27	18	p	p	NOUN
fuelectenerg-1866	27	19	for	for	ADP
fuelectenerg-1866	27	20	an	an	DET
fuelectenerg-1866	27	21	extensive	extensive	ADJ
fuelectenerg-1866	27	22	range	range	NOUN
fuelectenerg-1866	27	23	of	of	ADP
fuelectenerg-1866	27	24	operating	operating	NOUN
fuelectenerg-1866	27	25	conditions	condition	NOUN
fuelectenerg-1866	27	26	.	.	PUNCT
fuelectenerg-1866	28	1	a	a	DET
fuelectenerg-1866	28	2	difficulty	difficulty	NOUN
fuelectenerg-1866	28	3	is	be	AUX
fuelectenerg-1866	28	4	that	that	SCONJ
fuelectenerg-1866	28	5	on	on	ADP
fuelectenerg-1866	28	6	-	-	PUNCT
fuelectenerg-1866	28	7	line	line	NOUN
fuelectenerg-1866	28	8	compensation	compensation	NOUN
fuelectenerg-1866	28	9	of	of	ADP
fuelectenerg-1866	28	10	the	the	DET
fuelectenerg-1866	28	11	intrinsic	intrinsic	ADJ
fuelectenerg-1866	28	12	dynamics	dynamic	NOUN
fuelectenerg-1866	28	13	is	be	AUX
fuelectenerg-1866	28	14	highly	highly	ADV
fuelectenerg-1866	28	15	complex	complex	ADJ
fuelectenerg-1866	28	16	[	[	X
fuelectenerg-1866	28	17	4	4	NUM
fuelectenerg-1866	28	18	]	]	PUNCT
fuelectenerg-1866	28	19	.	.	PUNCT
fuelectenerg-1866	29	1	another	another	DET
fuelectenerg-1866	29	2	major	major	ADJ
fuelectenerg-1866	29	3	practical	practical	ADJ
fuelectenerg-1866	29	4	problem	problem	NOUN
fuelectenerg-1866	29	5	for	for	ADP
fuelectenerg-1866	29	6	the	the	DET
fuelectenerg-1866	29	7	implementation	implementation	NOUN
fuelectenerg-1866	29	8	is	be	AUX
fuelectenerg-1866	29	9	the	the	DET
fuelectenerg-1866	29	10	selection	selection	NOUN
fuelectenerg-1866	29	11	of	of	ADP
fuelectenerg-1866	29	12	the	the	DET
fuelectenerg-1866	29	13	target	target	NOUN
fuelectenerg-1866	29	14	trajectory	trajectory	NOUN
fuelectenerg-1866	29	15	for	for	ADP
fuelectenerg-1866	29	16	the	the	DET
fuelectenerg-1866	29	17	hand	hand	NOUN
fuelectenerg-1866	29	18	that	that	PRON
fuelectenerg-1866	29	19	the	the	DET
fuelectenerg-1866	29	20	robot	robot	NOUN
fuelectenerg-1866	29	21	needs	need	VERB
fuelectenerg-1866	29	22	to	to	PART
fuelectenerg-1866	29	23	assist	assist	VERB
fuelectenerg-1866	29	24	.	.	PUNCT
fuelectenerg-1866	30	1	we	we	PRON
fuelectenerg-1866	30	2	show	show	VERB
fuelectenerg-1866	30	3	here	here	ADV
fuelectenerg-1866	30	4	one	one	NUM
fuelectenerg-1866	30	5	possible	possible	ADJ
fuelectenerg-1866	30	6	method	method	NOUN
fuelectenerg-1866	30	7	for	for	ADP
fuelectenerg-1866	30	8	solving	solve	VERB
fuelectenerg-1866	30	9	two	two	NUM
fuelectenerg-1866	30	10	problems	problem	NOUN
fuelectenerg-1866	30	11	:	:	PUNCT
fuelectenerg-1866	30	12	1	1	X
fuelectenerg-1866	30	13	)	)	PUNCT
fuelectenerg-1866	30	14	how	how	SCONJ
fuelectenerg-1866	30	15	to	to	PART
fuelectenerg-1866	30	16	select	select	VERB
fuelectenerg-1866	30	17	a	a	DET
fuelectenerg-1866	30	18	target	target	NOUN
fuelectenerg-1866	30	19	trajectory	trajectory	NOUN
fuelectenerg-1866	30	20	which	which	PRON
fuelectenerg-1866	30	21	is	be	AUX
fuelectenerg-1866	30	22	suited	suit	VERB
fuelectenerg-1866	30	23	to	to	ADP
fuelectenerg-1866	30	24	the	the	DET
fuelectenerg-1866	30	25	current	current	ADJ
fuelectenerg-1866	30	26	patient	patient	NOUN
fuelectenerg-1866	30	27	needs	need	NOUN
fuelectenerg-1866	30	28	,	,	PUNCT
fuelectenerg-1866	30	29	and	and	CCONJ
fuelectenerg-1866	30	30	dynamically	dynamically	ADV
fuelectenerg-1866	30	31	changing	change	VERB
fuelectenerg-1866	30	32	abilities	ability	NOUN
fuelectenerg-1866	30	33	;	;	PUNCT
fuelectenerg-1866	30	34	and	and	CCONJ
fuelectenerg-1866	30	35	2	2	X
fuelectenerg-1866	30	36	)	)	PUNCT
fuelectenerg-1866	30	37	how	how	SCONJ
fuelectenerg-1866	30	38	can	can	AUX
fuelectenerg-1866	30	39	this	this	DET
fuelectenerg-1866	30	40	trajectory	trajectory	NOUN
fuelectenerg-1866	30	41	be	be	AUX
fuelectenerg-1866	30	42	translated	translate	VERB
fuelectenerg-1866	30	43	to	to	ADP
fuelectenerg-1866	30	44	the	the	DET
fuelectenerg-1866	30	45	controller	controller	NOUN
fuelectenerg-1866	30	46	of	of	ADP
fuelectenerg-1866	30	47	a	a	DET
fuelectenerg-1866	30	48	robot	robot	NOUN
fuelectenerg-1866	30	49	to	to	PART
fuelectenerg-1866	30	50	is	be	AUX
fuelectenerg-1866	30	51	used	use	VERB
fuelectenerg-1866	30	52	in	in	ADP
fuelectenerg-1866	30	53	daily	daily	ADJ
fuelectenerg-1866	30	54	clinical	clinical	ADJ
fuelectenerg-1866	30	55	work	work	NOUN
fuelectenerg-1866	30	56	?	?	PUNCT
fuelectenerg-1866	31	1	we	we	PRON
fuelectenerg-1866	31	2	demonstrate	demonstrate	VERB
fuelectenerg-1866	31	3	a	a	DET
fuelectenerg-1866	31	4	solution	solution	NOUN
fuelectenerg-1866	31	5	for	for	ADP
fuelectenerg-1866	31	6	both	both	DET
fuelectenerg-1866	31	7	tasks	task	NOUN
fuelectenerg-1866	31	8	in	in	ADP
fuelectenerg-1866	31	9	the	the	DET
fuelectenerg-1866	31	10	case	case	NOUN
fuelectenerg-1866	31	11	of	of	ADP
fuelectenerg-1866	31	12	point	point	NOUN
fuelectenerg-1866	31	13	-	-	PUNCT
fuelectenerg-1866	31	14	to	to	ADP
fuelectenerg-1866	31	15	-	-	PUNCT
fuelectenerg-1866	31	16	point	point	NOUN
fuelectenerg-1866	31	17	movements	movement	NOUN
fuelectenerg-1866	31	18	.	.	PUNCT
fuelectenerg-1866	32	1	the	the	DET
fuelectenerg-1866	32	2	demonstration	demonstration	NOUN
fuelectenerg-1866	32	3	is	be	AUX
fuelectenerg-1866	32	4	presented	present	VERB
fuelectenerg-1866	32	5	with	with	ADP
fuelectenerg-1866	32	6	a	a	DET
fuelectenerg-1866	32	7	new	new	ADJ
fuelectenerg-1866	32	8	3d	3d	PROPN
fuelectenerg-1866	32	9	robot	robot	NOUN
fuelectenerg-1866	32	10	prototype	prototype	NOUN
fuelectenerg-1866	32	11	(	(	PUNCT
fuelectenerg-1866	32	12	r3	r3	NOUN
fuelectenerg-1866	32	13	-	-	PUNCT
fuelectenerg-1866	32	14	beg	beg	NOUN
fuelectenerg-1866	32	15	)	)	PUNCT
fuelectenerg-1866	32	16	,	,	PUNCT
fuelectenerg-1866	32	17	shown	show	VERB
fuelectenerg-1866	32	18	in	in	ADP
fuelectenerg-1866	32	19	fig	fig	NOUN
fuelectenerg-1866	32	20	.	.	PUNCT
fuelectenerg-1866	33	1	1	1	X
fuelectenerg-1866	33	2	.	.	PUNCT
fuelectenerg-1866	33	3	the	the	DET
fuelectenerg-1866	33	4	assumed	assumed	ADJ
fuelectenerg-1866	33	5	principle	principle	NOUN
fuelectenerg-1866	33	6	for	for	ADP
fuelectenerg-1866	33	7	the	the	DET
fuelectenerg-1866	33	8	operation	operation	NOUN
fuelectenerg-1866	33	9	of	of	ADP
fuelectenerg-1866	33	10	the	the	DET
fuelectenerg-1866	33	11	r3	r3	PROPN
fuelectenerg-1866	33	12	-	-	PUNCT
fuelectenerg-1866	33	13	beg	beg	NOUN
fuelectenerg-1866	33	14	is	be	AUX
fuelectenerg-1866	33	15	:	:	PUNCT
fuelectenerg-1866	33	16	"	"	PUNCT
fuelectenerg-1866	33	17	teach	teach	VERB
fuelectenerg-1866	33	18	-	-	PUNCT
fuelectenerg-1866	33	19	and	and	CCONJ
fuelectenerg-1866	33	20	-	-	PUNCT
fuelectenerg-1866	33	21	repeat	repeat	NOUN
fuelectenerg-1866	33	22	"	"	PUNCT
fuelectenerg-1866	33	23	scenario	scenario	NOUN
fuelectenerg-1866	33	24	[	[	X
fuelectenerg-1866	33	25	2	2	NUM
fuelectenerg-1866	33	26	,	,	PUNCT
fuelectenerg-1866	33	27	7	7	NUM
fuelectenerg-1866	33	28	,	,	PUNCT
fuelectenerg-1866	33	29	12	12	NUM
fuelectenerg-1866	33	30	]	]	PUNCT
fuelectenerg-1866	33	31	,	,	PUNCT
fuelectenerg-1866	33	32	which	which	PRON
fuelectenerg-1866	33	33	is	be	AUX
fuelectenerg-1866	33	34	adopted	adopt	VERB
fuelectenerg-1866	33	35	in	in	ADP
fuelectenerg-1866	33	36	current	current	ADJ
fuelectenerg-1866	33	37	clinical	clinical	ADJ
fuelectenerg-1866	33	38	practice	practice	NOUN
fuelectenerg-1866	33	39	and	and	CCONJ
fuelectenerg-1866	33	40	present	present	ADJ
fuelectenerg-1866	33	41	in	in	ADP
fuelectenerg-1866	33	42	some	some	DET
fuelectenerg-1866	33	43	commercial	commercial	ADJ
fuelectenerg-1866	33	44	devices	device	NOUN
fuelectenerg-1866	33	45	[	[	X
fuelectenerg-1866	33	46	13	13	NUM
fuelectenerg-1866	33	47	]	]	PUNCT
fuelectenerg-1866	33	48	.	.	PUNCT
fuelectenerg-1866	34	1	the	the	DET
fuelectenerg-1866	34	2	"	"	PUNCT
fuelectenerg-1866	34	3	teach	teach	VERB
fuelectenerg-1866	34	4	-	-	PUNCT
fuelectenerg-1866	34	5	and	and	CCONJ
fuelectenerg-1866	34	6	-	-	PUNCT
fuelectenerg-1866	34	7	repeat	repeat	NOUN
fuelectenerg-1866	34	8	"	"	PUNCT
fuelectenerg-1866	34	9	consists	consist	VERB
fuelectenerg-1866	34	10	of	of	ADP
fuelectenerg-1866	34	11	the	the	DET
fuelectenerg-1866	34	12	"	"	PUNCT
fuelectenerg-1866	34	13	demonstration	demonstration	NOUN
fuelectenerg-1866	34	14	"	"	PUNCT
fuelectenerg-1866	34	15	phase	phase	NOUN
fuelectenerg-1866	34	16	,	,	PUNCT
fuelectenerg-1866	34	17	in	in	ADP
fuelectenerg-1866	34	18	which	which	PRON
fuelectenerg-1866	34	19	the	the	DET
fuelectenerg-1866	34	20	therapist	therapist	NOUN
fuelectenerg-1866	34	21	and	and	CCONJ
fuelectenerg-1866	34	22	patient	patient	NOUN
fuelectenerg-1866	34	23	hold	hold	VERB
fuelectenerg-1866	34	24	the	the	DET
fuelectenerg-1866	34	25	endpoint	endpoint	NOUN
fuelectenerg-1866	34	26	of	of	ADP
fuelectenerg-1866	34	27	the	the	DET
fuelectenerg-1866	34	28	robot	robot	NOUN
fuelectenerg-1866	34	29	,	,	PUNCT
fuelectenerg-1866	34	30	and	and	CCONJ
fuelectenerg-1866	34	31	the	the	DET
fuelectenerg-1866	34	32	therapist	therapist	NOUN
fuelectenerg-1866	34	33	selects	select	VERB
fuelectenerg-1866	34	34	a	a	DET
fuelectenerg-1866	34	35	target	target	NOUN
fuelectenerg-1866	34	36	trajectory	trajectory	NOUN
fuelectenerg-1866	34	37	based	base	VERB
fuelectenerg-1866	34	38	on	on	ADP
fuelectenerg-1866	34	39	heuristics	heuristic	NOUN
fuelectenerg-1866	34	40	;	;	PUNCT
fuelectenerg-1866	34	41	and	and	CCONJ
fuelectenerg-1866	34	42	the	the	DET
fuelectenerg-1866	34	43	"	"	PUNCT
fuelectenerg-1866	34	44	exercise	exercise	NOUN
fuelectenerg-1866	34	45	"	"	PUNCT
fuelectenerg-1866	34	46	phase	phase	NOUN
fuelectenerg-1866	34	47	,	,	PUNCT
fuelectenerg-1866	34	48	in	in	ADP
fuelectenerg-1866	34	49	which	which	PRON
fuelectenerg-1866	34	50	the	the	DET
fuelectenerg-1866	34	51	robot	robot	NOUN
fuelectenerg-1866	34	52	assists	assist	VERB
fuelectenerg-1866	34	53	the	the	DET
fuelectenerg-1866	34	54	arm	arm	NOUN
fuelectenerg-1866	34	55	to	to	PART
fuelectenerg-1866	34	56	move	move	VERB
fuelectenerg-1866	34	57	along	along	ADP
fuelectenerg-1866	34	58	the	the	DET
fuelectenerg-1866	34	59	preferred	preferred	ADJ
fuelectenerg-1866	34	60	trajectory	trajectory	NOUN
fuelectenerg-1866	34	61	with	with	ADP
fuelectenerg-1866	34	62	the	the	DET
fuelectenerg-1866	34	63	force	force	NOUN
fuelectenerg-1866	34	64	constraint	constraint	NOUN
fuelectenerg-1866	34	65	(	(	PUNCT
fuelectenerg-1866	34	66	threshold	threshold	NOUN
fuelectenerg-1866	34	67	maximum	maximum	ADJ
fuelectenerg-1866	34	68	force	force	NOUN
fuelectenerg-1866	34	69	)	)	PUNCT
fuelectenerg-1866	35	1	[	[	X
fuelectenerg-1866	35	2	13	13	NUM
fuelectenerg-1866	35	3	]	]	PUNCT
fuelectenerg-1866	35	4	.	.	PUNCT
fuelectenerg-1866	36	1	the	the	DET
fuelectenerg-1866	36	2	following	follow	VERB
fuelectenerg-1866	36	3	elements	element	NOUN
fuelectenerg-1866	36	4	of	of	ADP
fuelectenerg-1866	36	5	the	the	DET
fuelectenerg-1866	36	6	system	system	NOUN
fuelectenerg-1866	36	7	are	be	AUX
fuelectenerg-1866	36	8	new	new	ADJ
fuelectenerg-1866	36	9	:	:	PUNCT
fuelectenerg-1866	36	10	1	1	NUM
fuelectenerg-1866	36	11	)	)	PUNCT
fuelectenerg-1866	36	12	the	the	DET
fuelectenerg-1866	36	13	interface	interface	NOUN
fuelectenerg-1866	36	14	between	between	ADP
fuelectenerg-1866	36	15	the	the	DET
fuelectenerg-1866	36	16	therapist	therapist	NOUN
fuelectenerg-1866	36	17	,	,	PUNCT
fuelectenerg-1866	36	18	the	the	DET
fuelectenerg-1866	36	19	patient	patient	NOUN
fuelectenerg-1866	36	20	and	and	CCONJ
fuelectenerg-1866	36	21	the	the	DET
fuelectenerg-1866	36	22	robot	robot	NOUN
fuelectenerg-1866	36	23	used	use	VERB
fuelectenerg-1866	36	24	during	during	ADP
fuelectenerg-1866	36	25	the	the	DET
fuelectenerg-1866	36	26	demonstration	demonstration	NOUN
fuelectenerg-1866	36	27	phase	phase	NOUN
fuelectenerg-1866	36	28	;	;	PUNCT
fuelectenerg-1866	36	29	2	2	X
fuelectenerg-1866	36	30	)	)	PUNCT
fuelectenerg-1866	36	31	the	the	DET
fuelectenerg-1866	36	32	action	action	NOUN
fuelectenerg-1866	36	33	representation	representation	NOUN
fuelectenerg-1866	36	34	which	which	PRON
fuelectenerg-1866	36	35	translates	translate	VERB
fuelectenerg-1866	36	36	the	the	DET
fuelectenerg-1866	36	37	captured	capture	VERB
fuelectenerg-1866	36	38	kinematics	kinematic	NOUN
fuelectenerg-1866	36	39	to	to	ADP
fuelectenerg-1866	36	40	the	the	DET
fuelectenerg-1866	36	41	controller	controller	NOUN
fuelectenerg-1866	36	42	;	;	PUNCT
fuelectenerg-1866	36	43	3	3	X
fuelectenerg-1866	36	44	)	)	PUNCT
fuelectenerg-1866	36	45	integration	integration	NOUN
fuelectenerg-1866	36	46	of	of	ADP
fuelectenerg-1866	36	47	the	the	DET
fuelectenerg-1866	36	48	natural	natural	ADJ
fuelectenerg-1866	36	49	variability	variability	NOUN
fuelectenerg-1866	36	50	of	of	ADP
fuelectenerg-1866	36	51	the	the	DET
fuelectenerg-1866	36	52	therapist	therapist	NOUN
fuelectenerg-1866	36	53	’s	’s	PART
fuelectenerg-1866	36	54	movements	movement	NOUN
fuelectenerg-1866	36	55	into	into	ADP
fuelectenerg-1866	36	56	the	the	DET
fuelectenerg-1866	36	57	target	target	NOUN
fuelectenerg-1866	36	58	trajectory	trajectory	NOUN
fuelectenerg-1866	36	59	[	[	X
fuelectenerg-1866	36	60	14	14	NUM
fuelectenerg-1866	36	61	,	,	PUNCT
fuelectenerg-1866	36	62	15	15	NUM
fuelectenerg-1866	36	63	]	]	PUNCT
fuelectenerg-1866	36	64	;	;	PUNCT
fuelectenerg-1866	36	65	4	4	X
fuelectenerg-1866	36	66	)	)	PUNCT
fuelectenerg-1866	36	67	two	two	NUM
fuelectenerg-1866	36	68	-	-	PUNCT
fuelectenerg-1866	36	69	level	level	NOUN
fuelectenerg-1866	36	70	control	control	NOUN
fuelectenerg-1866	36	71	comprising	comprising	NOUN
fuelectenerg-1866	36	72	at	at	ADP
fuelectenerg-1866	36	73	higher	high	ADJ
fuelectenerg-1866	36	74	level	level	NOUN
fuelectenerg-1866	36	75	velocity	velocity	NOUN
fuelectenerg-1866	36	76	the	the	DET
fuelectenerg-1866	36	77	set	set	NOUN
fuelectenerg-1866	36	78	points	point	NOUN
fuelectenerg-1866	36	79	selection	selection	NOUN
fuelectenerg-1866	36	80	in	in	ADP
fuelectenerg-1866	36	81	each	each	DET
fuelectenerg-1866	36	82	movement	movement	NOUN
fuelectenerg-1866	36	83	phase	phase	NOUN
fuelectenerg-1866	36	84	,	,	PUNCT
fuelectenerg-1866	36	85	based	base	VERB
fuelectenerg-1866	36	86	on	on	ADP
fuelectenerg-1866	36	87	the	the	DET
fuelectenerg-1866	36	88	“	"	PUNCT
fuelectenerg-1866	36	89	probability	probability	NOUN
fuelectenerg-1866	36	90	tube	tube	NOUN
fuelectenerg-1866	36	91	”	"	PUNCT
fuelectenerg-1866	36	92	(	(	PUNCT
fuelectenerg-1866	36	93	pt	pt	NOUN
fuelectenerg-1866	36	94	)	)	PUNCT
fuelectenerg-1866	36	95	action	action	NOUN
fuelectenerg-1866	36	96	representation	representation	NOUN
fuelectenerg-1866	36	97	and	and	CCONJ
fuelectenerg-1866	36	98	at	at	ADP
fuelectenerg-1866	36	99	the	the	DET
fuelectenerg-1866	36	100	low	low	ADJ
fuelectenerg-1866	36	101	-	-	PUNCT
fuelectenerg-1866	36	102	level	level	NOUN
fuelectenerg-1866	36	103	control	control	NOUN
fuelectenerg-1866	36	104	implementation	implementation	NOUN
fuelectenerg-1866	36	105	of	of	ADP
fuelectenerg-1866	36	106	the	the	DET
fuelectenerg-1866	36	107	modified	modify	VERB
fuelectenerg-1866	36	108	internal	internal	ADJ
fuelectenerg-1866	36	109	model	model	NOUN
fuelectenerg-1866	36	110	control	control	NOUN
fuelectenerg-1866	36	111	(	(	PUNCT
fuelectenerg-1866	36	112	mimc	mimc	NOUN
fuelectenerg-1866	36	113	)	)	PUNCT
fuelectenerg-1866	37	1	[	[	X
fuelectenerg-1866	37	2	16	16	NUM
fuelectenerg-1866	37	3	,	,	PUNCT
fuelectenerg-1866	37	4	17	17	NUM
fuelectenerg-1866	37	5	]	]	PUNCT
fuelectenerg-1866	37	6	to	to	PART
fuelectenerg-1866	37	7	ensure	ensure	VERB
fuelectenerg-1866	37	8	offset	offset	VERB
fuelectenerg-1866	37	9	-	-	PUNCT
fuelectenerg-1866	37	10	free	free	ADJ
fuelectenerg-1866	37	11	following	following	NOUN
fuelectenerg-1866	37	12	of	of	ADP
fuelectenerg-1866	37	13	the	the	DET
fuelectenerg-1866	37	14	set	set	NOUN
fuelectenerg-1866	37	15	point	point	NOUN
fuelectenerg-1866	37	16	;	;	PUNCT
fuelectenerg-1866	37	17	and	and	CCONJ
fuelectenerg-1866	37	18	5	5	X
fuelectenerg-1866	37	19	)	)	PUNCT
fuelectenerg-1866	37	20	motivating	motivating	NOUN
fuelectenerg-1866	37	21	feedback	feedback	NOUN
fuelectenerg-1866	37	22	based	base	VERB
fuelectenerg-1866	37	23	on	on	ADP
fuelectenerg-1866	37	24	the	the	DET
fuelectenerg-1866	37	25	online	online	ADJ
fuelectenerg-1866	37	26	assessment	assessment	NOUN
fuelectenerg-1866	37	27	of	of	ADP
fuelectenerg-1866	37	28	the	the	DET
fuelectenerg-1866	37	29	patient	patient	NOUN
fuelectenerg-1866	37	30	’s	’s	PART
fuelectenerg-1866	37	31	performance	performance	NOUN
fuelectenerg-1866	37	32	in	in	ADP
fuelectenerg-1866	37	33	the	the	DET
fuelectenerg-1866	37	34	“	"	PUNCT
fuelectenerg-1866	37	35	exercise	exercise	NOUN
fuelectenerg-1866	37	36	phase	phase	NOUN
fuelectenerg-1866	37	37	”	"	PUNCT
fuelectenerg-1866	37	38	(	(	PUNCT
fuelectenerg-1866	37	39	fig	fig	NOUN
fuelectenerg-1866	37	40	.	.	PUNCT
fuelectenerg-1866	37	41	1	1	NUM
fuelectenerg-1866	37	42	)	)	PUNCT
fuelectenerg-1866	37	43	.	.	PUNCT
fuelectenerg-1866	38	1	the	the	DET
fuelectenerg-1866	38	2	presentation	presentation	NOUN
fuelectenerg-1866	38	3	modified	modify	VERB
fuelectenerg-1866	38	4	internal	internal	ADJ
fuelectenerg-1866	38	5	model	model	NOUN
fuelectenerg-1866	38	6	control	control	NOUN
fuelectenerg-1866	38	7	for	for	ADP
fuelectenerg-1866	38	8	a	a	DET
fuelectenerg-1866	38	9	therapeutic	therapeutic	ADJ
fuelectenerg-1866	38	10	robot	robot	NOUN
fuelectenerg-1866	38	11	139	139	NUM
fuelectenerg-1866	38	12	starts	start	VERB
fuelectenerg-1866	38	13	with	with	ADP
fuelectenerg-1866	38	14	the	the	DET
fuelectenerg-1866	38	15	description	description	NOUN
fuelectenerg-1866	38	16	of	of	ADP
fuelectenerg-1866	38	17	the	the	DET
fuelectenerg-1866	38	18	robot	robot	NOUN
fuelectenerg-1866	38	19	and	and	CCONJ
fuelectenerg-1866	38	20	controller	controller	NOUN
fuelectenerg-1866	38	21	,	,	PUNCT
fuelectenerg-1866	38	22	and	and	CCONJ
fuelectenerg-1866	38	23	continues	continue	VERB
fuelectenerg-1866	38	24	to	to	ADP
fuelectenerg-1866	38	25	the	the	DET
fuelectenerg-1866	38	26	presentation	presentation	NOUN
fuelectenerg-1866	38	27	of	of	ADP
fuelectenerg-1866	38	28	tests	test	NOUN
fuelectenerg-1866	38	29	in	in	ADP
fuelectenerg-1866	38	30	two	two	NUM
fuelectenerg-1866	38	31	post	post	ADJ
fuelectenerg-1866	38	32	-	-	ADJ
fuelectenerg-1866	38	33	stroke	stroke	ADJ
fuelectenerg-1866	38	34	patients	patient	NOUN
fuelectenerg-1866	38	35	.	.	PUNCT
fuelectenerg-1866	39	1	2	2	X
fuelectenerg-1866	39	2	.	.	X
fuelectenerg-1866	39	3	the	the	DET
fuelectenerg-1866	39	4	r3	r3	PROPN
fuelectenerg-1866	39	5	-	-	PUNCT
fuelectenerg-1866	39	6	beg	beg	PROPN
fuelectenerg-1866	39	7	robot	robot	NOUN
fuelectenerg-1866	39	8	assistant	assistant	NOUN
fuelectenerg-1866	39	9	the	the	DET
fuelectenerg-1866	39	10	r3	r3	PROPN
fuelectenerg-1866	39	11	-	-	PUNCT
fuelectenerg-1866	39	12	beg	beg	NOUN
fuelectenerg-1866	39	13	combines	combine	VERB
fuelectenerg-1866	39	14	a	a	DET
fuelectenerg-1866	39	15	two	two	NUM
fuelectenerg-1866	39	16	-	-	PUNCT
fuelectenerg-1866	39	17	segment	segment	NOUN
fuelectenerg-1866	39	18	planar	planar	ADJ
fuelectenerg-1866	39	19	manipulandum	manipulandum	PROPN
fuelectenerg-1866	39	20	(	(	PUNCT
fuelectenerg-1866	39	21	arm	arm	NOUN
fuelectenerg-1866	39	22	)	)	PUNCT
fuelectenerg-1866	39	23	and	and	CCONJ
fuelectenerg-1866	39	24	a	a	DET
fuelectenerg-1866	39	25	vertical	vertical	ADJ
fuelectenerg-1866	39	26	slider	slider	NOUN
fuelectenerg-1866	39	27	(	(	PUNCT
fuelectenerg-1866	39	28	fig	fig	NOUN
fuelectenerg-1866	39	29	.	.	PUNCT
fuelectenerg-1866	39	30	1	1	NUM
fuelectenerg-1866	39	31	)	)	PUNCT
fuelectenerg-1866	39	32	.	.	PUNCT
fuelectenerg-1866	40	1	following	follow	VERB
fuelectenerg-1866	40	2	the	the	DET
fuelectenerg-1866	40	3	analogy	analogy	NOUN
fuelectenerg-1866	40	4	with	with	ADP
fuelectenerg-1866	40	5	the	the	DET
fuelectenerg-1866	40	6	patient	patient	NOUN
fuelectenerg-1866	40	7	’s	’s	PART
fuelectenerg-1866	40	8	arm	arm	NOUN
fuelectenerg-1866	40	9	,	,	PUNCT
fuelectenerg-1866	40	10	the	the	DET
fuelectenerg-1866	40	11	joints	joint	NOUN
fuelectenerg-1866	40	12	were	be	AUX
fuelectenerg-1866	40	13	named	name	VERB
fuelectenerg-1866	40	14	shoulder	shoulder	NOUN
fuelectenerg-1866	40	15	(	(	PUNCT
fuelectenerg-1866	40	16	s	s	NOUN
fuelectenerg-1866	40	17	)	)	PUNCT
fuelectenerg-1866	40	18	and	and	CCONJ
fuelectenerg-1866	40	19	elbow	elbow	VERB
fuelectenerg-1866	40	20	(	(	PUNCT
fuelectenerg-1866	40	21	e	e	NOUN
fuelectenerg-1866	40	22	)	)	PUNCT
fuelectenerg-1866	40	23	.	.	PUNCT
fuelectenerg-1866	41	1	fig	fig	NOUN
fuelectenerg-1866	41	2	.	.	PUNCT
fuelectenerg-1866	42	1	1	1	NUM
fuelectenerg-1866	42	2	the	the	DET
fuelectenerg-1866	42	3	r3	r3	NOUN
fuelectenerg-1866	42	4	-	-	PUNCT
fuelectenerg-1866	42	5	beg	beg	NOUN
fuelectenerg-1866	42	6	robot	robot	NOUN
fuelectenerg-1866	42	7	for	for	ADP
fuelectenerg-1866	42	8	the	the	DET
fuelectenerg-1866	42	9	arm	arm	NOUN
fuelectenerg-1866	42	10	exercise	exercise	NOUN
fuelectenerg-1866	42	11	(	(	PUNCT
fuelectenerg-1866	42	12	left	leave	VERB
fuelectenerg-1866	42	13	panel	panel	NOUN
fuelectenerg-1866	42	14	)	)	PUNCT
fuelectenerg-1866	42	15	.	.	PUNCT
fuelectenerg-1866	43	1	the	the	DET
fuelectenerg-1866	43	2	sketch	sketch	NOUN
fuelectenerg-1866	43	3	of	of	ADP
fuelectenerg-1866	43	4	the	the	DET
fuelectenerg-1866	43	5	robot	robot	NOUN
fuelectenerg-1866	43	6	arm	arm	NOUN
fuelectenerg-1866	43	7	showing	show	VERB
fuelectenerg-1866	43	8	the	the	DET
fuelectenerg-1866	43	9	task	task	NOUN
fuelectenerg-1866	43	10	(	(	PUNCT
fuelectenerg-1866	43	11	top	top	ADJ
fuelectenerg-1866	43	12	left	left	ADJ
fuelectenerg-1866	43	13	panel	panel	NOUN
fuelectenerg-1866	43	14	)	)	PUNCT
fuelectenerg-1866	43	15	and	and	CCONJ
fuelectenerg-1866	43	16	feedback	feedback	NOUN
fuelectenerg-1866	43	17	presented	present	VERB
fuelectenerg-1866	43	18	to	to	ADP
fuelectenerg-1866	43	19	the	the	DET
fuelectenerg-1866	43	20	therapist	therapist	NOUN
fuelectenerg-1866	43	21	(	(	PUNCT
fuelectenerg-1866	43	22	bottom	bottom	ADJ
fuelectenerg-1866	43	23	right	right	ADJ
fuelectenerg-1866	43	24	panels	panel	NOUN
fuelectenerg-1866	43	25	)	)	PUNCT
fuelectenerg-1866	43	26	.	.	PUNCT
fuelectenerg-1866	44	1	the	the	DET
fuelectenerg-1866	44	2	handle	handle	NOUN
fuelectenerg-1866	44	3	(	(	PUNCT
fuelectenerg-1866	44	4	fig	fig	NOUN
fuelectenerg-1866	44	5	.	.	NOUN
fuelectenerg-1866	44	6	1	1	NUM
fuelectenerg-1866	44	7	)	)	PUNCT
fuelectenerg-1866	44	8	is	be	AUX
fuelectenerg-1866	44	9	instrumented	instrument	VERB
fuelectenerg-1866	44	10	by	by	ADP
fuelectenerg-1866	44	11	a	a	DET
fuelectenerg-1866	44	12	set	set	NOUN
fuelectenerg-1866	44	13	of	of	ADP
fuelectenerg-1866	44	14	force	force	NOUN
fuelectenerg-1866	44	15	transducers	transducer	NOUN
fuelectenerg-1866	44	16	allowing	allow	VERB
fuelectenerg-1866	44	17	the	the	DET
fuelectenerg-1866	44	18	estimation	estimation	NOUN
fuelectenerg-1866	44	19	of	of	ADP
fuelectenerg-1866	44	20	the	the	DET
fuelectenerg-1866	44	21	size	size	NOUN
fuelectenerg-1866	44	22	and	and	CCONJ
fuelectenerg-1866	44	23	direction	direction	NOUN
fuelectenerg-1866	44	24	of	of	ADP
fuelectenerg-1866	44	25	the	the	DET
fuelectenerg-1866	44	26	force	force	NOUN
fuelectenerg-1866	44	27	acting	act	VERB
fuelectenerg-1866	44	28	at	at	ADP
fuelectenerg-1866	44	29	the	the	DET
fuelectenerg-1866	44	30	handle	handle	NOUN
fuelectenerg-1866	44	31	in	in	ADP
fuelectenerg-1866	44	32	the	the	DET
fuelectenerg-1866	44	33	plane	plane	NOUN
fuelectenerg-1866	44	34	orthogonal	orthogonal	NOUN
fuelectenerg-1866	44	35	to	to	ADP
fuelectenerg-1866	44	36	the	the	DET
fuelectenerg-1866	44	37	handle	handle	NOUN
fuelectenerg-1866	44	38	.	.	PUNCT
fuelectenerg-1866	45	1	this	this	DET
fuelectenerg-1866	45	2	handle	handle	NOUN
fuelectenerg-1866	45	3	serves	serve	VERB
fuelectenerg-1866	45	4	as	as	ADP
fuelectenerg-1866	45	5	the	the	DET
fuelectenerg-1866	45	6	interface	interface	NOUN
fuelectenerg-1866	45	7	between	between	ADP
fuelectenerg-1866	45	8	the	the	DET
fuelectenerg-1866	45	9	patient	patient	NOUN
fuelectenerg-1866	45	10	and	and	CCONJ
fuelectenerg-1866	45	11	the	the	DET
fuelectenerg-1866	45	12	robot	robot	NOUN
fuelectenerg-1866	45	13	.	.	PUNCT
fuelectenerg-1866	46	1	the	the	DET
fuelectenerg-1866	46	2	top	top	ADJ
fuelectenerg-1866	46	3	part	part	NOUN
fuelectenerg-1866	46	4	(	(	PUNCT
fuelectenerg-1866	46	5	extension	extension	NOUN
fuelectenerg-1866	46	6	)	)	PUNCT
fuelectenerg-1866	46	7	of	of	ADP
fuelectenerg-1866	46	8	the	the	DET
fuelectenerg-1866	46	9	same	same	ADJ
fuelectenerg-1866	46	10	handle	handle	NOUN
fuelectenerg-1866	46	11	is	be	AUX
fuelectenerg-1866	46	12	the	the	DET
fuelectenerg-1866	46	13	interface	interface	NOUN
fuelectenerg-1866	46	14	between	between	ADP
fuelectenerg-1866	46	15	the	the	DET
fuelectenerg-1866	46	16	therapist	therapist	NOUN
fuelectenerg-1866	46	17	and	and	CCONJ
fuelectenerg-1866	46	18	the	the	DET
fuelectenerg-1866	46	19	robot	robot	NOUN
fuelectenerg-1866	46	20	.	.	PUNCT
fuelectenerg-1866	47	1	this	this	DET
fuelectenerg-1866	47	2	configuration	configuration	NOUN
fuelectenerg-1866	47	3	allows	allow	VERB
fuelectenerg-1866	47	4	the	the	DET
fuelectenerg-1866	47	5	therapist	therapist	NOUN
fuelectenerg-1866	47	6	to	to	PART
fuelectenerg-1866	47	7	set	set	VERB
fuelectenerg-1866	47	8	the	the	DET
fuelectenerg-1866	47	9	target	target	NOUN
fuelectenerg-1866	47	10	trajectory	trajectory	NOUN
fuelectenerg-1866	47	11	by	by	ADP
fuelectenerg-1866	47	12	moving	move	VERB
fuelectenerg-1866	47	13	the	the	DET
fuelectenerg-1866	47	14	end	end	NOUN
fuelectenerg-1866	47	15	-	-	PUNCT
fuelectenerg-1866	47	16	point	point	NOUN
fuelectenerg-1866	47	17	of	of	ADP
fuelectenerg-1866	47	18	the	the	DET
fuelectenerg-1866	47	19	robot	robot	NOUN
fuelectenerg-1866	47	20	while	while	SCONJ
fuelectenerg-1866	47	21	the	the	DET
fuelectenerg-1866	47	22	patient	patient	NOUN
fuelectenerg-1866	47	23	is	be	AUX
fuelectenerg-1866	47	24	holding	hold	VERB
fuelectenerg-1866	47	25	the	the	DET
fuelectenerg-1866	47	26	same	same	ADJ
fuelectenerg-1866	47	27	handle	handle	NOUN
fuelectenerg-1866	47	28	.	.	PUNCT
fuelectenerg-1866	48	1	the	the	DET
fuelectenerg-1866	48	2	force	force	NOUN
fuelectenerg-1866	48	3	sensor	sensor	NOUN
fuelectenerg-1866	48	4	is	be	AUX
fuelectenerg-1866	48	5	used	use	VERB
fuelectenerg-1866	48	6	in	in	ADP
fuelectenerg-1866	48	7	the	the	DET
fuelectenerg-1866	48	8	second	second	ADJ
fuelectenerg-1866	48	9	phase	phase	NOUN
fuelectenerg-1866	48	10	as	as	ADP
fuelectenerg-1866	48	11	the	the	DET
fuelectenerg-1866	48	12	source	source	NOUN
fuelectenerg-1866	48	13	of	of	ADP
fuelectenerg-1866	48	14	feedback	feedback	NOUN
fuelectenerg-1866	48	15	for	for	ADP
fuelectenerg-1866	48	16	controlling	control	VERB
fuelectenerg-1866	48	17	the	the	DET
fuelectenerg-1866	48	18	maximum	maximum	ADJ
fuelectenerg-1866	48	19	assistive	assistive	ADJ
fuelectenerg-1866	48	20	force	force	NOUN
fuelectenerg-1866	48	21	constraint	constraint	NOUN
fuelectenerg-1866	48	22	and	and	CCONJ
fuelectenerg-1866	48	23	for	for	ADP
fuelectenerg-1866	48	24	assessment	assessment	NOUN
fuelectenerg-1866	48	25	of	of	ADP
fuelectenerg-1866	48	26	the	the	DET
fuelectenerg-1866	48	27	added	add	VERB
fuelectenerg-1866	48	28	amount	amount	NOUN
fuelectenerg-1866	48	29	of	of	ADP
fuelectenerg-1866	48	30	assistance	assistance	NOUN
fuelectenerg-1866	48	31	.	.	PUNCT
fuelectenerg-1866	49	1	high	high	ADJ
fuelectenerg-1866	49	2	level	level	NOUN
fuelectenerg-1866	49	3	control	control	NOUN
fuelectenerg-1866	49	4	is	be	AUX
fuelectenerg-1866	49	5	based	base	VERB
fuelectenerg-1866	49	6	on	on	ADP
fuelectenerg-1866	49	7	methods	method	NOUN
fuelectenerg-1866	49	8	described	describe	VERB
fuelectenerg-1866	49	9	in	in	ADP
fuelectenerg-1866	49	10	[	[	X
fuelectenerg-1866	49	11	18	18	NUM
fuelectenerg-1866	49	12	]	]	PUNCT
fuelectenerg-1866	49	13	,	,	PUNCT
fuelectenerg-1866	49	14	which	which	PRON
fuelectenerg-1866	49	15	suggested	suggest	VERB
fuelectenerg-1866	49	16	high	high	ADJ
fuelectenerg-1866	49	17	rehabilitation	rehabilitation	NOUN
fuelectenerg-1866	49	18	potential	potential	NOUN
fuelectenerg-1866	49	19	,	,	PUNCT
fuelectenerg-1866	49	20	but	but	CCONJ
fuelectenerg-1866	49	21	required	require	VERB
fuelectenerg-1866	49	22	a	a	DET
fuelectenerg-1866	49	23	sophisticated	sophisticated	ADJ
fuelectenerg-1866	49	24	haptic	haptic	ADJ
fuelectenerg-1866	49	25	platform	platform	NOUN
fuelectenerg-1866	49	26	.	.	PUNCT
fuelectenerg-1866	50	1	here	here	ADV
fuelectenerg-1866	50	2	the	the	DET
fuelectenerg-1866	50	3	pt	pt	PROPN
fuelectenerg-1866	50	4	is	be	AUX
fuelectenerg-1866	50	5	used	use	VERB
fuelectenerg-1866	50	6	as	as	ADP
fuelectenerg-1866	50	7	a	a	DET
fuelectenerg-1866	50	8	lookup	lookup	NOUN
fuelectenerg-1866	50	9	table	table	NOUN
fuelectenerg-1866	50	10	to	to	PART
fuelectenerg-1866	50	11	determine	determine	VERB
fuelectenerg-1866	50	12	velocity	velocity	NOUN
fuelectenerg-1866	50	13	set	set	NOUN
fuelectenerg-1866	50	14	point	point	NOUN
fuelectenerg-1866	50	15	,	,	PUNCT
fuelectenerg-1866	50	16	based	base	VERB
fuelectenerg-1866	50	17	on	on	ADP
fuelectenerg-1866	50	18	current	current	ADJ
fuelectenerg-1866	50	19	movement	movement	NOUN
fuelectenerg-1866	50	20	phase	phase	NOUN
fuelectenerg-1866	50	21	and	and	CCONJ
fuelectenerg-1866	50	22	performance	performance	NOUN
fuelectenerg-1866	50	23	.	.	PUNCT
fuelectenerg-1866	51	1	this	this	PRON
fuelectenerg-1866	51	2	can	can	AUX
fuelectenerg-1866	51	3	be	be	AUX
fuelectenerg-1866	51	4	presented	present	VERB
fuelectenerg-1866	51	5	as	as	ADP
fuelectenerg-1866	51	6	:	:	PUNCT
fuelectenerg-1866	51	7	1k),i	1k),i	NUM
fuelectenerg-1866	51	8	,	,	PUNCT
fuelectenerg-1866	51	9	k	k	PROPN
fuelectenerg-1866	51	10	)	)	PUNCT
fuelectenerg-1866	51	11	i),t(v(pt1	i),t(v(pt1	ADJ
fuelectenerg-1866	51	12	)	)	PUNCT
fuelectenerg-1866	51	13	i),t(v(pt(1pt)t(refv	i),t(v(pt(1pt)t(refv	PROPN
fuelectenerg-1866	51	14			VERB
fuelectenerg-1866	51	15			PROPN
fuelectenerg-1866	51	16			NUM
fuelectenerg-1866	51	17	(	(	PUNCT
fuelectenerg-1866	51	18	3	3	X
fuelectenerg-1866	51	19	)	)	PUNCT
fuelectenerg-1866	51	20	140	140	NUM
fuelectenerg-1866	51	21	m.	m.	NOUN
fuelectenerg-1866	51	22	d.	d.	PROPN
fuelectenerg-1866	51	23	kostić	kostić	PROPN
fuelectenerg-1866	51	24	,	,	PUNCT
fuelectenerg-1866	51	25	m.	m.	PROPN
fuelectenerg-1866	51	26	r.	r.	PROPN
fuelectenerg-1866	51	27	mataušek	mataušek	PROPN
fuelectenerg-1866	51	28	,	,	PUNCT
fuelectenerg-1866	51	29	d.	d.	PROPN
fuelectenerg-1866	51	30	b.	b.	PROPN
fuelectenerg-1866	51	31	popović	popović	PROPN
fuelectenerg-1866	51	32	where	where	SCONJ
fuelectenerg-1866	51	33	v(t	v(t	NOUN
fuelectenerg-1866	51	34	)	)	PUNCT
fuelectenerg-1866	51	35	is	be	AUX
fuelectenerg-1866	51	36	current	current	ADJ
fuelectenerg-1866	51	37	acceleration	acceleration	NOUN
fuelectenerg-1866	51	38	and	and	CCONJ
fuelectenerg-1866	51	39	i	i	PRON
fuelectenerg-1866	51	40	current	current	ADJ
fuelectenerg-1866	51	41	phase	phase	NOUN
fuelectenerg-1866	51	42	.	.	PUNCT
fuelectenerg-1866	52	1	the	the	DET
fuelectenerg-1866	52	2	factor	factor	NOUN
fuelectenerg-1866	52	3	k	k	PROPN
fuelectenerg-1866	52	4	determines	determine	VERB
fuelectenerg-1866	52	5	the	the	DET
fuelectenerg-1866	52	6	level	level	NOUN
fuelectenerg-1866	52	7	of	of	ADP
fuelectenerg-1866	52	8	allowed	allow	VERB
fuelectenerg-1866	52	9	variability	variability	NOUN
fuelectenerg-1866	52	10	and	and	CCONJ
fuelectenerg-1866	52	11	is	be	AUX
fuelectenerg-1866	52	12	set	set	VERB
fuelectenerg-1866	52	13	up	up	ADP
fuelectenerg-1866	52	14	by	by	ADP
fuelectenerg-1866	52	15	the	the	DET
fuelectenerg-1866	52	16	therapist	therapist	NOUN
fuelectenerg-1866	52	17	.	.	PUNCT
fuelectenerg-1866	53	1	the	the	DET
fuelectenerg-1866	53	2	low	low	ADJ
fuelectenerg-1866	53	3	level	level	NOUN
fuelectenerg-1866	53	4	control	control	NOUN
fuelectenerg-1866	53	5	is	be	AUX
fuelectenerg-1866	53	6	based	base	VERB
fuelectenerg-1866	53	7	on	on	ADP
fuelectenerg-1866	53	8	two	two	NUM
fuelectenerg-1866	53	9	single	single	ADJ
fuelectenerg-1866	53	10	-	-	PUNCT
fuelectenerg-1866	53	11	input	input	NOUN
fuelectenerg-1866	53	12	-	-	PUNCT
fuelectenerg-1866	53	13	single	single	ADJ
fuelectenerg-1866	53	14	-	-	PUNCT
fuelectenerg-1866	53	15	output	output	NOUN
fuelectenerg-1866	53	16	mimc	mimc	NOUN
fuelectenerg-1866	53	17	linear	linear	PROPN
fuelectenerg-1866	53	18	digital	digital	ADJ
fuelectenerg-1866	53	19	controllers	controller	NOUN
fuelectenerg-1866	54	1	[	[	X
fuelectenerg-1866	54	2	17	17	NUM
fuelectenerg-1866	54	3	]	]	PUNCT
fuelectenerg-1866	54	4	to	to	PART
fuelectenerg-1866	54	5	control	control	VERB
fuelectenerg-1866	54	6	the	the	DET
fuelectenerg-1866	54	7	shoulder	shoulder	NOUN
fuelectenerg-1866	54	8	and	and	CCONJ
fuelectenerg-1866	54	9	the	the	DET
fuelectenerg-1866	54	10	elbow	elbow	NOUN
fuelectenerg-1866	54	11	of	of	ADP
fuelectenerg-1866	54	12	the	the	DET
fuelectenerg-1866	54	13	system	system	NOUN
fuelectenerg-1866	54	14	.	.	PUNCT
fuelectenerg-1866	55	1	the	the	DET
fuelectenerg-1866	55	2	essential	essential	ADJ
fuelectenerg-1866	55	3	characteristics	characteristic	NOUN
fuelectenerg-1866	55	4	of	of	ADP
fuelectenerg-1866	55	5	the	the	DET
fuelectenerg-1866	55	6	mimc	mimc	NOUN
fuelectenerg-1866	55	7	design	design	NOUN
fuelectenerg-1866	55	8	and	and	CCONJ
fuelectenerg-1866	55	9	tuning	tune	VERB
fuelectenerg-1866	55	10	concept	concept	NOUN
fuelectenerg-1866	55	11	from	from	ADP
fuelectenerg-1866	55	12	[	[	X
fuelectenerg-1866	55	13	18	18	NUM
fuelectenerg-1866	55	14	]	]	PUNCT
fuelectenerg-1866	55	15	are	be	AUX
fuelectenerg-1866	55	16	:	:	PUNCT
fuelectenerg-1866	55	17	it	it	PRON
fuelectenerg-1866	55	18	is	be	AUX
fuelectenerg-1866	55	19	well	well	ADV
fuelectenerg-1866	55	20	suited	suited	ADJ
fuelectenerg-1866	55	21	to	to	PART
fuelectenerg-1866	55	22	exploit	exploit	VERB
fuelectenerg-1866	55	23	the	the	DET
fuelectenerg-1866	55	24	benefits	benefit	NOUN
fuelectenerg-1866	55	25	of	of	ADP
fuelectenerg-1866	55	26	prior	prior	ADJ
fuelectenerg-1866	55	27	knowledge	knowledge	NOUN
fuelectenerg-1866	55	28	and	and	CCONJ
fuelectenerg-1866	55	29	experience	experience	NOUN
fuelectenerg-1866	55	30	gained	gain	VERB
fuelectenerg-1866	55	31	from	from	ADP
fuelectenerg-1866	55	32	the	the	DET
fuelectenerg-1866	55	33	open	open	ADJ
fuelectenerg-1866	55	34	-	-	PUNCT
fuelectenerg-1866	55	35	loop	loop	NOUN
fuelectenerg-1866	55	36	dynamics	dynamic	NOUN
fuelectenerg-1866	55	37	of	of	ADP
fuelectenerg-1866	55	38	the	the	DET
fuelectenerg-1866	55	39	plant	plant	NOUN
fuelectenerg-1866	55	40	;	;	PUNCT
fuelectenerg-1866	55	41	the	the	DET
fuelectenerg-1866	55	42	control	control	NOUN
fuelectenerg-1866	55	43	system	system	NOUN
fuelectenerg-1866	55	44	structure	structure	NOUN
fuelectenerg-1866	55	45	is	be	AUX
fuelectenerg-1866	55	46	directly	directly	ADV
fuelectenerg-1866	55	47	obtainable	obtainable	ADJ
fuelectenerg-1866	55	48	from	from	ADP
fuelectenerg-1866	55	49	the	the	DET
fuelectenerg-1866	55	50	model	model	NOUN
fuelectenerg-1866	55	51	used	use	VERB
fuelectenerg-1866	55	52	to	to	PART
fuelectenerg-1866	55	53	approximate	approximate	ADJ
fuelectenerg-1866	55	54	process	process	NOUN
fuelectenerg-1866	55	55	dynamics	dynamic	NOUN
fuelectenerg-1866	55	56	;	;	PUNCT
fuelectenerg-1866	55	57	a	a	DET
fuelectenerg-1866	55	58	small	small	ADJ
fuelectenerg-1866	55	59	number	number	NOUN
fuelectenerg-1866	55	60	of	of	ADP
fuelectenerg-1866	55	61	tuning	tune	VERB
fuelectenerg-1866	55	62	parameters	parameter	NOUN
fuelectenerg-1866	55	63	,	,	PUNCT
fuelectenerg-1866	55	64	with	with	ADP
fuelectenerg-1866	55	65	clear	clear	ADJ
fuelectenerg-1866	55	66	meaning	meaning	NOUN
fuelectenerg-1866	55	67	,	,	PUNCT
fuelectenerg-1866	55	68	followed	follow	VERB
fuelectenerg-1866	55	69	by	by	ADP
fuelectenerg-1866	55	70	simple	simple	ADJ
fuelectenerg-1866	55	71	tuning	tuning	NOUN
fuelectenerg-1866	55	72	rules	rule	NOUN
fuelectenerg-1866	55	73	,	,	PUNCT
fuelectenerg-1866	55	74	enough	enough	ADV
fuelectenerg-1866	55	75	easy	easy	ADJ
fuelectenerg-1866	55	76	to	to	PART
fuelectenerg-1866	55	77	apply	apply	VERB
fuelectenerg-1866	55	78	.	.	PUNCT
fuelectenerg-1866	56	1	this	this	DET
fuelectenerg-1866	56	2	concept	concept	NOUN
fuelectenerg-1866	56	3	also	also	ADV
fuelectenerg-1866	56	4	allows	allow	VERB
fuelectenerg-1866	56	5	scalability	scalability	NOUN
fuelectenerg-1866	56	6	of	of	ADP
fuelectenerg-1866	56	7	the	the	DET
fuelectenerg-1866	56	8	presented	present	VERB
fuelectenerg-1866	56	9	solution	solution	NOUN
fuelectenerg-1866	56	10	,	,	PUNCT
fuelectenerg-1866	56	11	as	as	SCONJ
fuelectenerg-1866	56	12	it	it	PRON
fuelectenerg-1866	56	13	is	be	AUX
fuelectenerg-1866	56	14	suitable	suitable	ADJ
fuelectenerg-1866	56	15	for	for	ADP
fuelectenerg-1866	56	16	designing	design	VERB
fuelectenerg-1866	56	17	multiple	multiple	ADJ
fuelectenerg-1866	56	18	-	-	PUNCT
fuelectenerg-1866	56	19	input	input	NOUN
fuelectenerg-1866	56	20	multipleoutput	multipleoutput	NOUN
fuelectenerg-1866	56	21	(	(	PUNCT
fuelectenerg-1866	56	22	mimo	mimo	PROPN
fuelectenerg-1866	56	23	)	)	PUNCT
fuelectenerg-1866	56	24	neural	neural	ADJ
fuelectenerg-1866	56	25	network	network	NOUN
fuelectenerg-1866	56	26	(	(	PUNCT
fuelectenerg-1866	56	27	nn	nn	ADJ
fuelectenerg-1866	56	28	)	)	PUNCT
fuelectenerg-1866	56	29	digital	digital	ADJ
fuelectenerg-1866	56	30	controllers	controller	NOUN
fuelectenerg-1866	57	1	[	[	X
fuelectenerg-1866	57	2	19	19	NUM
fuelectenerg-1866	57	3	]	]	PUNCT
fuelectenerg-1866	57	4	.	.	PUNCT
fuelectenerg-1866	58	1	measured	measure	VERB
fuelectenerg-1866	58	2	variables	variable	NOUN
fuelectenerg-1866	58	3	on	on	ADP
fuelectenerg-1866	58	4	the	the	DET
fuelectenerg-1866	58	5	plant	plant	NOUN
fuelectenerg-1866	58	6	are	be	AUX
fuelectenerg-1866	58	7	the	the	DET
fuelectenerg-1866	58	8	elbow	elbow	NOUN
fuelectenerg-1866	58	9	and	and	CCONJ
fuelectenerg-1866	58	10	shoulder	shoulder	NOUN
fuelectenerg-1866	58	11	positions	position	NOUN
fuelectenerg-1866	58	12	,	,	PUNCT
fuelectenerg-1866	58	13	pe(t	pe(t	X
fuelectenerg-1866	58	14	)	)	PUNCT
fuelectenerg-1866	59	1	[	[	X
fuelectenerg-1866	59	2	rad	rad	X
fuelectenerg-1866	59	3	]	]	X
fuelectenerg-1866	59	4	and	and	CCONJ
fuelectenerg-1866	59	5	ps(t	ps(t	NUM
fuelectenerg-1866	59	6	)	)	PUNCT
fuelectenerg-1866	60	1	[	[	X
fuelectenerg-1866	60	2	rad	rad	X
fuelectenerg-1866	60	3	]	]	X
fuelectenerg-1866	60	4	,	,	PUNCT
fuelectenerg-1866	60	5	however	however	ADV
fuelectenerg-1866	60	6	,	,	PUNCT
fuelectenerg-1866	60	7	the	the	DET
fuelectenerg-1866	60	8	controlled	control	VERB
fuelectenerg-1866	60	9	variables	variable	NOUN
fuelectenerg-1866	60	10	consist	consist	VERB
fuelectenerg-1866	60	11	of	of	ADP
fuelectenerg-1866	60	12	the	the	DET
fuelectenerg-1866	60	13	velocity	velocity	NOUN
fuelectenerg-1866	60	14	of	of	ADP
fuelectenerg-1866	60	15	the	the	DET
fuelectenerg-1866	60	16	elbow	elbow	NOUN
fuelectenerg-1866	60	17	ve(t	ve(t	PROPN
fuelectenerg-1866	60	18	)	)	PUNCT
fuelectenerg-1866	61	1	[	[	X
fuelectenerg-1866	61	2	rad	rad	X
fuelectenerg-1866	61	3	/	/	SYM
fuelectenerg-1866	61	4	s	s	PART
fuelectenerg-1866	61	5	]	]	PUNCT
fuelectenerg-1866	61	6	and	and	CCONJ
fuelectenerg-1866	61	7	the	the	DET
fuelectenerg-1866	61	8	velocity	velocity	NOUN
fuelectenerg-1866	61	9	of	of	ADP
fuelectenerg-1866	61	10	the	the	DET
fuelectenerg-1866	61	11	shoulder	shoulder	NOUN
fuelectenerg-1866	61	12	vs(t	vs(t	PUNCT
fuelectenerg-1866	61	13	)	)	PUNCT
fuelectenerg-1866	62	1	[	[	X
fuelectenerg-1866	62	2	rad	rad	X
fuelectenerg-1866	62	3	/	/	SYM
fuelectenerg-1866	62	4	s	s	PROPN
fuelectenerg-1866	62	5	]	]	X
fuelectenerg-1866	62	6	,	,	PUNCT
fuelectenerg-1866	62	7	which	which	PRON
fuelectenerg-1866	62	8	are	be	AUX
fuelectenerg-1866	62	9	obtained	obtain	VERB
fuelectenerg-1866	62	10	from	from	ADP
fuelectenerg-1866	62	11	e	e	PROPN
fuelectenerg-1866	62	12	s	s	PROPN
fuelectenerg-1866	62	13	e	e	NOUN
fuelectenerg-1866	62	14	s	s	PROPN
fuelectenerg-1866	62	15	e	e	NOUN
fuelectenerg-1866	62	16	s	s	PROPN
fuelectenerg-1866	62	17	sv	sv	PROPN
fuelectenerg-1866	62	18	(	(	PUNCT
fuelectenerg-1866	62	19	kt	kt	PROPN
fuelectenerg-1866	62	20	)	)	PUNCT
fuelectenerg-1866	62	21	=(	=(	NOUN
fuelectenerg-1866	63	1	p	p	PROPN
fuelectenerg-1866	63	2	(	(	PUNCT
fuelectenerg-1866	63	3	kt	kt	PROPN
fuelectenerg-1866	63	4	)	)	PUNCT
fuelectenerg-1866	63	5	p	p	NOUN
fuelectenerg-1866	63	6	(	(	PUNCT
fuelectenerg-1866	63	7	(	(	PUNCT
fuelectenerg-1866	63	8	k	k	PROPN
fuelectenerg-1866	63	9	1)t	1)t	PROPN
fuelectenerg-1866	63	10	)	)	PUNCT
fuelectenerg-1866	63	11	)	)	PUNCT
fuelectenerg-1866	63	12	/t	/t	X
fuelectenerg-1866	64	1			NOUN
fuelectenerg-1866	64	2	(	(	PUNCT
fuelectenerg-1866	64	3	4	4	NUM
fuelectenerg-1866	64	4	)	)	PUNCT
fuelectenerg-1866	64	5	s	s	PART
fuelectenerg-1866	64	6	s	s	NOUN
fuelectenerg-1866	64	7	s	s	X
fuelectenerg-1866	64	8	s	s	X
fuelectenerg-1866	64	9	s	s	X
fuelectenerg-1866	64	10	s	s	X
fuelectenerg-1866	64	11	sv	sv	PROPN
fuelectenerg-1866	64	12	(	(	PUNCT
fuelectenerg-1866	64	13	kt	kt	PROPN
fuelectenerg-1866	64	14	)	)	PUNCT
fuelectenerg-1866	64	15	=(	=(	NOUN
fuelectenerg-1866	64	16	p	p	PROPN
fuelectenerg-1866	64	17	(	(	PUNCT
fuelectenerg-1866	64	18	kt	kt	PROPN
fuelectenerg-1866	64	19	)	)	PUNCT
fuelectenerg-1866	64	20	p	p	NOUN
fuelectenerg-1866	64	21	(	(	PUNCT
fuelectenerg-1866	64	22	(	(	PUNCT
fuelectenerg-1866	64	23	k	k	PROPN
fuelectenerg-1866	64	24	1)t	1)t	PROPN
fuelectenerg-1866	64	25	)	)	PUNCT
fuelectenerg-1866	64	26	)	)	PUNCT
fuelectenerg-1866	65	1	/t	/t	X
fuelectenerg-1866	66	1			NOUN
fuelectenerg-1866	66	2	(	(	PUNCT
fuelectenerg-1866	66	3	5	5	NUM
fuelectenerg-1866	66	4	)	)	PUNCT
fuelectenerg-1866	66	5	their	their	PRON
fuelectenerg-1866	66	6	dynamic	dynamic	ADJ
fuelectenerg-1866	66	7	characteristics	characteristic	NOUN
fuelectenerg-1866	66	8	are	be	AUX
fuelectenerg-1866	66	9	defined	define	VERB
fuelectenerg-1866	66	10	by	by	ADP
fuelectenerg-1866	66	11	the	the	DET
fuelectenerg-1866	66	12	elbow	elbow	PROPN
fuelectenerg-1866	66	13	velocity	velocity	NOUN
fuelectenerg-1866	66	14	model	model	NOUN
fuelectenerg-1866	66	15	gmve(s	gmve(s	PROPN
fuelectenerg-1866	66	16	)	)	PUNCT
fuelectenerg-1866	66	17	and	and	CCONJ
fuelectenerg-1866	66	18	the	the	DET
fuelectenerg-1866	66	19	shoulder	shoulder	NOUN
fuelectenerg-1866	66	20	velocity	velocity	NOUN
fuelectenerg-1866	66	21	model	model	NOUN
fuelectenerg-1866	66	22	gmvs(s	gmvs(s	PROPN
fuelectenerg-1866	66	23	)	)	PUNCT
fuelectenerg-1866	66	24	,	,	PUNCT
fuelectenerg-1866	66	25	which	which	PRON
fuelectenerg-1866	66	26	are	be	AUX
fuelectenerg-1866	66	27	obtained	obtain	VERB
fuelectenerg-1866	66	28	from	from	ADP
fuelectenerg-1866	66	29	open	open	ADJ
fuelectenerg-1866	66	30	loop	loop	NOUN
fuelectenerg-1866	66	31	step	step	NOUN
fuelectenerg-1866	66	32	response	response	NOUN
fuelectenerg-1866	66	33	test	test	NOUN
fuelectenerg-1866	66	34	.	.	PUNCT
fuelectenerg-1866	67	1	models	model	NOUN
fuelectenerg-1866	67	2	gmve(s	gmve(s	PROPN
fuelectenerg-1866	67	3	)	)	PUNCT
fuelectenerg-1866	67	4	and	and	CCONJ
fuelectenerg-1866	67	5	gmvs(s)are	gmvs(s)are	VERB
fuelectenerg-1866	67	6	defined	define	VERB
fuelectenerg-1866	67	7	by	by	ADP
fuelectenerg-1866	67	8	equations	equation	NOUN
fuelectenerg-1866	67	9	6	6	NUM
fuelectenerg-1866	67	10	and	and	CCONJ
fuelectenerg-1866	67	11	7	7	NUM
fuelectenerg-1866	67	12	:	:	PUNCT
fuelectenerg-1866	67	13	1stζ2st	1stζ2st	NUM
fuelectenerg-1866	67	14	ek	ek	NOUN
fuelectenerg-1866	67	15	(	(	PUNCT
fuelectenerg-1866	67	16	s)g	s)g	NOUN
fuelectenerg-1866	67	17	ee	ee	ADP
fuelectenerg-1866	67	18	22	22	NUM
fuelectenerg-1866	67	19	e	e	NOUN
fuelectenerg-1866	67	20	sl	sl	NOUN
fuelectenerg-1866	67	21	e	e	NOUN
fuelectenerg-1866	67	22	mve	mve	NOUN
fuelectenerg-1866	67	23	e	e	X
fuelectenerg-1866	67	24			PROPN
fuelectenerg-1866	67	25			PROPN
fuelectenerg-1866	67	26			NOUN
fuelectenerg-1866	67	27	,	,	PUNCT
fuelectenerg-1866	67	28	(	(	PUNCT
fuelectenerg-1866	67	29	6	6	NUM
fuelectenerg-1866	67	30	)	)	PUNCT
fuelectenerg-1866	67	31	1stζ2st	1stζ2st	NUM
fuelectenerg-1866	67	32	ek	ek	NOUN
fuelectenerg-1866	67	33	(	(	PUNCT
fuelectenerg-1866	67	34	s)g	s)g	NOUN
fuelectenerg-1866	67	35	ss	ss	PROPN
fuelectenerg-1866	68	1	22	22	NUM
fuelectenerg-1866	68	2	s	s	PART
fuelectenerg-1866	68	3	sl	sl	NOUN
fuelectenerg-1866	68	4	s	s	NOUN
fuelectenerg-1866	68	5	mvs	mvs	PROPN
fuelectenerg-1866	68	6	s	s	PART
fuelectenerg-1866	68	7			ADJ
fuelectenerg-1866	68	8			ADJ
fuelectenerg-1866	68	9			NOUN
fuelectenerg-1866	68	10	(	(	PUNCT
fuelectenerg-1866	68	11	7	7	NUM
fuelectenerg-1866	68	12	)	)	PUNCT
fuelectenerg-1866	68	13	where	where	SCONJ
fuelectenerg-1866	68	14	ke	ke	NOUN
fuelectenerg-1866	68	15	=	=	PUNCT
fuelectenerg-1866	68	16	0.00024	0.00024	NUM
fuelectenerg-1866	68	17	,	,	PUNCT
fuelectenerg-1866	68	18	ks	ks	NOUN
fuelectenerg-1866	68	19	=	=	SYM
fuelectenerg-1866	68	20	0.00023	0.00023	NUM
fuelectenerg-1866	68	21	,	,	PUNCT
fuelectenerg-1866	68	22	le	le	X
fuelectenerg-1866	68	23	=	=	SYM
fuelectenerg-1866	68	24	0.07	0.07	NUM
fuelectenerg-1866	68	25	,	,	PUNCT
fuelectenerg-1866	68	26	ls	ls	ADJ
fuelectenerg-1866	68	27	=	=	NOUN
fuelectenerg-1866	68	28	0.1	0.1	NUM
fuelectenerg-1866	68	29	,	,	PUNCT
fuelectenerg-1866	68	30	te	te	ADP
fuelectenerg-1866	68	31	=	=	NOUN
fuelectenerg-1866	68	32	0.04	0.04	NUM
fuelectenerg-1866	68	33	,	,	PUNCT
fuelectenerg-1866	68	34	ts	ts	ADP
fuelectenerg-1866	68	35	=	=	NOUN
fuelectenerg-1866	68	36	0.08	0.08	NUM
fuelectenerg-1866	68	37	,	,	PUNCT
fuelectenerg-1866	68	38	ζe	ζe	NOUN
fuelectenerg-1866	68	39	=	=	SYM
fuelectenerg-1866	68	40	ζs	ζs	PROPN
fuelectenerg-1866	68	41	=	=	NOUN
fuelectenerg-1866	68	42	0.7	0.7	NUM
fuelectenerg-1866	68	43	.	.	PUNCT
fuelectenerg-1866	68	44	fig	fig	NOUN
fuelectenerg-1866	68	45	.	.	PUNCT
fuelectenerg-1866	69	1	2	2	NUM
fuelectenerg-1866	69	2	mimc	mimc	NOUN
fuelectenerg-1866	69	3	controller	controller	NOUN
fuelectenerg-1866	69	4	block	block	NOUN
fuelectenerg-1866	69	5	diagram	diagram	PROPN
fuelectenerg-1866	69	6	,	,	PUNCT
fuelectenerg-1866	69	7	modified	modify	VERB
fuelectenerg-1866	69	8	from	from	ADP
fuelectenerg-1866	69	9	fig	fig	NOUN
fuelectenerg-1866	69	10	.	.	PUNCT
fuelectenerg-1866	70	1	2	2	NUM
fuelectenerg-1866	70	2	in	in	ADP
fuelectenerg-1866	70	3	[	[	X
fuelectenerg-1866	70	4	17	17	NUM
fuelectenerg-1866	70	5	]	]	PUNCT
fuelectenerg-1866	70	6	the	the	DET
fuelectenerg-1866	70	7	velocity	velocity	NOUN
fuelectenerg-1866	70	8	models	model	NOUN
fuelectenerg-1866	70	9	gmve(s	gmve(s	PROPN
fuelectenerg-1866	70	10	)	)	PUNCT
fuelectenerg-1866	70	11	and	and	CCONJ
fuelectenerg-1866	70	12	gmvs(s	gmvs(s	NOUN
fuelectenerg-1866	70	13	)	)	PUNCT
fuelectenerg-1866	70	14	were	be	AUX
fuelectenerg-1866	70	15	used	use	VERB
fuelectenerg-1866	70	16	to	to	PART
fuelectenerg-1866	70	17	design	design	VERB
fuelectenerg-1866	70	18	and	and	CCONJ
fuelectenerg-1866	70	19	tune	tune	NOUN
fuelectenerg-1866	70	20	mimc	mimc	PROPN
fuelectenerg-1866	70	21	velocity	velocity	NOUN
fuelectenerg-1866	70	22	controllers	controller	NOUN
fuelectenerg-1866	70	23	,	,	PUNCT
fuelectenerg-1866	70	24	defined	define	VERB
fuelectenerg-1866	70	25	by	by	ADP
fuelectenerg-1866	70	26	the	the	DET
fuelectenerg-1866	70	27	structure	structure	NOUN
fuelectenerg-1866	70	28	presented	present	VERB
fuelectenerg-1866	70	29	in	in	ADP
fuelectenerg-1866	70	30	fig	fig	NOUN
fuelectenerg-1866	70	31	.	.	PUNCT
fuelectenerg-1866	71	1	2	2	NUM
fuelectenerg-1866	71	2	,	,	PUNCT
fuelectenerg-1866	71	3	modified	modify	VERB
fuelectenerg-1866	71	4	from	from	ADP
fuelectenerg-1866	71	5	[	[	X
fuelectenerg-1866	71	6	17	17	NUM
fuelectenerg-1866	71	7	]	]	PUNCT
fuelectenerg-1866	71	8	.	.	PUNCT
fuelectenerg-1866	72	1	the	the	DET
fuelectenerg-1866	72	2	elbow	elbow	PROPN
fuelectenerg-1866	72	3	mimc	mimc	PROPN
fuelectenerg-1866	72	4	velocity	velocity	NOUN
fuelectenerg-1866	72	5	controller	controller	NOUN
fuelectenerg-1866	72	6	is	be	AUX
fuelectenerg-1866	72	7	defined	define	VERB
fuelectenerg-1866	72	8	by	by	ADP
fuelectenerg-1866	72	9	:	:	PUNCT
fuelectenerg-1866	72	10	2	2	NUM
fuelectenerg-1866	72	11	4	4	NUM
fuelectenerg-1866	72	12	re	re	VERB
fuelectenerg-1866	72	13	e	e	X
fuelectenerg-1866	72	14	le	le	X
fuelectenerg-1866	72	15	0.4z	0.4z	NUM
fuelectenerg-1866	72	16	f	f	X
fuelectenerg-1866	72	17	(	(	PUNCT
fuelectenerg-1866	72	18	z)º1	z)º1	PROPN
fuelectenerg-1866	72	19	,	,	PUNCT
fuelectenerg-1866	72	20	f	f	PROPN
fuelectenerg-1866	72	21	(	(	PUNCT
fuelectenerg-1866	72	22	z	z	NOUN
fuelectenerg-1866	72	23	)	)	PUNCT
fuelectenerg-1866	72	24	=	=	SYM
fuelectenerg-1866	72	25	,	,	PUNCT
fuelectenerg-1866	72	26	g	g	PROPN
fuelectenerg-1866	72	27	(	(	PUNCT
fuelectenerg-1866	72	28	z	z	NOUN
fuelectenerg-1866	72	29	)	)	PUNCT
fuelectenerg-1866	72	30	=	=	SYM
fuelectenerg-1866	73	1	z	z	NOUN
fuelectenerg-1866	73	2	z-0.6	z-0.6	NOUN
fuelectenerg-1866	73	3			PROPN
fuelectenerg-1866	73	4			PROPN
fuelectenerg-1866	73	5			PROPN
fuelectenerg-1866	73	6			PROPN
fuelectenerg-1866	74	1			PROPN
fuelectenerg-1866	74	2			NOUN
fuelectenerg-1866	74	3	(	(	PUNCT
fuelectenerg-1866	74	4	8)	8)	NUM
fuelectenerg-1866	74	5	modified	modify	VERB
fuelectenerg-1866	74	6	internal	internal	ADJ
fuelectenerg-1866	74	7	model	model	NOUN
fuelectenerg-1866	74	8	control	control	NOUN
fuelectenerg-1866	74	9	for	for	ADP
fuelectenerg-1866	74	10	a	a	DET
fuelectenerg-1866	74	11	therapeutic	therapeutic	ADJ
fuelectenerg-1866	74	12	robot	robot	NOUN
fuelectenerg-1866	74	13	141	141	NUM
fuelectenerg-1866	74	14	-1	-1	SYM
fuelectenerg-1866	74	15	2	2	NUM
fuelectenerg-1866	74	16	m0e	m0e	ADP
fuelectenerg-1866	74	17	2	2	NUM
fuelectenerg-1866	74	18	p	p	NOUN
fuelectenerg-1866	74	19	(	(	PUNCT
fuelectenerg-1866	74	20	z	z	NOUN
fuelectenerg-1866	74	21	)	)	PUNCT
fuelectenerg-1866	74	22	1	1	NUM
fuelectenerg-1866	74	23	z	z	NOUN
fuelectenerg-1866	74	24	1.3205z	1.3205z	NOUN
fuelectenerg-1866	74	25	+	+	CCONJ
fuelectenerg-1866	74	26	0.4966	0.4966	NUM
fuelectenerg-1866	74	27	=	=	SYM
fuelectenerg-1866	74	28	z	z	NOUN
fuelectenerg-1866	74	29	0.00024	0.00024	NUM
fuelectenerg-1866	74	30	0.1761z	0.1761z	NOUN
fuelectenerg-1866	74	31			NOUN
fuelectenerg-1866	74	32	(	(	PUNCT
fuelectenerg-1866	74	33	9	9	NUM
fuelectenerg-1866	74	34	)	)	PUNCT
fuelectenerg-1866	74	35	where	where	SCONJ
fuelectenerg-1866	74	36	z	z	NOUN
fuelectenerg-1866	74	37	-1	-1	PUNCT
fuelectenerg-1866	74	38	represents	represent	VERB
fuelectenerg-1866	74	39	the	the	DET
fuelectenerg-1866	74	40	unite	unite	NOUN
fuelectenerg-1866	74	41	delay	delay	NOUN
fuelectenerg-1866	74	42	operator	operator	NOUN
fuelectenerg-1866	74	43	,	,	PUNCT
fuelectenerg-1866	74	44	z	z	NOUN
fuelectenerg-1866	74	45	-1	-1	PUNCT
fuelectenerg-1866	75	1	=	=	SYM
fuelectenerg-1866	75	2	e−	e−	X
fuelectenerg-1866	75	3	sts	st	VERB
fuelectenerg-1866	75	4	.	.	PUNCT
fuelectenerg-1866	76	1	the	the	DET
fuelectenerg-1866	76	2	shoulder	shoulder	NOUN
fuelectenerg-1866	76	3	mimc	mimc	NOUN
fuelectenerg-1866	76	4	velocity	velocity	NOUN
fuelectenerg-1866	76	5	controller	controller	NOUN
fuelectenerg-1866	76	6	is	be	AUX
fuelectenerg-1866	76	7	defined	define	VERB
fuelectenerg-1866	76	8	by	by	ADP
fuelectenerg-1866	76	9	2	2	NUM
fuelectenerg-1866	76	10	5	5	NUM
fuelectenerg-1866	76	11	rs	rs	NOUN
fuelectenerg-1866	76	12	s	s	PART
fuelectenerg-1866	77	1	ls	ls	NOUN
fuelectenerg-1866	77	2	0.2z	0.2z	NUM
fuelectenerg-1866	78	1	0.2z	0.2z	NUM
fuelectenerg-1866	78	2	f	f	X
fuelectenerg-1866	78	3	(	(	PUNCT
fuelectenerg-1866	78	4	z	z	NOUN
fuelectenerg-1866	78	5	)	)	PUNCT
fuelectenerg-1866	78	6	=	=	SYM
fuelectenerg-1866	78	7	,	,	PUNCT
fuelectenerg-1866	78	8	f	f	PROPN
fuelectenerg-1866	78	9	(	(	PUNCT
fuelectenerg-1866	78	10	z	z	NOUN
fuelectenerg-1866	78	11	)	)	PUNCT
fuelectenerg-1866	78	12	=	=	SYM
fuelectenerg-1866	78	13	,	,	PUNCT
fuelectenerg-1866	78	14	g	g	PROPN
fuelectenerg-1866	78	15	(	(	PUNCT
fuelectenerg-1866	78	16	z	z	NOUN
fuelectenerg-1866	78	17	)	)	PUNCT
fuelectenerg-1866	78	18	=	=	PUNCT
fuelectenerg-1866	79	1	z	z	NOUN
fuelectenerg-1866	79	2	z	z	NOUN
fuelectenerg-1866	79	3	0.8	0.8	NUM
fuelectenerg-1866	79	4	z-0.8	z-0.8	NOUN
fuelectenerg-1866	80	1			PROPN
fuelectenerg-1866	80	2			PROPN
fuelectenerg-1866	80	3			PROPN
fuelectenerg-1866	80	4			PROPN
fuelectenerg-1866	80	5			PROPN
fuelectenerg-1866	80	6			PROPN
fuelectenerg-1866	80	7			NOUN
fuelectenerg-1866	80	8	(	(	PUNCT
fuelectenerg-1866	80	9	10	10	NUM
fuelectenerg-1866	80	10	)	)	PUNCT
fuelectenerg-1866	80	11	-1	-1	PUNCT
fuelectenerg-1866	80	12	2	2	NUM
fuelectenerg-1866	80	13	m0s	m0s	NOUN
fuelectenerg-1866	80	14	2	2	NUM
fuelectenerg-1866	80	15	p	p	NOUN
fuelectenerg-1866	80	16	(	(	PUNCT
fuelectenerg-1866	80	17	z	z	NOUN
fuelectenerg-1866	80	18	)	)	PUNCT
fuelectenerg-1866	80	19	1	1	NUM
fuelectenerg-1866	80	20	z	z	NOUN
fuelectenerg-1866	80	21	1.6522z	1.6522z	NUM
fuelectenerg-1866	80	22	+	+	CCONJ
fuelectenerg-1866	80	23	0.7047	0.7047	NUM
fuelectenerg-1866	80	24	=	=	SYM
fuelectenerg-1866	80	25	z	z	PROPN
fuelectenerg-1866	80	26	0.00023	0.00023	NUM
fuelectenerg-1866	80	27	0.0525z	0.0525z	PROPN
fuelectenerg-1866	80	28			NOUN
fuelectenerg-1866	80	29	(	(	PUNCT
fuelectenerg-1866	80	30	11	11	NUM
fuelectenerg-1866	80	31	)	)	PUNCT
fuelectenerg-1866	80	32	both	both	DET
fuelectenerg-1866	80	33	mimc	mimc	NOUN
fuelectenerg-1866	80	34	controllers	controller	NOUN
fuelectenerg-1866	80	35	are	be	AUX
fuelectenerg-1866	80	36	implemented	implement	VERB
fuelectenerg-1866	80	37	with	with	ADP
fuelectenerg-1866	80	38	the	the	DET
fuelectenerg-1866	80	39	sample	sample	NOUN
fuelectenerg-1866	80	40	time	time	NOUN
fuelectenerg-1866	80	41	ts	ts	ADP
fuelectenerg-1866	80	42	=	=	PROPN
fuelectenerg-1866	80	43	0.02	0.02	NUM
fuelectenerg-1866	80	44	s.	s.	PROPN
fuelectenerg-1866	80	45	we	we	PRON
fuelectenerg-1866	80	46	validated	validate	VERB
fuelectenerg-1866	80	47	linear	linear	ADJ
fuelectenerg-1866	80	48	models	model	NOUN
fuelectenerg-1866	80	49	of	of	ADP
fuelectenerg-1866	80	50	r3	r3	NOUN
fuelectenerg-1866	80	51	-	-	PUNCT
fuelectenerg-1866	80	52	beg	beg	NOUN
fuelectenerg-1866	80	53	joints	joint	NOUN
fuelectenerg-1866	80	54	.	.	PUNCT
fuelectenerg-1866	81	1	the	the	DET
fuelectenerg-1866	81	2	parameters	parameter	NOUN
fuelectenerg-1866	81	3	of	of	ADP
fuelectenerg-1866	81	4	the	the	DET
fuelectenerg-1866	81	5	models	model	NOUN
fuelectenerg-1866	81	6	were	be	AUX
fuelectenerg-1866	81	7	estimated	estimate	VERB
fuelectenerg-1866	81	8	based	base	VERB
fuelectenerg-1866	81	9	on	on	ADP
fuelectenerg-1866	81	10	recordings	recording	NOUN
fuelectenerg-1866	81	11	of	of	ADP
fuelectenerg-1866	81	12	the	the	DET
fuelectenerg-1866	81	13	open	open	ADJ
fuelectenerg-1866	81	14	-	-	PUNCT
fuelectenerg-1866	81	15	loop	loop	NOUN
fuelectenerg-1866	81	16	step	step	NOUN
fuelectenerg-1866	81	17	responses	response	NOUN
fuelectenerg-1866	81	18	.	.	PUNCT
fuelectenerg-1866	82	1	the	the	DET
fuelectenerg-1866	82	2	set	set	NOUN
fuelectenerg-1866	82	3	-	-	PUNCT
fuelectenerg-1866	82	4	points	point	NOUN
fuelectenerg-1866	82	5	to	to	ADP
fuelectenerg-1866	82	6	the	the	DET
fuelectenerg-1866	82	7	elbow	elbow	NOUN
fuelectenerg-1866	82	8	and	and	CCONJ
fuelectenerg-1866	82	9	shoulder	shoulder	NOUN
fuelectenerg-1866	82	10	controllers	controller	NOUN
fuelectenerg-1866	82	11	of	of	ADP
fuelectenerg-1866	82	12	the	the	DET
fuelectenerg-1866	82	13	r3	r3	NOUN
fuelectenerg-1866	82	14	-	-	PUNCT
fuelectenerg-1866	82	15	beg	beg	NOUN
fuelectenerg-1866	82	16	are	be	AUX
fuelectenerg-1866	82	17	defined	define	VERB
fuelectenerg-1866	82	18	in	in	ADP
fuelectenerg-1866	82	19	the	the	DET
fuelectenerg-1866	82	20	phase	phase	NOUN
fuelectenerg-1866	82	21	-	-	PUNCT
fuelectenerg-1866	82	22	plane	plane	NOUN
fuelectenerg-1866	82	23	by	by	ADP
fuelectenerg-1866	82	24	the	the	DET
fuelectenerg-1866	82	25	procedure	procedure	NOUN
fuelectenerg-1866	82	26	described	describe	VERB
fuelectenerg-1866	82	27	in	in	ADP
fuelectenerg-1866	82	28	kostić	kostić	NOUN
fuelectenerg-1866	82	29	et	et	PROPN
fuelectenerg-1866	83	1	al	al	PROPN
fuelectenerg-1866	83	2	.	.	PUNCT
fuelectenerg-1866	84	1	[	[	X
fuelectenerg-1866	84	2	14	14	NUM
fuelectenerg-1866	84	3	,	,	PUNCT
fuelectenerg-1866	84	4	15	15	NUM
fuelectenerg-1866	84	5	]	]	PUNCT
fuelectenerg-1866	84	6	.	.	PUNCT
fuelectenerg-1866	85	1	however	however	ADV
fuelectenerg-1866	85	2	,	,	PUNCT
fuelectenerg-1866	85	3	to	to	PART
fuelectenerg-1866	85	4	test	test	VERB
fuelectenerg-1866	85	5	the	the	DET
fuelectenerg-1866	85	6	closed	close	VERB
fuelectenerg-1866	85	7	-	-	PUNCT
fuelectenerg-1866	85	8	loop	loop	NOUN
fuelectenerg-1866	85	9	tracking	tracking	NOUN
fuelectenerg-1866	85	10	performance	performance	NOUN
fuelectenerg-1866	85	11	of	of	ADP
fuelectenerg-1866	85	12	the	the	DET
fuelectenerg-1866	85	13	low	low	ADJ
fuelectenerg-1866	85	14	level	level	NOUN
fuelectenerg-1866	85	15	control	control	NOUN
fuelectenerg-1866	85	16	(	(	PUNCT
fuelectenerg-1866	85	17	mimc	mimc	NOUN
fuelectenerg-1866	85	18	controllers	controller	NOUN
fuelectenerg-1866	85	19	equations	equation	NOUN
fuelectenerg-1866	85	20	8	8	NUM
fuelectenerg-1866	85	21	-	-	SYM
fuelectenerg-1866	85	22	11	11	NUM
fuelectenerg-1866	85	23	)	)	PUNCT
fuelectenerg-1866	85	24	,	,	PUNCT
fuelectenerg-1866	85	25	without	without	ADP
fuelectenerg-1866	85	26	the	the	DET
fuelectenerg-1866	85	27	influence	influence	NOUN
fuelectenerg-1866	85	28	of	of	ADP
fuelectenerg-1866	85	29	higher	high	ADJ
fuelectenerg-1866	85	30	level	level	NOUN
fuelectenerg-1866	85	31	control	control	NOUN
fuelectenerg-1866	85	32	algorithm	algorithm	NOUN
fuelectenerg-1866	85	33	,	,	PUNCT
fuelectenerg-1866	85	34	sinusoidal	sinusoidal	ADJ
fuelectenerg-1866	85	35	set	set	NOUN
fuelectenerg-1866	85	36	-	-	PUNCT
fuelectenerg-1866	85	37	points	point	NOUN
fuelectenerg-1866	85	38	defined	define	VERB
fuelectenerg-1866	85	39	in	in	ADP
fuelectenerg-1866	85	40	time	time	NOUN
fuelectenerg-1866	85	41	were	be	AUX
fuelectenerg-1866	85	42	applied	apply	VERB
fuelectenerg-1866	85	43	to	to	ADP
fuelectenerg-1866	85	44	the	the	DET
fuelectenerg-1866	85	45	shoulder	shoulder	NOUN
fuelectenerg-1866	85	46	and	and	CCONJ
fuelectenerg-1866	85	47	the	the	DET
fuelectenerg-1866	85	48	elbow	elbow	PROPN
fuelectenerg-1866	85	49	control	control	PROPN
fuelectenerg-1866	85	50	systems	systems	PROPN
fuelectenerg-1866	85	51	.	.	PUNCT
fuelectenerg-1866	86	1	results	result	NOUN
fuelectenerg-1866	86	2	presented	present	VERB
fuelectenerg-1866	86	3	in	in	ADP
fuelectenerg-1866	86	4	fig	fig	NOUN
fuelectenerg-1866	86	5	.	.	PUNCT
fuelectenerg-1866	87	1	3	3	NUM
fuelectenerg-1866	87	2	were	be	AUX
fuelectenerg-1866	87	3	obtained	obtain	VERB
fuelectenerg-1866	87	4	for	for	ADP
fuelectenerg-1866	87	5	the	the	DET
fuelectenerg-1866	87	6	control	control	NOUN
fuelectenerg-1866	87	7	system	system	NOUN
fuelectenerg-1866	87	8	defined	define	VERB
fuelectenerg-1866	87	9	in	in	ADP
fuelectenerg-1866	87	10	the	the	DET
fuelectenerg-1866	87	11	loop	loop	NOUN
fuelectenerg-1866	87	12	with	with	ADP
fuelectenerg-1866	87	13	the	the	DET
fuelectenerg-1866	87	14	mimc	mimc	NOUN
fuelectenerg-1866	87	15	elbow	elbow	NOUN
fuelectenerg-1866	87	16	velocity	velocity	NOUN
fuelectenerg-1866	87	17	controller	controller	NOUN
fuelectenerg-1866	87	18	by	by	ADP
fuelectenerg-1866	87	19	equations	equation	NOUN
fuelectenerg-1866	87	20	8	8	NUM
fuelectenerg-1866	87	21	and	and	CCONJ
fuelectenerg-1866	87	22	9	9	NUM
fuelectenerg-1866	87	23	.	.	X
fuelectenerg-1866	87	24	fig	fig	NOUN
fuelectenerg-1866	87	25	.	.	PUNCT
fuelectenerg-1866	88	1	3	3	NUM
fuelectenerg-1866	88	2	closed	close	VERB
fuelectenerg-1866	88	3	-	-	PUNCT
fuelectenerg-1866	88	4	loop	loop	NOUN
fuelectenerg-1866	88	5	responses	response	NOUN
fuelectenerg-1866	88	6	for	for	ADP
fuelectenerg-1866	88	7	the	the	DET
fuelectenerg-1866	88	8	elbow	elbow	NOUN
fuelectenerg-1866	88	9	in	in	ADP
fuelectenerg-1866	88	10	the	the	DET
fuelectenerg-1866	88	11	loop	loop	NOUN
fuelectenerg-1866	88	12	with	with	ADP
fuelectenerg-1866	88	13	mimc	mimc	NOUN
fuelectenerg-1866	88	14	elbow	elbow	PROPN
fuelectenerg-1866	88	15	controllers	controller	NOUN
fuelectenerg-1866	88	16	(	(	PUNCT
fuelectenerg-1866	88	17	8)	8)	NUM
fuelectenerg-1866	88	18	and	and	CCONJ
fuelectenerg-1866	88	19	(	(	PUNCT
fuelectenerg-1866	88	20	9	9	NUM
fuelectenerg-1866	88	21	):	):	PUNCT
fuelectenerg-1866	88	22	model	model	NOUN
fuelectenerg-1866	88	23	(	(	PUNCT
fuelectenerg-1866	88	24	red	red	ADJ
fuelectenerg-1866	88	25	line	line	NOUN
fuelectenerg-1866	88	26	)	)	PUNCT
fuelectenerg-1866	88	27	,	,	PUNCT
fuelectenerg-1866	88	28	plant	plant	NOUN
fuelectenerg-1866	88	29	(	(	PUNCT
fuelectenerg-1866	88	30	black	black	ADJ
fuelectenerg-1866	88	31	line	line	NOUN
fuelectenerg-1866	88	32	)	)	PUNCT
fuelectenerg-1866	88	33	and	and	CCONJ
fuelectenerg-1866	88	34	set	set	NOUN
fuelectenerg-1866	88	35	-	-	PUNCT
fuelectenerg-1866	88	36	point	point	NOUN
fuelectenerg-1866	88	37	(	(	PUNCT
fuelectenerg-1866	88	38	blue	blue	ADJ
fuelectenerg-1866	88	39	line	line	NOUN
fuelectenerg-1866	88	40	)	)	PUNCT
fuelectenerg-1866	88	41	.	.	PUNCT
fuelectenerg-1866	89	1	3	3	NUM
fuelectenerg-1866	89	2	implementation	implementation	NOUN
fuelectenerg-1866	89	3	of	of	ADP
fuelectenerg-1866	89	4	the	the	DET
fuelectenerg-1866	89	5	r3	r3	PROPN
fuelectenerg-1866	89	6	-	-	PUNCT
fuelectenerg-1866	89	7	beg	beg	PROPN
fuelectenerg-1866	89	8	two	two	NUM
fuelectenerg-1866	89	9	hemiplegic	hemiplegic	ADJ
fuelectenerg-1866	89	10	patients	patient	NOUN
fuelectenerg-1866	89	11	signed	sign	VERB
fuelectenerg-1866	89	12	the	the	DET
fuelectenerg-1866	89	13	informed	informed	ADJ
fuelectenerg-1866	89	14	consent	consent	NOUN
fuelectenerg-1866	89	15	approved	approve	VERB
fuelectenerg-1866	89	16	by	by	ADP
fuelectenerg-1866	89	17	the	the	DET
fuelectenerg-1866	89	18	local	local	ADJ
fuelectenerg-1866	89	19	ethics	ethic	NOUN
fuelectenerg-1866	89	20	committee	committee	NOUN
fuelectenerg-1866	89	21	of	of	ADP
fuelectenerg-1866	89	22	the	the	DET
fuelectenerg-1866	89	23	clinic	clinic	NOUN
fuelectenerg-1866	89	24	for	for	ADP
fuelectenerg-1866	89	25	rehabilitation	rehabilitation	NOUN
fuelectenerg-1866	89	26	"	"	PUNCT
fuelectenerg-1866	89	27	dr	dr	PROPN
fuelectenerg-1866	89	28	miroslav	miroslav	PROPN
fuelectenerg-1866	89	29	zotović	zotović	PROPN
fuelectenerg-1866	89	30	"	"	PUNCT
fuelectenerg-1866	89	31	,	,	PUNCT
fuelectenerg-1866	89	32	belgrade	belgrade	PROPN
fuelectenerg-1866	89	33	,	,	PUNCT
fuelectenerg-1866	89	34	serbia	serbia	PROPN
fuelectenerg-1866	89	35	.	.	PUNCT
fuelectenerg-1866	90	1	patient	patient	PROPN
fuelectenerg-1866	90	2	p1	p1	PROPN
fuelectenerg-1866	90	3	had	have	VERB
fuelectenerg-1866	90	4	a	a	DET
fuelectenerg-1866	90	5	small	small	ADJ
fuelectenerg-1866	90	6	range	range	NOUN
fuelectenerg-1866	90	7	of	of	ADP
fuelectenerg-1866	90	8	movement	movement	NOUN
fuelectenerg-1866	90	9	and	and	CCONJ
fuelectenerg-1866	90	10	was	be	AUX
fuelectenerg-1866	90	11	highly	highly	ADV
fuelectenerg-1866	90	12	spastic	spastic	ADJ
fuelectenerg-1866	90	13	while	while	SCONJ
fuelectenerg-1866	90	14	the	the	DET
fuelectenerg-1866	90	15	patient	patient	ADJ
fuelectenerg-1866	90	16	p2	p2	NOUN
fuelectenerg-1866	90	17	had	have	VERB
fuelectenerg-1866	90	18	a	a	DET
fuelectenerg-1866	90	19	larger	large	ADJ
fuelectenerg-1866	90	20	range	range	NOUN
fuelectenerg-1866	90	21	of	of	ADP
fuelectenerg-1866	90	22	motion	motion	NOUN
fuelectenerg-1866	90	23	and	and	CCONJ
fuelectenerg-1866	90	24	less	less	ADV
fuelectenerg-1866	90	25	pronounced	pronounced	ADJ
fuelectenerg-1866	90	26	spasticity	spasticity	NOUN
fuelectenerg-1866	90	27	.	.	PUNCT
fuelectenerg-1866	91	1	the	the	DET
fuelectenerg-1866	91	2	level	level	NOUN
fuelectenerg-1866	91	3	of	of	ADP
fuelectenerg-1866	91	4	disability	disability	NOUN
fuelectenerg-1866	91	5	was	be	AUX
fuelectenerg-1866	91	6	assessed	assess	VERB
fuelectenerg-1866	91	7	by	by	ADP
fuelectenerg-1866	91	8	an	an	DET
fuelectenerg-1866	91	9	experienced	experienced	ADJ
fuelectenerg-1866	91	10	clinician	clinician	NOUN
fuelectenerg-1866	91	11	before	before	ADP
fuelectenerg-1866	91	12	the	the	DET
fuelectenerg-1866	91	13	beginning	beginning	NOUN
fuelectenerg-1866	91	14	of	of	ADP
fuelectenerg-1866	91	15	the	the	DET
fuelectenerg-1866	91	16	tests	test	NOUN
fuelectenerg-1866	91	17	(	(	PUNCT
fuelectenerg-1866	91	18	the	the	DET
fuelectenerg-1866	91	19	ashworth	ashworth	NOUN
fuelectenerg-1866	91	20	spasticity	spasticity	NOUN
fuelectenerg-1866	91	21	scale	scale	NOUN
fuelectenerg-1866	91	22	(	(	PUNCT
fuelectenerg-1866	91	23	as	as	ADP
fuelectenerg-1866	91	24	)	)	PUNCT
fuelectenerg-1866	91	25	,	,	PUNCT
fuelectenerg-1866	91	26	the	the	DET
fuelectenerg-1866	91	27	action	action	NOUN
fuelectenerg-1866	91	28	research	research	NOUN
fuelectenerg-1866	91	29	arm	arm	NOUN
fuelectenerg-1866	91	30	test	test	NOUN
fuelectenerg-1866	91	31	(	(	PUNCT
fuelectenerg-1866	91	32	arat	arat	PROPN
fuelectenerg-1866	91	33	)	)	PUNCT
fuelectenerg-1866	91	34	,	,	PUNCT
fuelectenerg-1866	91	35	and	and	CCONJ
fuelectenerg-1866	91	36	the	the	DET
fuelectenerg-1866	91	37	fugl	fugl	NOUN
fuelectenerg-1866	91	38	-	-	PUNCT
fuelectenerg-1866	91	39	meyer	meyer	PROPN
fuelectenerg-1866	91	40	(	(	PUNCT
fuelectenerg-1866	91	41	fm	fm	PROPN
fuelectenerg-1866	91	42	)	)	PUNCT
fuelectenerg-1866	91	43	motor	motor	NOUN
fuelectenerg-1866	91	44	test	test	NOUN
fuelectenerg-1866	91	45	for	for	ADP
fuelectenerg-1866	91	46	upper	upper	ADJ
fuelectenerg-1866	91	47	extremities	extremity	NOUN
fuelectenerg-1866	91	48	)	)	PUNCT
fuelectenerg-1866	91	49	.	.	PUNCT
fuelectenerg-1866	92	1	142	142	NUM
fuelectenerg-1866	92	2	m.	m.	NOUN
fuelectenerg-1866	92	3	d.	d.	PROPN
fuelectenerg-1866	92	4	kostić	kostić	PROPN
fuelectenerg-1866	92	5	,	,	PUNCT
fuelectenerg-1866	92	6	m.	m.	PROPN
fuelectenerg-1866	92	7	r.	r.	PROPN
fuelectenerg-1866	92	8	mataušek	mataušek	PROPN
fuelectenerg-1866	92	9	,	,	PUNCT
fuelectenerg-1866	92	10	d.	d.	PROPN
fuelectenerg-1866	92	11	b.	b.	PROPN
fuelectenerg-1866	92	12	popović	popović	PROPN
fuelectenerg-1866	92	13	the	the	DET
fuelectenerg-1866	92	14	session	session	NOUN
fuelectenerg-1866	92	15	with	with	ADP
fuelectenerg-1866	92	16	r3	r3	NOUN
fuelectenerg-1866	92	17	-	-	PUNCT
fuelectenerg-1866	92	18	beg	beg	NOUN
fuelectenerg-1866	92	19	followed	follow	VERB
fuelectenerg-1866	92	20	the	the	DET
fuelectenerg-1866	92	21	previously	previously	ADV
fuelectenerg-1866	92	22	described	describe	VERB
fuelectenerg-1866	92	23	two	two	NUM
fuelectenerg-1866	92	24	-	-	PUNCT
fuelectenerg-1866	92	25	phase	phase	NOUN
fuelectenerg-1866	92	26	procedure	procedure	NOUN
fuelectenerg-1866	92	27	.	.	PUNCT
fuelectenerg-1866	93	1	in	in	ADP
fuelectenerg-1866	93	2	the	the	DET
fuelectenerg-1866	93	3	"	"	PUNCT
fuelectenerg-1866	93	4	demonstration	demonstration	NOUN
fuelectenerg-1866	93	5	phase	phase	NOUN
fuelectenerg-1866	93	6	"	"	PUNCT
fuelectenerg-1866	93	7	,	,	PUNCT
fuelectenerg-1866	93	8	the	the	DET
fuelectenerg-1866	93	9	therapist	therapist	NOUN
fuelectenerg-1866	93	10	"	"	PUNCT
fuelectenerg-1866	93	11	presented	present	VERB
fuelectenerg-1866	93	12	"	"	PUNCT
fuelectenerg-1866	93	13	the	the	DET
fuelectenerg-1866	93	14	movement	movement	NOUN
fuelectenerg-1866	93	15	to	to	ADP
fuelectenerg-1866	93	16	the	the	DET
fuelectenerg-1866	93	17	patient	patient	NOUN
fuelectenerg-1866	93	18	and	and	CCONJ
fuelectenerg-1866	93	19	the	the	DET
fuelectenerg-1866	93	20	robot	robot	NOUN
fuelectenerg-1866	93	21	by	by	ADP
fuelectenerg-1866	93	22	manipulating	manipulate	VERB
fuelectenerg-1866	93	23	the	the	DET
fuelectenerg-1866	93	24	handle	handle	NOUN
fuelectenerg-1866	93	25	while	while	SCONJ
fuelectenerg-1866	93	26	the	the	DET
fuelectenerg-1866	93	27	patient	patient	NOUN
fuelectenerg-1866	93	28	held	hold	VERB
fuelectenerg-1866	93	29	the	the	DET
fuelectenerg-1866	93	30	instrumented	instrumented	ADJ
fuelectenerg-1866	93	31	handle	handle	NOUN
fuelectenerg-1866	93	32	and	and	CCONJ
fuelectenerg-1866	93	33	was	be	AUX
fuelectenerg-1866	93	34	instructed	instruct	VERB
fuelectenerg-1866	93	35	not	not	PART
fuelectenerg-1866	93	36	to	to	PART
fuelectenerg-1866	93	37	resist	resist	VERB
fuelectenerg-1866	93	38	the	the	DET
fuelectenerg-1866	93	39	imposed	impose	VERB
fuelectenerg-1866	93	40	movement	movement	NOUN
fuelectenerg-1866	93	41	between	between	ADP
fuelectenerg-1866	93	42	the	the	DET
fuelectenerg-1866	93	43	starting	starting	NOUN
fuelectenerg-1866	93	44	and	and	CCONJ
fuelectenerg-1866	93	45	end	end	VERB
fuelectenerg-1866	93	46	points	point	NOUN
fuelectenerg-1866	93	47	.	.	PUNCT
fuelectenerg-1866	94	1	the	the	DET
fuelectenerg-1866	94	2	robot	robot	NOUN
fuelectenerg-1866	94	3	was	be	AUX
fuelectenerg-1866	94	4	passive	passive	ADJ
fuelectenerg-1866	94	5	(	(	PUNCT
fuelectenerg-1866	94	6	decoupled	decouple	VERB
fuelectenerg-1866	94	7	motors	motor	NOUN
fuelectenerg-1866	94	8	)	)	PUNCT
fuelectenerg-1866	94	9	,	,	PUNCT
fuelectenerg-1866	94	10	and	and	CCONJ
fuelectenerg-1866	94	11	sensors	sensor	NOUN
fuelectenerg-1866	94	12	captured	capture	VERB
fuelectenerg-1866	94	13	movement	movement	NOUN
fuelectenerg-1866	94	14	kinematics	kinematic	NOUN
fuelectenerg-1866	94	15	and	and	CCONJ
fuelectenerg-1866	94	16	interface	interface	NOUN
fuelectenerg-1866	94	17	force	force	NOUN
fuelectenerg-1866	94	18	.	.	PUNCT
fuelectenerg-1866	95	1	each	each	DET
fuelectenerg-1866	95	2	movement	movement	NOUN
fuelectenerg-1866	95	3	was	be	AUX
fuelectenerg-1866	95	4	repeated	repeat	VERB
fuelectenerg-1866	95	5	several	several	ADJ
fuelectenerg-1866	95	6	times	time	NOUN
fuelectenerg-1866	95	7	to	to	PART
fuelectenerg-1866	95	8	create	create	VERB
fuelectenerg-1866	95	9	the	the	DET
fuelectenerg-1866	95	10	action	action	NOUN
fuelectenerg-1866	95	11	representation	representation	NOUN
fuelectenerg-1866	95	12	using	use	VERB
fuelectenerg-1866	95	13	a	a	DET
fuelectenerg-1866	95	14	procedure	procedure	NOUN
fuelectenerg-1866	95	15	described	describe	VERB
fuelectenerg-1866	95	16	in	in	ADP
fuelectenerg-1866	95	17	detail	detail	NOUN
fuelectenerg-1866	95	18	elsewhere	elsewhere	ADV
fuelectenerg-1866	96	1	[	[	X
fuelectenerg-1866	96	2	argall	argall	ADV
fuelectenerg-1866	96	3	et	et	VERB
fuelectenerg-1866	96	4	al	al	PROPN
fuelectenerg-1866	96	5	.	.	PROPN
fuelectenerg-1866	96	6	,	,	PUNCT
fuelectenerg-1866	96	7	2009	2009	NUM
fuelectenerg-1866	96	8	)	)	PUNCT
fuelectenerg-1866	96	9	.	.	PUNCT
fuelectenerg-1866	97	1	the	the	DET
fuelectenerg-1866	97	2	obtained	obtain	VERB
fuelectenerg-1866	97	3	pt	pt	NOUN
fuelectenerg-1866	97	4	provided	provide	VERB
fuelectenerg-1866	97	5	set	set	NOUN
fuelectenerg-1866	97	6	-	-	PUNCT
fuelectenerg-1866	97	7	points	point	NOUN
fuelectenerg-1866	97	8	to	to	ADP
fuelectenerg-1866	97	9	the	the	DET
fuelectenerg-1866	97	10	elbow	elbow	NOUN
fuelectenerg-1866	97	11	and	and	CCONJ
fuelectenerg-1866	97	12	shoulder	shoulder	NOUN
fuelectenerg-1866	97	13	mimc	mimc	NOUN
fuelectenerg-1866	97	14	controllers	controller	NOUN
fuelectenerg-1866	97	15	of	of	ADP
fuelectenerg-1866	97	16	the	the	DET
fuelectenerg-1866	97	17	r3beg	r3beg	PROPN
fuelectenerg-1866	97	18	in	in	ADP
fuelectenerg-1866	97	19	the	the	DET
fuelectenerg-1866	97	20	phase	phase	NOUN
fuelectenerg-1866	97	21	-	-	PUNCT
fuelectenerg-1866	97	22	plane	plane	NOUN
fuelectenerg-1866	97	23	while	while	SCONJ
fuelectenerg-1866	97	24	the	the	DET
fuelectenerg-1866	97	25	maximal	maximal	ADJ
fuelectenerg-1866	97	26	force	force	NOUN
fuelectenerg-1866	97	27	of	of	ADP
fuelectenerg-1866	97	28	assistance	assistance	NOUN
fuelectenerg-1866	97	29	was	be	AUX
fuelectenerg-1866	97	30	defined	define	VERB
fuelectenerg-1866	97	31	as	as	ADP
fuelectenerg-1866	97	32	maximal	maximal	ADJ
fuelectenerg-1866	97	33	interface	interface	NOUN
fuelectenerg-1866	97	34	force	force	NOUN
fuelectenerg-1866	97	35	exerted	exert	VERB
fuelectenerg-1866	97	36	by	by	ADP
fuelectenerg-1866	97	37	the	the	DET
fuelectenerg-1866	97	38	therapist	therapist	NOUN
fuelectenerg-1866	97	39	.	.	PUNCT
fuelectenerg-1866	98	1	in	in	ADP
fuelectenerg-1866	98	2	the	the	DET
fuelectenerg-1866	98	3	"	"	PUNCT
fuelectenerg-1866	98	4	exercise	exercise	NOUN
fuelectenerg-1866	98	5	phase	phase	NOUN
fuelectenerg-1866	98	6	"	"	PUNCT
fuelectenerg-1866	98	7	,	,	PUNCT
fuelectenerg-1866	98	8	the	the	DET
fuelectenerg-1866	98	9	robot	robot	NOUN
fuelectenerg-1866	98	10	assisted	assist	VERB
fuelectenerg-1866	98	11	a	a	DET
fuelectenerg-1866	98	12	patient	patient	NOUN
fuelectenerg-1866	98	13	to	to	PART
fuelectenerg-1866	98	14	perform	perform	VERB
fuelectenerg-1866	98	15	the	the	DET
fuelectenerg-1866	98	16	desired	desire	VERB
fuelectenerg-1866	98	17	point	point	NOUN
fuelectenerg-1866	98	18	-	-	PUNCT
fuelectenerg-1866	98	19	topoint	topoint	NOUN
fuelectenerg-1866	98	20	movement	movement	NOUN
fuelectenerg-1866	98	21	.	.	PUNCT
fuelectenerg-1866	99	1	there	there	PRON
fuelectenerg-1866	99	2	were	be	VERB
fuelectenerg-1866	99	3	two	two	NUM
fuelectenerg-1866	99	4	different	different	ADJ
fuelectenerg-1866	99	5	movements	movement	NOUN
fuelectenerg-1866	99	6	,	,	PUNCT
fuelectenerg-1866	99	7	one	one	NUM
fuelectenerg-1866	99	8	in	in	ADP
fuelectenerg-1866	99	9	the	the	DET
fuelectenerg-1866	99	10	ipsilateral	ipsilateral	ADJ
fuelectenerg-1866	99	11	direction	direction	NOUN
fuelectenerg-1866	99	12	and	and	CCONJ
fuelectenerg-1866	99	13	one	one	NUM
fuelectenerg-1866	99	14	in	in	ADP
fuelectenerg-1866	99	15	the	the	DET
fuelectenerg-1866	99	16	contralateral	contralateral	ADJ
fuelectenerg-1866	99	17	direction	direction	NOUN
fuelectenerg-1866	99	18	.	.	PUNCT
fuelectenerg-1866	100	1	the	the	DET
fuelectenerg-1866	100	2	starting	starting	NOUN
fuelectenerg-1866	100	3	position	position	NOUN
fuelectenerg-1866	100	4	and	and	CCONJ
fuelectenerg-1866	100	5	the	the	DET
fuelectenerg-1866	100	6	target	target	NOUN
fuelectenerg-1866	100	7	were	be	AUX
fuelectenerg-1866	100	8	marked	mark	VERB
fuelectenerg-1866	100	9	with	with	ADP
fuelectenerg-1866	100	10	a	a	DET
fuelectenerg-1866	100	11	green	green	NOUN
fuelectenerg-1866	100	12	and	and	CCONJ
fuelectenerg-1866	100	13	a	a	DET
fuelectenerg-1866	100	14	red	red	ADJ
fuelectenerg-1866	100	15	circle	circle	NOUN
fuelectenerg-1866	100	16	(	(	PUNCT
fuelectenerg-1866	100	17	diameters	diameter	NOUN
fuelectenerg-1866	100	18	d	d	NOUN
fuelectenerg-1866	100	19	=	=	SYM
fuelectenerg-1866	100	20	4	4	NUM
fuelectenerg-1866	100	21	cm	cm	NOUN
fuelectenerg-1866	100	22	)	)	PUNCT
fuelectenerg-1866	100	23	,	,	PUNCT
fuelectenerg-1866	100	24	respectively	respectively	ADV
fuelectenerg-1866	100	25	.	.	PUNCT
fuelectenerg-1866	101	1	the	the	DET
fuelectenerg-1866	101	2	handle	handle	NOUN
fuelectenerg-1866	101	3	was	be	AUX
fuelectenerg-1866	101	4	instrumented	instrument	VERB
fuelectenerg-1866	101	5	with	with	ADP
fuelectenerg-1866	101	6	a	a	DET
fuelectenerg-1866	101	7	laser	laser	NOUN
fuelectenerg-1866	101	8	pointer	pointer	NOUN
fuelectenerg-1866	101	9	which	which	PRON
fuelectenerg-1866	101	10	projected	project	VERB
fuelectenerg-1866	101	11	the	the	DET
fuelectenerg-1866	101	12	position	position	NOUN
fuelectenerg-1866	101	13	of	of	ADP
fuelectenerg-1866	101	14	the	the	DET
fuelectenerg-1866	101	15	handle	handle	NOUN
fuelectenerg-1866	101	16	to	to	PART
fuelectenerg-1866	101	17	allow	allow	VERB
fuelectenerg-1866	101	18	the	the	DET
fuelectenerg-1866	101	19	patient	patient	NOUN
fuelectenerg-1866	101	20	to	to	PART
fuelectenerg-1866	101	21	know	know	VERB
fuelectenerg-1866	101	22	the	the	DET
fuelectenerg-1866	101	23	position	position	NOUN
fuelectenerg-1866	101	24	of	of	ADP
fuelectenerg-1866	101	25	the	the	DET
fuelectenerg-1866	101	26	handle	handle	NOUN
fuelectenerg-1866	101	27	.	.	PUNCT
fuelectenerg-1866	102	1	data	datum	NOUN
fuelectenerg-1866	102	2	presented	present	VERB
fuelectenerg-1866	102	3	in	in	ADP
fuelectenerg-1866	102	4	figure	figure	NOUN
fuelectenerg-1866	102	5	4	4	NUM
fuelectenerg-1866	102	6	illustrate	illustrate	VERB
fuelectenerg-1866	102	7	the	the	DET
fuelectenerg-1866	102	8	performance	performance	NOUN
fuelectenerg-1866	102	9	of	of	ADP
fuelectenerg-1866	102	10	patients	patient	NOUN
fuelectenerg-1866	102	11	p1	p1	PROPN
fuelectenerg-1866	102	12	and	and	CCONJ
fuelectenerg-1866	102	13	p2	p2	NOUN
fuelectenerg-1866	102	14	,	,	PUNCT
fuelectenerg-1866	102	15	respectively	respectively	ADV
fuelectenerg-1866	102	16	.	.	PUNCT
fuelectenerg-1866	103	1	the	the	DET
fuelectenerg-1866	103	2	efficacy	efficacy	NOUN
fuelectenerg-1866	103	3	of	of	ADP
fuelectenerg-1866	103	4	the	the	DET
fuelectenerg-1866	103	5	robotic	robotic	ADJ
fuelectenerg-1866	103	6	intervention	intervention	NOUN
fuelectenerg-1866	103	7	is	be	AUX
fuelectenerg-1866	103	8	documented	document	VERB
fuelectenerg-1866	103	9	by	by	ADP
fuelectenerg-1866	103	10	two	two	NUM
fuelectenerg-1866	103	11	objective	objective	ADJ
fuelectenerg-1866	103	12	measures	measure	NOUN
fuelectenerg-1866	103	13	:	:	PUNCT
fuelectenerg-1866	103	14	1	1	X
fuelectenerg-1866	103	15	)	)	PUNCT
fuelectenerg-1866	103	16	the	the	DET
fuelectenerg-1866	103	17	euclidian	euclidian	ADJ
fuelectenerg-1866	103	18	distance	distance	NOUN
fuelectenerg-1866	103	19	between	between	ADP
fuelectenerg-1866	103	20	the	the	DET
fuelectenerg-1866	103	21	reached	reach	VERB
fuelectenerg-1866	103	22	position	position	NOUN
fuelectenerg-1866	103	23	and	and	CCONJ
fuelectenerg-1866	103	24	the	the	DET
fuelectenerg-1866	103	25	target	target	NOUN
fuelectenerg-1866	103	26	point	point	NOUN
fuelectenerg-1866	103	27	,	,	PUNCT
fuelectenerg-1866	103	28	which	which	PRON
fuelectenerg-1866	103	29	relates	relate	VERB
fuelectenerg-1866	103	30	to	to	ADP
fuelectenerg-1866	103	31	the	the	DET
fuelectenerg-1866	103	32	range	range	NOUN
fuelectenerg-1866	103	33	of	of	ADP
fuelectenerg-1866	103	34	movement	movement	NOUN
fuelectenerg-1866	103	35	,	,	PUNCT
fuelectenerg-1866	103	36	and	and	CCONJ
fuelectenerg-1866	103	37	2	2	X
fuelectenerg-1866	103	38	)	)	PUNCT
fuelectenerg-1866	103	39	the	the	DET
fuelectenerg-1866	103	40	interface	interface	NOUN
fuelectenerg-1866	103	41	force	force	NOUN
fuelectenerg-1866	103	42	between	between	ADP
fuelectenerg-1866	103	43	the	the	DET
fuelectenerg-1866	103	44	hand	hand	NOUN
fuelectenerg-1866	103	45	and	and	CCONJ
fuelectenerg-1866	103	46	the	the	DET
fuelectenerg-1866	103	47	r3	r3	PROPN
fuelectenerg-1866	103	48	-	-	PUNCT
fuelectenerg-1866	103	49	beg	beg	PROPN
fuelectenerg-1866	103	50	,	,	PUNCT
fuelectenerg-1866	103	51	compared	compare	VERB
fuelectenerg-1866	103	52	to	to	ADP
fuelectenerg-1866	103	53	the	the	DET
fuelectenerg-1866	103	54	amount	amount	NOUN
fuelectenerg-1866	103	55	of	of	ADP
fuelectenerg-1866	103	56	provided	provide	VERB
fuelectenerg-1866	103	57	assistance	assistance	NOUN
fuelectenerg-1866	103	58	.	.	PUNCT
fuelectenerg-1866	104	1	these	these	DET
fuelectenerg-1866	104	2	metrics	metric	NOUN
fuelectenerg-1866	104	3	were	be	AUX
fuelectenerg-1866	104	4	selected	select	VERB
fuelectenerg-1866	104	5	based	base	VERB
fuelectenerg-1866	104	6	on	on	ADP
fuelectenerg-1866	104	7	the	the	DET
fuelectenerg-1866	104	8	recommendations	recommendation	NOUN
fuelectenerg-1866	104	9	of	of	ADP
fuelectenerg-1866	104	10	the	the	DET
fuelectenerg-1866	104	11	european	european	ADJ
fuelectenerg-1866	104	12	scientific	scientific	ADJ
fuelectenerg-1866	104	13	community	community	NOUN
fuelectenerg-1866	105	1	[	[	X
fuelectenerg-1866	105	2	19	19	NUM
fuelectenerg-1866	105	3	]	]	PUNCT
fuelectenerg-1866	105	4	.	.	PUNCT
fuelectenerg-1866	106	1	fig	fig	NOUN
fuelectenerg-1866	106	2	.	.	PUNCT
fuelectenerg-1866	107	1	4	4	NUM
fuelectenerg-1866	107	2	trajectories	trajectory	NOUN
fuelectenerg-1866	107	3	achieved	achieve	VERB
fuelectenerg-1866	107	4	by	by	ADP
fuelectenerg-1866	107	5	the	the	DET
fuelectenerg-1866	107	6	patients	patient	NOUN
fuelectenerg-1866	107	7	p1	p1	NOUN
fuelectenerg-1866	107	8	(	(	PUNCT
fuelectenerg-1866	107	9	severe	severe	ADJ
fuelectenerg-1866	107	10	spasticity	spasticity	NOUN
fuelectenerg-1866	107	11	left	leave	VERB
fuelectenerg-1866	107	12	panels	panel	NOUN
fuelectenerg-1866	107	13	)	)	PUNCT
fuelectenerg-1866	107	14	for	for	ADP
fuelectenerg-1866	107	15	the	the	DET
fuelectenerg-1866	107	16	two	two	NUM
fuelectenerg-1866	107	17	target	target	NOUN
fuelectenerg-1866	107	18	points	point	NOUN
fuelectenerg-1866	107	19	.	.	PUNCT
fuelectenerg-1866	108	1	f	f	PROPN
fuelectenerg-1866	108	2	is	be	AUX
fuelectenerg-1866	108	3	the	the	DET
fuelectenerg-1866	108	4	force	force	NOUN
fuelectenerg-1866	108	5	.	.	PUNCT
fuelectenerg-1866	109	1	d	d	PRON
fuelectenerg-1866	109	2	is	be	AUX
fuelectenerg-1866	109	3	distance	distance	NOUN
fuelectenerg-1866	109	4	between	between	ADP
fuelectenerg-1866	109	5	the	the	DET
fuelectenerg-1866	109	6	end	end	NOUN
fuelectenerg-1866	109	7	point	point	NOUN
fuelectenerg-1866	109	8	of	of	ADP
fuelectenerg-1866	109	9	the	the	DET
fuelectenerg-1866	109	10	trajectory	trajectory	NOUN
fuelectenerg-1866	109	11	and	and	CCONJ
fuelectenerg-1866	109	12	the	the	DET
fuelectenerg-1866	109	13	target	target	NOUN
fuelectenerg-1866	109	14	t.	t.	X
fuelectenerg-1866	109	15	right	right	ADJ
fuelectenerg-1866	109	16	panels	panel	NOUN
fuelectenerg-1866	109	17	show	show	VERB
fuelectenerg-1866	109	18	the	the	DET
fuelectenerg-1866	109	19	performance	performance	NOUN
fuelectenerg-1866	109	20	of	of	ADP
fuelectenerg-1866	109	21	patient	patient	ADJ
fuelectenerg-1866	109	22	p2	p2	NOUN
fuelectenerg-1866	109	23	(	(	PUNCT
fuelectenerg-1866	109	24	mild	mild	ADJ
fuelectenerg-1866	109	25	spasticity	spasticity	NOUN
fuelectenerg-1866	109	26	)	)	PUNCT
fuelectenerg-1866	109	27	as	as	SCONJ
fuelectenerg-1866	109	28	shown	show	VERB
fuelectenerg-1866	109	29	in	in	ADP
fuelectenerg-1866	109	30	fig	fig	NOUN
fuelectenerg-1866	109	31	.	.	PUNCT
fuelectenerg-1866	110	1	4	4	NUM
fuelectenerg-1866	110	2	(	(	PUNCT
fuelectenerg-1866	110	3	left	leave	VERB
fuelectenerg-1866	110	4	panels	panel	NOUN
fuelectenerg-1866	110	5	)	)	PUNCT
fuelectenerg-1866	110	6	,	,	PUNCT
fuelectenerg-1866	110	7	the	the	DET
fuelectenerg-1866	110	8	patient	patient	ADJ
fuelectenerg-1866	110	9	p1	p1	NOUN
fuelectenerg-1866	110	10	was	be	AUX
fuelectenerg-1866	110	11	not	not	PART
fuelectenerg-1866	110	12	able	able	ADJ
fuelectenerg-1866	110	13	to	to	PART
fuelectenerg-1866	110	14	completely	completely	ADV
fuelectenerg-1866	110	15	perform	perform	VERB
fuelectenerg-1866	110	16	the	the	DET
fuelectenerg-1866	110	17	task	task	NOUN
fuelectenerg-1866	110	18	and	and	CCONJ
fuelectenerg-1866	110	19	could	could	AUX
fuelectenerg-1866	110	20	not	not	PART
fuelectenerg-1866	110	21	reach	reach	VERB
fuelectenerg-1866	110	22	the	the	DET
fuelectenerg-1866	110	23	target	target	NOUN
fuelectenerg-1866	110	24	point	point	NOUN
fuelectenerg-1866	110	25	in	in	ADP
fuelectenerg-1866	110	26	the	the	DET
fuelectenerg-1866	110	27	case	case	NOUN
fuelectenerg-1866	110	28	in	in	ADP
fuelectenerg-1866	110	29	which	which	PRON
fuelectenerg-1866	110	30	the	the	DET
fuelectenerg-1866	110	31	handle	handle	NOUN
fuelectenerg-1866	110	32	needed	need	VERB
fuelectenerg-1866	110	33	to	to	PART
fuelectenerg-1866	110	34	be	be	AUX
fuelectenerg-1866	110	35	moved	move	VERB
fuelectenerg-1866	110	36	to	to	ADP
fuelectenerg-1866	110	37	the	the	DET
fuelectenerg-1866	110	38	contralateral	contralateral	ADJ
fuelectenerg-1866	110	39	side	side	NOUN
fuelectenerg-1866	110	40	of	of	ADP
fuelectenerg-1866	110	41	his	his	PRON
fuelectenerg-1866	110	42	body	body	NOUN
fuelectenerg-1866	110	43	(	(	PUNCT
fuelectenerg-1866	110	44	the	the	DET
fuelectenerg-1866	110	45	distance	distance	NOUN
fuelectenerg-1866	110	46	between	between	ADP
fuelectenerg-1866	110	47	the	the	DET
fuelectenerg-1866	110	48	endpoint	endpoint	NOUN
fuelectenerg-1866	110	49	of	of	ADP
fuelectenerg-1866	110	50	the	the	DET
fuelectenerg-1866	110	51	movement	movement	NOUN
fuelectenerg-1866	110	52	and	and	CCONJ
fuelectenerg-1866	110	53	the	the	DET
fuelectenerg-1866	110	54	target	target	NOUN
fuelectenerg-1866	110	55	was	be	AUX
fuelectenerg-1866	110	56	9.6	9.6	NUM
fuelectenerg-1866	110	57	cm	cm	NOUN
fuelectenerg-1866	110	58	)	)	PUNCT
fuelectenerg-1866	110	59	.	.	PUNCT
fuelectenerg-1866	111	1	however	however	ADV
fuelectenerg-1866	111	2	,	,	PUNCT
fuelectenerg-1866	111	3	he	he	PRON
fuelectenerg-1866	111	4	encountered	encounter	VERB
fuelectenerg-1866	111	5	fewer	few	ADJ
fuelectenerg-1866	111	6	problems	problem	NOUN
fuelectenerg-1866	111	7	with	with	ADP
fuelectenerg-1866	111	8	the	the	DET
fuelectenerg-1866	111	9	radial	radial	ADJ
fuelectenerg-1866	111	10	movement	movement	NOUN
fuelectenerg-1866	111	11	in	in	ADP
fuelectenerg-1866	111	12	the	the	DET
fuelectenerg-1866	111	13	ipsilateral	ipsilateral	ADJ
fuelectenerg-1866	111	14	direction	direction	NOUN
fuelectenerg-1866	111	15	(	(	PUNCT
fuelectenerg-1866	111	16	d	d	NOUN
fuelectenerg-1866	111	17	=	=	SYM
fuelectenerg-1866	111	18	2.9	2.9	NUM
fuelectenerg-1866	111	19	cm	cm	NOUN
fuelectenerg-1866	111	20	)	)	PUNCT
fuelectenerg-1866	111	21	.	.	PUNCT
fuelectenerg-1866	112	1	the	the	DET
fuelectenerg-1866	112	2	interface	interface	NOUN
fuelectenerg-1866	112	3	force	force	NOUN
fuelectenerg-1866	112	4	indicates	indicate	VERB
fuelectenerg-1866	112	5	that	that	SCONJ
fuelectenerg-1866	112	6	the	the	DET
fuelectenerg-1866	112	7	robot	robot	NOUN
fuelectenerg-1866	112	8	was	be	AUX
fuelectenerg-1866	112	9	assisting	assist	VERB
fuelectenerg-1866	112	10	the	the	DET
fuelectenerg-1866	112	11	movement	movement	NOUN
fuelectenerg-1866	112	12	all	all	ADV
fuelectenerg-1866	112	13	along	along	ADP
fuelectenerg-1866	112	14	the	the	DET
fuelectenerg-1866	112	15	trajectory	trajectory	NOUN
fuelectenerg-1866	112	16	.	.	PUNCT
fuelectenerg-1866	113	1	the	the	DET
fuelectenerg-1866	113	2	robot	robot	NOUN
fuelectenerg-1866	113	3	assisted	assist	VERB
fuelectenerg-1866	113	4	the	the	DET
fuelectenerg-1866	113	5	movement	movement	NOUN
fuelectenerg-1866	113	6	with	with	ADP
fuelectenerg-1866	113	7	significant	significant	ADJ
fuelectenerg-1866	113	8	force	force	NOUN
fuelectenerg-1866	113	9	during	during	ADP
fuelectenerg-1866	113	10	the	the	DET
fuelectenerg-1866	113	11	last	last	ADJ
fuelectenerg-1866	113	12	25	25	NUM
fuelectenerg-1866	113	13	%	%	NOUN
fuelectenerg-1866	113	14	of	of	ADP
fuelectenerg-1866	113	15	the	the	DET
fuelectenerg-1866	113	16	movement	movement	NOUN
fuelectenerg-1866	113	17	(	(	PUNCT
fuelectenerg-1866	113	18	f	f	PROPN
fuelectenerg-1866	113	19	≈	≈	PROPN
fuelectenerg-1866	113	20	30	30	NUM
fuelectenerg-1866	113	21	n	n	CCONJ
fuelectenerg-1866	113	22	)	)	PUNCT
fuelectenerg-1866	113	23	.	.	PUNCT
fuelectenerg-1866	114	1	the	the	DET
fuelectenerg-1866	114	2	force	force	NOUN
fuelectenerg-1866	114	3	was	be	AUX
fuelectenerg-1866	114	4	gradually	gradually	ADV
fuelectenerg-1866	114	5	increasing	increase	VERB
fuelectenerg-1866	114	6	to	to	ADP
fuelectenerg-1866	114	7	about	about	ADV
fuelectenerg-1866	114	8	10	10	NUM
fuelectenerg-1866	114	9	n	n	NOUN
fuelectenerg-1866	114	10	during	during	ADP
fuelectenerg-1866	114	11	the	the	DET
fuelectenerg-1866	114	12	first	first	ADJ
fuelectenerg-1866	114	13	75	75	NUM
fuelectenerg-1866	114	14	%	%	NOUN
fuelectenerg-1866	114	15	of	of	ADP
fuelectenerg-1866	114	16	the	the	DET
fuelectenerg-1866	114	17	movement	movement	NOUN
fuelectenerg-1866	114	18	.	.	PUNCT
fuelectenerg-1866	115	1	this	this	DET
fuelectenerg-1866	115	2	result	result	NOUN
fuelectenerg-1866	115	3	is	be	AUX
fuelectenerg-1866	115	4	by	by	ADP
fuelectenerg-1866	115	5	the	the	DET
fuelectenerg-1866	115	6	patent	patent	NOUN
fuelectenerg-1866	115	7	’s	’s	PART
fuelectenerg-1866	115	8	impairment	impairment	NOUN
fuelectenerg-1866	115	9	(	(	PUNCT
fuelectenerg-1866	115	10	constraints	constraint	NOUN
fuelectenerg-1866	115	11	introduced	introduce	VERB
fuelectenerg-1866	115	12	by	by	ADP
fuelectenerg-1866	115	13	spasticity	spasticity	NOUN
fuelectenerg-1866	115	14	and	and	CCONJ
fuelectenerg-1866	115	15	decreased	decrease	VERB
fuelectenerg-1866	115	16	the	the	DET
fuelectenerg-1866	115	17	range	range	NOUN
fuelectenerg-1866	115	18	of	of	ADP
fuelectenerg-1866	115	19	movement	movement	NOUN
fuelectenerg-1866	115	20	)	)	PUNCT
fuelectenerg-1866	115	21	fig	fig	NOUN
fuelectenerg-1866	115	22	.	.	PUNCT
fuelectenerg-1866	116	1	4	4	NUM
fuelectenerg-1866	116	2	(	(	PUNCT
fuelectenerg-1866	116	3	right	right	ADJ
fuelectenerg-1866	116	4	panels	panel	NOUN
fuelectenerg-1866	116	5	)	)	PUNCT
fuelectenerg-1866	116	6	illustrates	illustrate	VERB
fuelectenerg-1866	116	7	the	the	DET
fuelectenerg-1866	116	8	modified	modify	VERB
fuelectenerg-1866	116	9	internal	internal	ADJ
fuelectenerg-1866	116	10	model	model	NOUN
fuelectenerg-1866	116	11	control	control	NOUN
fuelectenerg-1866	116	12	for	for	ADP
fuelectenerg-1866	116	13	a	a	DET
fuelectenerg-1866	116	14	therapeutic	therapeutic	ADJ
fuelectenerg-1866	116	15	robot	robot	NOUN
fuelectenerg-1866	116	16	143	143	PRON
fuelectenerg-1866	116	17	performance	performance	NOUN
fuelectenerg-1866	116	18	of	of	ADP
fuelectenerg-1866	116	19	the	the	DET
fuelectenerg-1866	116	20	patient	patient	ADJ
fuelectenerg-1866	116	21	p2	p2	NOUN
fuelectenerg-1866	116	22	characterized	characterize	VERB
fuelectenerg-1866	116	23	with	with	ADP
fuelectenerg-1866	116	24	mild	mild	ADJ
fuelectenerg-1866	116	25	spasticity	spasticity	NOUN
fuelectenerg-1866	116	26	.	.	PUNCT
fuelectenerg-1866	117	1	in	in	ADP
fuelectenerg-1866	117	2	this	this	DET
fuelectenerg-1866	117	3	case	case	NOUN
fuelectenerg-1866	117	4	,	,	PUNCT
fuelectenerg-1866	117	5	the	the	DET
fuelectenerg-1866	117	6	interface	interface	NOUN
fuelectenerg-1866	117	7	force	force	NOUN
fuelectenerg-1866	117	8	was	be	AUX
fuelectenerg-1866	117	9	substantially	substantially	ADV
fuelectenerg-1866	117	10	smaller	small	ADJ
fuelectenerg-1866	117	11	compared	compare	VERB
fuelectenerg-1866	117	12	with	with	ADP
fuelectenerg-1866	117	13	the	the	DET
fuelectenerg-1866	117	14	interface	interface	NOUN
fuelectenerg-1866	117	15	force	force	NOUN
fuelectenerg-1866	117	16	estimated	estimate	VERB
fuelectenerg-1866	117	17	during	during	ADP
fuelectenerg-1866	117	18	the	the	DET
fuelectenerg-1866	117	19	tests	test	NOUN
fuelectenerg-1866	117	20	with	with	ADP
fuelectenerg-1866	117	21	patient	patient	NOUN
fuelectenerg-1866	117	22	p1	p1	NOUN
fuelectenerg-1866	117	23	.	.	PUNCT
fuelectenerg-1866	118	1	the	the	DET
fuelectenerg-1866	118	2	distance	distance	NOUN
fuelectenerg-1866	118	3	between	between	ADP
fuelectenerg-1866	118	4	the	the	DET
fuelectenerg-1866	118	5	endpoint	endpoint	NOUN
fuelectenerg-1866	118	6	and	and	CCONJ
fuelectenerg-1866	118	7	the	the	DET
fuelectenerg-1866	118	8	target	target	NOUN
fuelectenerg-1866	118	9	was	be	AUX
fuelectenerg-1866	118	10	only	only	ADV
fuelectenerg-1866	118	11	2	2	NUM
fuelectenerg-1866	118	12	cm	cm	NOUN
fuelectenerg-1866	118	13	and	and	CCONJ
fuelectenerg-1866	118	14	an	an	DET
fuelectenerg-1866	118	15	interface	interface	NOUN
fuelectenerg-1866	118	16	force	force	NOUN
fuelectenerg-1866	118	17	never	never	ADV
fuelectenerg-1866	118	18	reached	reach	VERB
fuelectenerg-1866	118	19	f	f	NOUN
fuelectenerg-1866	118	20	=	=	SYM
fuelectenerg-1866	118	21	15	15	NUM
fuelectenerg-1866	118	22	n.	n.	NOUN
fuelectenerg-1866	118	23	this	this	PRON
fuelectenerg-1866	118	24	indicates	indicate	VERB
fuelectenerg-1866	118	25	that	that	SCONJ
fuelectenerg-1866	118	26	the	the	DET
fuelectenerg-1866	118	27	patent	patent	NOUN
fuelectenerg-1866	118	28	used	use	VERB
fuelectenerg-1866	118	29	the	the	DET
fuelectenerg-1866	118	30	robotic	robotic	ADJ
fuelectenerg-1866	118	31	guidance	guidance	NOUN
fuelectenerg-1866	118	32	to	to	PART
fuelectenerg-1866	118	33	compensate	compensate	VERB
fuelectenerg-1866	118	34	for	for	ADP
fuelectenerg-1866	118	35	the	the	DET
fuelectenerg-1866	118	36	lack	lack	NOUN
fuelectenerg-1866	118	37	of	of	ADP
fuelectenerg-1866	118	38	motor	motor	NOUN
fuelectenerg-1866	118	39	control	control	NOUN
fuelectenerg-1866	118	40	,	,	PUNCT
fuelectenerg-1866	118	41	rather	rather	ADV
fuelectenerg-1866	118	42	than	than	ADP
fuelectenerg-1866	118	43	the	the	DET
fuelectenerg-1866	118	44	compromised	compromise	VERB
fuelectenerg-1866	118	45	range	range	NOUN
fuelectenerg-1866	118	46	of	of	ADP
fuelectenerg-1866	118	47	motion	motion	NOUN
fuelectenerg-1866	118	48	,	,	PUNCT
fuelectenerg-1866	118	49	which	which	PRON
fuelectenerg-1866	118	50	supports	support	VERB
fuelectenerg-1866	118	51	the	the	DET
fuelectenerg-1866	118	52	reported	report	VERB
fuelectenerg-1866	118	53	patient	patient	ADJ
fuelectenerg-1866	118	54	impairment	impairment	NOUN
fuelectenerg-1866	118	55	.	.	PUNCT
fuelectenerg-1866	119	1	4	4	NUM
fuelectenerg-1866	119	2	conclusions	conclusion	NOUN
fuelectenerg-1866	119	3	we	we	PRON
fuelectenerg-1866	119	4	developed	develop	VERB
fuelectenerg-1866	119	5	a	a	DET
fuelectenerg-1866	119	6	control	control	NOUN
fuelectenerg-1866	119	7	method	method	NOUN
fuelectenerg-1866	119	8	for	for	ADP
fuelectenerg-1866	119	9	a	a	DET
fuelectenerg-1866	119	10	rehabilitation	rehabilitation	NOUN
fuelectenerg-1866	119	11	robot	robot	NOUN
fuelectenerg-1866	119	12	.	.	PUNCT
fuelectenerg-1866	120	1	the	the	DET
fuelectenerg-1866	120	2	new	new	ADJ
fuelectenerg-1866	120	3	system	system	NOUN
fuelectenerg-1866	120	4	was	be	AUX
fuelectenerg-1866	120	5	proved	prove	VERB
fuelectenerg-1866	120	6	to	to	PART
fuelectenerg-1866	120	7	be	be	AUX
fuelectenerg-1866	120	8	simple	simple	ADJ
fuelectenerg-1866	120	9	for	for	ADP
fuelectenerg-1866	120	10	tuning	tuning	NOUN
fuelectenerg-1866	120	11	and	and	CCONJ
fuelectenerg-1866	120	12	implementation	implementation	NOUN
fuelectenerg-1866	120	13	in	in	ADP
fuelectenerg-1866	120	14	the	the	DET
fuelectenerg-1866	120	15	clinical	clinical	ADJ
fuelectenerg-1866	120	16	environment	environment	NOUN
fuelectenerg-1866	120	17	.	.	PUNCT
fuelectenerg-1866	121	1	the	the	DET
fuelectenerg-1866	121	2	novel	novel	ADJ
fuelectenerg-1866	121	3	"	"	PUNCT
fuelectenerg-1866	121	4	teachand	teachand	NOUN
fuelectenerg-1866	121	5	-	-	PUNCT
fuelectenerg-1866	121	6	repeat	repeat	NOUN
fuelectenerg-1866	121	7	"	"	PUNCT
fuelectenerg-1866	121	8	method	method	NOUN
fuelectenerg-1866	121	9	for	for	ADP
fuelectenerg-1866	121	10	high	high	ADJ
fuelectenerg-1866	121	11	-	-	PUNCT
fuelectenerg-1866	121	12	level	level	NOUN
fuelectenerg-1866	121	13	control	control	NOUN
fuelectenerg-1866	121	14	,	,	PUNCT
fuelectenerg-1866	121	15	described	describe	VERB
fuelectenerg-1866	121	16	in	in	ADP
fuelectenerg-1866	121	17	[	[	X
fuelectenerg-1866	121	18	14,15	14,15	NUM
fuelectenerg-1866	121	19	]	]	PUNCT
fuelectenerg-1866	121	20	implemented	implement	VERB
fuelectenerg-1866	121	21	in	in	ADP
fuelectenerg-1866	121	22	this	this	DET
fuelectenerg-1866	121	23	scenario	scenario	NOUN
fuelectenerg-1866	121	24	was	be	AUX
fuelectenerg-1866	121	25	found	find	VERB
fuelectenerg-1866	121	26	to	to	PART
fuelectenerg-1866	121	27	be	be	AUX
fuelectenerg-1866	121	28	useful	useful	ADJ
fuelectenerg-1866	121	29	for	for	ADP
fuelectenerg-1866	121	30	translating	translate	VERB
fuelectenerg-1866	121	31	the	the	DET
fuelectenerg-1866	121	32	therapist	therapist	NOUN
fuelectenerg-1866	121	33	's	's	PART
fuelectenerg-1866	121	34	skills	skill	NOUN
fuelectenerg-1866	121	35	and	and	CCONJ
fuelectenerg-1866	121	36	experience	experience	NOUN
fuelectenerg-1866	121	37	to	to	ADP
fuelectenerg-1866	121	38	the	the	DET
fuelectenerg-1866	121	39	robot	robot	NOUN
fuelectenerg-1866	121	40	-	-	PUNCT
fuelectenerg-1866	121	41	assisted	assist	VERB
fuelectenerg-1866	121	42	therapy	therapy	NOUN
fuelectenerg-1866	121	43	.	.	PUNCT
fuelectenerg-1866	122	1	the	the	DET
fuelectenerg-1866	122	2	signals	signal	NOUN
fuelectenerg-1866	122	3	from	from	ADP
fuelectenerg-1866	122	4	sensors	sensor	NOUN
fuelectenerg-1866	122	5	used	use	VERB
fuelectenerg-1866	122	6	for	for	ADP
fuelectenerg-1866	122	7	control	control	NOUN
fuelectenerg-1866	122	8	allow	allow	VERB
fuelectenerg-1866	122	9	direct	direct	ADJ
fuelectenerg-1866	122	10	assessment	assessment	NOUN
fuelectenerg-1866	122	11	of	of	ADP
fuelectenerg-1866	122	12	the	the	DET
fuelectenerg-1866	122	13	differences	difference	NOUN
fuelectenerg-1866	122	14	between	between	ADP
fuelectenerg-1866	122	15	passive	passive	ADJ
fuelectenerg-1866	122	16	and	and	CCONJ
fuelectenerg-1866	122	17	active	active	ADJ
fuelectenerg-1866	122	18	arm	arm	NOUN
fuelectenerg-1866	122	19	movements	movement	NOUN
fuelectenerg-1866	122	20	(	(	PUNCT
fuelectenerg-1866	122	21	range	range	NOUN
fuelectenerg-1866	122	22	and	and	CCONJ
fuelectenerg-1866	122	23	smoothness	smoothness	NOUN
fuelectenerg-1866	122	24	of	of	ADP
fuelectenerg-1866	122	25	the	the	DET
fuelectenerg-1866	122	26	movement	movement	NOUN
fuelectenerg-1866	122	27	and	and	CCONJ
fuelectenerg-1866	122	28	required	required	ADJ
fuelectenerg-1866	122	29	force	force	NOUN
fuelectenerg-1866	122	30	assistance	assistance	NOUN
fuelectenerg-1866	122	31	)	)	PUNCT
fuelectenerg-1866	122	32	.	.	PUNCT
fuelectenerg-1866	123	1	the	the	DET
fuelectenerg-1866	123	2	force	force	NOUN
fuelectenerg-1866	123	3	controlled	control	VERB
fuelectenerg-1866	123	4	interface	interface	NOUN
fuelectenerg-1866	123	5	(	(	PUNCT
fuelectenerg-1866	123	6	haptics	haptic	NOUN
fuelectenerg-1866	123	7	)	)	PUNCT
fuelectenerg-1866	123	8	also	also	ADV
fuelectenerg-1866	123	9	allows	allow	VERB
fuelectenerg-1866	123	10	the	the	DET
fuelectenerg-1866	123	11	setup	setup	NOUN
fuelectenerg-1866	123	12	of	of	ADP
fuelectenerg-1866	123	13	the	the	DET
fuelectenerg-1866	123	14	tasks	task	NOUN
fuelectenerg-1866	123	15	that	that	PRON
fuelectenerg-1866	123	16	need	need	VERB
fuelectenerg-1866	123	17	to	to	PART
fuelectenerg-1866	123	18	be	be	AUX
fuelectenerg-1866	123	19	trained	train	VERB
fuelectenerg-1866	123	20	to	to	PART
fuelectenerg-1866	123	21	improve	improve	VERB
fuelectenerg-1866	123	22	the	the	DET
fuelectenerg-1866	123	23	performance	performance	NOUN
fuelectenerg-1866	123	24	.	.	PUNCT
fuelectenerg-1866	124	1	acknowledgement	acknowledgement	NOUN
fuelectenerg-1866	124	2	:	:	PUNCT
fuelectenerg-1866	124	3	the	the	DET
fuelectenerg-1866	124	4	work	work	NOUN
fuelectenerg-1866	124	5	on	on	ADP
fuelectenerg-1866	124	6	this	this	DET
fuelectenerg-1866	124	7	project	project	NOUN
fuelectenerg-1866	124	8	was	be	AUX
fuelectenerg-1866	124	9	partly	partly	ADV
fuelectenerg-1866	124	10	supported	support	VERB
fuelectenerg-1866	124	11	by	by	ADP
fuelectenerg-1866	124	12	the	the	DET
fuelectenerg-1866	124	13	project	project	NOUN
fuelectenerg-1866	124	14	no	no	DET
fuelectenerg-1866	124	15	rs35003	rs35003	NOUN
fuelectenerg-1866	124	16	,	,	PUNCT
fuelectenerg-1866	124	17	ministry	ministry	PROPN
fuelectenerg-1866	124	18	of	of	ADP
fuelectenerg-1866	124	19	education	education	PROPN
fuelectenerg-1866	124	20	,	,	PUNCT
fuelectenerg-1866	124	21	sciences	science	NOUN
fuelectenerg-1866	124	22	and	and	CCONJ
fuelectenerg-1866	124	23	technological	technological	ADJ
fuelectenerg-1866	124	24	development	development	NOUN
fuelectenerg-1866	124	25	of	of	ADP
fuelectenerg-1866	124	26	serbia	serbia	PROPN
fuelectenerg-1866	124	27	.	.	PUNCT
fuelectenerg-1866	125	1	references	reference	NOUN
fuelectenerg-1866	125	2	[	[	X
fuelectenerg-1866	125	3	1	1	NUM
fuelectenerg-1866	125	4	]	]	X
fuelectenerg-1866	125	5	g.	g.	PROPN
fuelectenerg-1866	125	6	kwakkel	kwakkel	PROPN
fuelectenerg-1866	125	7	,	,	PUNCT
fuelectenerg-1866	125	8	"	"	PUNCT
fuelectenerg-1866	125	9	intensity	intensity	NOUN
fuelectenerg-1866	125	10	of	of	ADP
fuelectenerg-1866	125	11	practice	practice	NOUN
fuelectenerg-1866	125	12	after	after	ADP
fuelectenerg-1866	125	13	stroke	stroke	NOUN
fuelectenerg-1866	125	14	:	:	PUNCT
fuelectenerg-1866	125	15	more	more	ADJ
fuelectenerg-1866	125	16	is	be	AUX
fuelectenerg-1866	125	17	better	well	ADJ
fuelectenerg-1866	125	18	"	"	PUNCT
fuelectenerg-1866	125	19	,	,	PUNCT
fuelectenerg-1866	125	20	schweizer	schweizer	PROPN
fuelectenerg-1866	125	21	archiv	archiv	PROPN
fuelectenerg-1866	125	22	für	für	PROPN
fuelectenerg-1866	125	23	neurologie	neurologie	AUX
fuelectenerg-1866	125	24	und	und	VERB
fuelectenerg-1866	125	25	psychiatrie	psychiatrie	NOUN
fuelectenerg-1866	125	26	,	,	PUNCT
fuelectenerg-1866	125	27	vol	vol	NOUN
fuelectenerg-1866	125	28	.	.	PROPN
fuelectenerg-1866	126	1	160.7	160.7	NUM
fuelectenerg-1866	126	2	,	,	PUNCT
fuelectenerg-1866	126	3	pp	pp	ADJ
fuelectenerg-1866	126	4	.	.	PUNCT
fuelectenerg-1866	127	1	295	295	NUM
fuelectenerg-1866	127	2	-	-	SYM
fuelectenerg-1866	127	3	298	298	NUM
fuelectenerg-1866	127	4	,	,	PUNCT
fuelectenerg-1866	127	5	2009	2009	NUM
fuelectenerg-1866	127	6	.	.	PUNCT
fuelectenerg-1866	128	1	[	[	X
fuelectenerg-1866	128	2	2	2	X
fuelectenerg-1866	128	3	]	]	PUNCT
fuelectenerg-1866	128	4	t.	t.	PROPN
fuelectenerg-1866	128	5	nef	nef	PROPN
fuelectenerg-1866	128	6	,	,	PUNCT
fuelectenerg-1866	128	7	m.	m.	NOUN
fuelectenerg-1866	128	8	mihelj	mihelj	NOUN
fuelectenerg-1866	128	9	,	,	PUNCT
fuelectenerg-1866	128	10	and	and	CCONJ
fuelectenerg-1866	128	11	r.	r.	PROPN
fuelectenerg-1866	128	12	riener	riener	PROPN
fuelectenerg-1866	128	13	,	,	PUNCT
fuelectenerg-1866	128	14	"	"	PUNCT
fuelectenerg-1866	128	15	armin	armin	NOUN
fuelectenerg-1866	128	16	:	:	PUNCT
fuelectenerg-1866	128	17	a	a	DET
fuelectenerg-1866	128	18	robot	robot	NOUN
fuelectenerg-1866	128	19	for	for	ADP
fuelectenerg-1866	128	20	patient	patient	ADJ
fuelectenerg-1866	128	21	-	-	PUNCT
fuelectenerg-1866	128	22	cooperative	cooperative	ADJ
fuelectenerg-1866	128	23	arm	arm	NOUN
fuelectenerg-1866	128	24	therapy	therapy	NOUN
fuelectenerg-1866	128	25	"	"	PUNCT
fuelectenerg-1866	128	26	,	,	PUNCT
fuelectenerg-1866	128	27	medical	medical	ADJ
fuelectenerg-1866	128	28	&	&	CCONJ
fuelectenerg-1866	128	29	biological	biological	ADJ
fuelectenerg-1866	128	30	engineering	engineering	PROPN
fuelectenerg-1866	128	31	&	&	CCONJ
fuelectenerg-1866	128	32	computing	computing	PROPN
fuelectenerg-1866	128	33	,	,	PUNCT
fuelectenerg-1866	128	34	vol	vol	NOUN
fuelectenerg-1866	128	35	.	.	PUNCT
fuelectenerg-1866	128	36	45(9	45(9	NUM
fuelectenerg-1866	128	37	)	)	PUNCT
fuelectenerg-1866	128	38	,	,	PUNCT
fuelectenerg-1866	128	39	pp	pp	PROPN
fuelectenerg-1866	128	40	.	.	PUNCT
fuelectenerg-1866	129	1	887	887	NUM
fuelectenerg-1866	129	2	-	-	SYM
fuelectenerg-1866	129	3	900	900	NUM
fuelectenerg-1866	129	4	,	,	PUNCT
fuelectenerg-1866	129	5	2007	2007	NUM
fuelectenerg-1866	129	6	.	.	PUNCT
fuelectenerg-1866	130	1	[	[	X
fuelectenerg-1866	130	2	3	3	X
fuelectenerg-1866	130	3	]	]	X
fuelectenerg-1866	130	4	n.	n.	PROPN
fuelectenerg-1866	130	5	hogan	hogan	PROPN
fuelectenerg-1866	130	6	,	,	PUNCT
fuelectenerg-1866	130	7	h.	h.	PROPN
fuelectenerg-1866	130	8	i.	i.	PROPN
fuelectenerg-1866	130	9	krebs	krebs	PROPN
fuelectenerg-1866	130	10	,	,	PUNCT
fuelectenerg-1866	130	11	j.	j.	PROPN
fuelectenerg-1866	130	12	charnnarong	charnnarong	PROPN
fuelectenerg-1866	130	13	,	,	PUNCT
fuelectenerg-1866	130	14	p.	p.	NOUN
fuelectenerg-1866	130	15	srikrishna	srikrishna	VERB
fuelectenerg-1866	130	16	and	and	CCONJ
fuelectenerg-1866	130	17	a.	a.	PROPN
fuelectenerg-1866	130	18	sharon	sharon	PROPN
fuelectenerg-1866	130	19	,	,	PUNCT
fuelectenerg-1866	130	20	"	"	PUNCT
fuelectenerg-1866	130	21	mit	mit	NOUN
fuelectenerg-1866	130	22	-	-	PUNCT
fuelectenerg-1866	130	23	manus	manus	NOUN
fuelectenerg-1866	130	24	:	:	PUNCT
fuelectenerg-1866	130	25	a	a	DET
fuelectenerg-1866	130	26	workstation	workstation	NOUN
fuelectenerg-1866	130	27	for	for	ADP
fuelectenerg-1866	130	28	manual	manual	ADJ
fuelectenerg-1866	130	29	therapy	therapy	NOUN
fuelectenerg-1866	130	30	and	and	CCONJ
fuelectenerg-1866	130	31	training	training	NOUN
fuelectenerg-1866	130	32	i	i	PRON
fuelectenerg-1866	130	33	"	"	PUNCT
fuelectenerg-1866	130	34	,	,	PUNCT
fuelectenerg-1866	130	35	in	in	ADP
fuelectenerg-1866	130	36	proceedings	proceeding	NOUN
fuelectenerg-1866	130	37	of	of	ADP
fuelectenerg-1866	130	38	the	the	DET
fuelectenerg-1866	130	39	ieee	ieee	NOUN
fuelectenerg-1866	130	40	international	international	PROPN
fuelectenerg-1866	130	41	workshop	workshop	NOUN
fuelectenerg-1866	130	42	robot	robot	NOUN
fuelectenerg-1866	130	43	and	and	CCONJ
fuelectenerg-1866	130	44	human	human	ADJ
fuelectenerg-1866	130	45	communication	communication	NOUN
fuelectenerg-1866	130	46	,	,	PUNCT
fuelectenerg-1866	130	47	1992	1992	NUM
fuelectenerg-1866	130	48	,	,	PUNCT
fuelectenerg-1866	130	49	pp	pp	ADV
fuelectenerg-1866	130	50	.	.	PUNCT
fuelectenerg-1866	131	1	161	161	NUM
fuelectenerg-1866	131	2	-	-	SYM
fuelectenerg-1866	131	3	165	165	NUM
fuelectenerg-1866	131	4	.	.	PUNCT
fuelectenerg-1866	132	1	[	[	X
fuelectenerg-1866	132	2	4	4	NUM
fuelectenerg-1866	132	3	]	]	PUNCT
fuelectenerg-1866	132	4	m.	m.	NOUN
fuelectenerg-1866	132	5	casadio	casadio	PROPN
fuelectenerg-1866	132	6	,	,	PUNCT
fuelectenerg-1866	132	7	v.	v.	CCONJ
fuelectenerg-1866	132	8	sanguineti	sanguineti	PROPN
fuelectenerg-1866	132	9	,	,	PUNCT
fuelectenerg-1866	132	10	p.	p.	NOUN
fuelectenerg-1866	132	11	g.	g.	PROPN
fuelectenerg-1866	132	12	morasso	morasso	PROPN
fuelectenerg-1866	132	13	,	,	PUNCT
fuelectenerg-1866	132	14	and	and	CCONJ
fuelectenerg-1866	132	15	v.	v.	ADP
fuelectenerg-1866	132	16	arrichiello	arrichiello	PROPN
fuelectenerg-1866	132	17	,	,	PUNCT
fuelectenerg-1866	132	18	"	"	PUNCT
fuelectenerg-1866	132	19	braccio	braccio	X
fuelectenerg-1866	132	20	di	di	X
fuelectenerg-1866	132	21	ferro	ferro	NOUN
fuelectenerg-1866	132	22	:	:	PUNCT
fuelectenerg-1866	132	23	a	a	DET
fuelectenerg-1866	132	24	new	new	ADJ
fuelectenerg-1866	132	25	haptic	haptic	ADJ
fuelectenerg-1866	132	26	workstation	workstation	NOUN
fuelectenerg-1866	132	27	for	for	ADP
fuelectenerg-1866	132	28	neuromotor	neuromotor	NOUN
fuelectenerg-1866	132	29	rehabilitation	rehabilitation	NOUN
fuelectenerg-1866	132	30	"	"	PUNCT
fuelectenerg-1866	132	31	,	,	PUNCT
fuelectenerg-1866	132	32	technology	technology	NOUN
fuelectenerg-1866	132	33	and	and	CCONJ
fuelectenerg-1866	132	34	health	health	NOUN
fuelectenerg-1866	132	35	care	care	NOUN
fuelectenerg-1866	132	36	,	,	PUNCT
fuelectenerg-1866	132	37	vol	vol	NOUN
fuelectenerg-1866	132	38	.	.	PUNCT
fuelectenerg-1866	132	39	14(3	14(3	NUM
fuelectenerg-1866	132	40	)	)	PUNCT
fuelectenerg-1866	132	41	,	,	PUNCT
fuelectenerg-1866	132	42	pp	pp	ADJ
fuelectenerg-1866	132	43	.	.	PUNCT
fuelectenerg-1866	133	1	123	123	NUM
fuelectenerg-1866	133	2	-	-	SYM
fuelectenerg-1866	133	3	142	142	NUM
fuelectenerg-1866	133	4	,	,	PUNCT
fuelectenerg-1866	133	5	2006	2006	NUM
fuelectenerg-1866	133	6	.	.	PUNCT
fuelectenerg-1866	134	1	[	[	X
fuelectenerg-1866	134	2	5	5	X
fuelectenerg-1866	134	3	]	]	PUNCT
fuelectenerg-1866	134	4	t.	t.	PROPN
fuelectenerg-1866	134	5	nef	nef	PROPN
fuelectenerg-1866	134	6	,	,	PUNCT
fuelectenerg-1866	134	7	and	and	CCONJ
fuelectenerg-1866	134	8	r.	r.	PROPN
fuelectenerg-1866	134	9	riener	riener	PROPN
fuelectenerg-1866	134	10	,	,	PUNCT
fuelectenerg-1866	134	11	"	"	PUNCT
fuelectenerg-1866	134	12	armin	armin	NOUN
fuelectenerg-1866	134	13	-	-	PUNCT
fuelectenerg-1866	134	14	design	design	NOUN
fuelectenerg-1866	134	15	of	of	ADP
fuelectenerg-1866	134	16	a	a	DET
fuelectenerg-1866	134	17	novel	novel	ADJ
fuelectenerg-1866	134	18	arm	arm	NOUN
fuelectenerg-1866	134	19	rehabilitation	rehabilitation	NOUN
fuelectenerg-1866	134	20	robot	robot	NOUN
fuelectenerg-1866	134	21	"	"	PUNCT
fuelectenerg-1866	134	22	,	,	PUNCT
fuelectenerg-1866	134	23	in	in	ADP
fuelectenerg-1866	134	24	proc	proc	NOUN
fuelectenerg-1866	134	25	.	.	PUNCT
fuelectenerg-1866	135	1	of	of	ADP
fuelectenerg-1866	135	2	the	the	DET
fuelectenerg-1866	135	3	9th	9th	ADJ
fuelectenerg-1866	135	4	ieee	ieee	NOUN
fuelectenerg-1866	135	5	international	international	ADJ
fuelectenerg-1866	135	6	conference	conference	NOUN
fuelectenerg-1866	135	7	on	on	ADP
fuelectenerg-1866	135	8	rehabilitation	rehabilitation	NOUN
fuelectenerg-1866	135	9	robotics	robotic	NOUN
fuelectenerg-1866	135	10	,	,	PUNCT
fuelectenerg-1866	135	11	2005	2005	NUM
fuelectenerg-1866	135	12	,	,	PUNCT
fuelectenerg-1866	135	13	pp	pp	ADJ
fuelectenerg-1866	135	14	.	.	PUNCT
fuelectenerg-1866	136	1	57	57	NUM
fuelectenerg-1866	136	2	-	-	SYM
fuelectenerg-1866	136	3	60	60	NUM
fuelectenerg-1866	136	4	.	.	PUNCT
fuelectenerg-1866	137	1	[	[	X
fuelectenerg-1866	137	2	6	6	NUM
fuelectenerg-1866	137	3	]	]	PUNCT
fuelectenerg-1866	137	4	j.	j.	PROPN
fuelectenerg-1866	137	5	a.	a.	PROPN
fuelectenerg-1866	137	6	cozens	cozens	PROPN
fuelectenerg-1866	137	7	,	,	PUNCT
fuelectenerg-1866	137	8	"	"	PUNCT
fuelectenerg-1866	137	9	robotic	robotic	ADJ
fuelectenerg-1866	137	10	assistance	assistance	NOUN
fuelectenerg-1866	137	11	of	of	ADP
fuelectenerg-1866	137	12	an	an	DET
fuelectenerg-1866	137	13	active	active	ADJ
fuelectenerg-1866	137	14	upper	upper	ADJ
fuelectenerg-1866	137	15	limb	limb	NOUN
fuelectenerg-1866	137	16	exercise	exercise	NOUN
fuelectenerg-1866	137	17	in	in	ADP
fuelectenerg-1866	137	18	neurologically	neurologically	ADV
fuelectenerg-1866	137	19	impaired	impair	VERB
fuelectenerg-1866	137	20	patients	patient	NOUN
fuelectenerg-1866	137	21	"	"	PUNCT
fuelectenerg-1866	137	22	,	,	PUNCT
fuelectenerg-1866	137	23	rehabilitation	rehabilitation	NOUN
fuelectenerg-1866	137	24	engineering	engineering	NOUN
fuelectenerg-1866	137	25	,	,	PUNCT
fuelectenerg-1866	137	26	ieee	ieee	NOUN
fuelectenerg-1866	137	27	transactions	transaction	NOUN
fuelectenerg-1866	137	28	on	on	ADP
fuelectenerg-1866	137	29	,	,	PUNCT
fuelectenerg-1866	137	30	vol	vol	NOUN
fuelectenerg-1866	137	31	.	.	PUNCT
fuelectenerg-1866	137	32	7(2	7(2	NUM
fuelectenerg-1866	137	33	)	)	PUNCT
fuelectenerg-1866	137	34	,	,	PUNCT
fuelectenerg-1866	137	35	pp	pp	ADP
fuelectenerg-1866	137	36	.	.	PUNCT
fuelectenerg-1866	138	1	254	254	NUM
fuelectenerg-1866	138	2	-	-	SYM
fuelectenerg-1866	138	3	256	256	NUM
fuelectenerg-1866	138	4	,	,	PUNCT
fuelectenerg-1866	138	5	1999	1999	NUM
fuelectenerg-1866	138	6	.	.	PUNCT
fuelectenerg-1866	139	1	[	[	X
fuelectenerg-1866	139	2	7	7	X
fuelectenerg-1866	139	3	]	]	X
fuelectenerg-1866	139	4	l.	l.	PROPN
fuelectenerg-1866	139	5	marchal	marchal	PROPN
fuelectenerg-1866	139	6	-	-	PUNCT
fuelectenerg-1866	139	7	crespo	crespo	NOUN
fuelectenerg-1866	139	8	,	,	PUNCT
fuelectenerg-1866	139	9	and	and	CCONJ
fuelectenerg-1866	139	10	d.	d.	PROPN
fuelectenerg-1866	139	11	j.	j.	PROPN
fuelectenerg-1866	139	12	reinkensmeyer	reinkensmeyer	PROPN
fuelectenerg-1866	139	13	,	,	PUNCT
fuelectenerg-1866	139	14	"	"	PUNCT
fuelectenerg-1866	139	15	review	review	NOUN
fuelectenerg-1866	139	16	of	of	ADP
fuelectenerg-1866	139	17	control	control	NOUN
fuelectenerg-1866	139	18	strategies	strategy	NOUN
fuelectenerg-1866	139	19	for	for	ADP
fuelectenerg-1866	139	20	robotic	robotic	ADJ
fuelectenerg-1866	139	21	movement	movement	NOUN
fuelectenerg-1866	139	22	training	training	NOUN
fuelectenerg-1866	139	23	after	after	ADP
fuelectenerg-1866	139	24	neurologic	neurologic	ADJ
fuelectenerg-1866	139	25	injury	injury	NOUN
fuelectenerg-1866	139	26	"	"	PUNCT
fuelectenerg-1866	139	27	,	,	PUNCT
fuelectenerg-1866	139	28	journal	journal	NOUN
fuelectenerg-1866	139	29	of	of	ADP
fuelectenerg-1866	139	30	neuroengineering	neuroengineering	NOUN
fuelectenerg-1866	139	31	and	and	CCONJ
fuelectenerg-1866	139	32	rehabilitation	rehabilitation	NOUN
fuelectenerg-1866	139	33	,	,	PUNCT
fuelectenerg-1866	139	34	vol	vol	NOUN
fuelectenerg-1866	139	35	.	.	PUNCT
fuelectenerg-1866	139	36	6(1	6(1	NUM
fuelectenerg-1866	139	37	)	)	PUNCT
fuelectenerg-1866	139	38	,	,	PUNCT
fuelectenerg-1866	139	39	pp	pp	PROPN
fuelectenerg-1866	139	40	.	.	PROPN
fuelectenerg-1866	139	41	20	20	NUM
fuelectenerg-1866	139	42	,	,	PUNCT
fuelectenerg-1866	139	43	2009	2009	NUM
fuelectenerg-1866	139	44	.	.	PUNCT
fuelectenerg-1866	140	1	[	[	X
fuelectenerg-1866	140	2	8	8	NUM
fuelectenerg-1866	140	3	]	]	PUNCT
fuelectenerg-1866	140	4	m.	m.	NOUN
fuelectenerg-1866	140	5	casadio	casadio	PROPN
fuelectenerg-1866	140	6	,	,	PUNCT
fuelectenerg-1866	140	7	p.	p.	PROPN
fuelectenerg-1866	140	8	giannoni	giannoni	PROPN
fuelectenerg-1866	140	9	,	,	PUNCT
fuelectenerg-1866	140	10	l.	l.	PROPN
fuelectenerg-1866	140	11	masia	masia	PROPN
fuelectenerg-1866	140	12	,	,	PUNCT
fuelectenerg-1866	140	13	p.	p.	PROPN
fuelectenerg-1866	140	14	g.	g.	PROPN
fuelectenerg-1866	140	15	morasso	morasso	PROPN
fuelectenerg-1866	140	16	,	,	PUNCT
fuelectenerg-1866	140	17	g.	g.	PROPN
fuelectenerg-1866	140	18	sandini	sandini	PROPN
fuelectenerg-1866	140	19	,	,	PUNCT
fuelectenerg-1866	140	20	v.	v.	CCONJ
fuelectenerg-1866	140	21	sanguineti	sanguineti	PROPN
fuelectenerg-1866	140	22	,	,	PUNCT
fuelectenerg-1866	140	23	v.	v.	CCONJ
fuelectenerg-1866	140	24	squeri	squeri	ADJ
fuelectenerg-1866	140	25	,	,	PUNCT
fuelectenerg-1866	140	26	and	and	CCONJ
fuelectenerg-1866	140	27	e.	e.	PROPN
fuelectenerg-1866	140	28	vergaro	vergaro	PROPN
fuelectenerg-1866	140	29	,	,	PUNCT
fuelectenerg-1866	140	30	"	"	PUNCT
fuelectenerg-1866	140	31	robot	robot	NOUN
fuelectenerg-1866	140	32	therapy	therapy	NOUN
fuelectenerg-1866	140	33	of	of	ADP
fuelectenerg-1866	140	34	the	the	DET
fuelectenerg-1866	140	35	upper	upper	ADJ
fuelectenerg-1866	140	36	limb	limb	NOUN
fuelectenerg-1866	140	37	in	in	ADP
fuelectenerg-1866	140	38	stroke	stroke	NOUN
fuelectenerg-1866	140	39	patients	patient	NOUN
fuelectenerg-1866	140	40	:	:	PUNCT
fuelectenerg-1866	140	41	rational	rational	ADJ
fuelectenerg-1866	140	42	guidelines	guideline	NOUN
fuelectenerg-1866	140	43	for	for	ADP
fuelectenerg-1866	140	44	the	the	DET
fuelectenerg-1866	140	45	principled	principled	ADJ
fuelectenerg-1866	140	46	use	use	NOUN
fuelectenerg-1866	140	47	of	of	ADP
fuelectenerg-1866	140	48	this	this	DET
fuelectenerg-1866	140	49	technology	technology	NOUN
fuelectenerg-1866	140	50	"	"	PUNCT
fuelectenerg-1866	140	51	,	,	PUNCT
fuelectenerg-1866	140	52	functional	functional	ADJ
fuelectenerg-1866	140	53	neurology	neurology	NOUN
fuelectenerg-1866	140	54	,	,	PUNCT
fuelectenerg-1866	140	55	vol	vol	NOUN
fuelectenerg-1866	140	56	.	.	PROPN
fuelectenerg-1866	141	1	24	24	NUM
fuelectenerg-1866	141	2	(	(	PUNCT
fuelectenerg-1866	141	3	4	4	NUM
fuelectenerg-1866	141	4	)	)	PUNCT
fuelectenerg-1866	141	5	,	,	PUNCT
fuelectenerg-1866	142	1	pp	pp	PROPN
fuelectenerg-1866	142	2	.	.	PUNCT
fuelectenerg-1866	143	1	195	195	NUM
fuelectenerg-1866	143	2	-	-	SYM
fuelectenerg-1866	143	3	202	202	NUM
fuelectenerg-1866	143	4	,	,	PUNCT
fuelectenerg-1866	143	5	2009	2009	NUM
fuelectenerg-1866	143	6	.	.	PUNCT
fuelectenerg-1866	144	1	[	[	X
fuelectenerg-1866	144	2	9	9	NUM
fuelectenerg-1866	144	3	]	]	PUNCT
fuelectenerg-1866	144	4	h.	h.	PROPN
fuelectenerg-1866	144	5	i.	i.	PROPN
fuelectenerg-1866	144	6	krebs	krebs	PROPN
fuelectenerg-1866	144	7	,	,	PUNCT
fuelectenerg-1866	144	8	j.	j.	PROPN
fuelectenerg-1866	144	9	j.	j.	PROPN
fuelectenerg-1866	144	10	palazzolo	palazzolo	PROPN
fuelectenerg-1866	144	11	,	,	PUNCT
fuelectenerg-1866	144	12	l.	l.	PROPN
fuelectenerg-1866	144	13	dipietro	dipietro	PROPN
fuelectenerg-1866	144	14	,	,	PUNCT
fuelectenerg-1866	144	15	m.	m.	NOUN
fuelectenerg-1866	144	16	ferraro	ferraro	PROPN
fuelectenerg-1866	144	17	,	,	PUNCT
fuelectenerg-1866	144	18	j.	j.	PROPN
fuelectenerg-1866	144	19	krol	krol	PROPN
fuelectenerg-1866	144	20	,	,	PUNCT
fuelectenerg-1866	144	21	k.	k.	PROPN
fuelectenerg-1866	144	22	rannekleiv	rannekleiv	PROPN
fuelectenerg-1866	144	23	,	,	PUNCT
fuelectenerg-1866	144	24	b.	b.	PROPN
fuelectenerg-1866	144	25	t.	t.	PROPN
fuelectenerg-1866	144	26	volpe	volpe	PROPN
fuelectenerg-1866	144	27	,	,	PUNCT
fuelectenerg-1866	144	28	and	and	CCONJ
fuelectenerg-1866	144	29	n.	n.	PROPN
fuelectenerg-1866	144	30	hogan	hogan	PROPN
fuelectenerg-1866	144	31	,	,	PUNCT
fuelectenerg-1866	144	32	"	"	PUNCT
fuelectenerg-1866	144	33	rehabilitation	rehabilitation	NOUN
fuelectenerg-1866	144	34	robotics	robotic	NOUN
fuelectenerg-1866	144	35	:	:	PUNCT
fuelectenerg-1866	144	36	performance	performance	NOUN
fuelectenerg-1866	144	37	-	-	PUNCT
fuelectenerg-1866	144	38	based	base	VERB
fuelectenerg-1866	144	39	progressive	progressive	ADJ
fuelectenerg-1866	144	40	robot	robot	NOUN
fuelectenerg-1866	144	41	-	-	PUNCT
fuelectenerg-1866	144	42	assisted	assist	VERB
fuelectenerg-1866	144	43	therapy	therapy	NOUN
fuelectenerg-1866	144	44	"	"	PUNCT
fuelectenerg-1866	144	45	,	,	PUNCT
fuelectenerg-1866	144	46	autonomous	autonomous	ADJ
fuelectenerg-1866	144	47	robots	robot	NOUN
fuelectenerg-1866	144	48	,	,	PUNCT
fuelectenerg-1866	144	49	vol	vol	NOUN
fuelectenerg-1866	144	50	.	.	PROPN
fuelectenerg-1866	144	51	15	15	NUM
fuelectenerg-1866	144	52	(	(	PUNCT
fuelectenerg-1866	144	53	1	1	NUM
fuelectenerg-1866	144	54	)	)	PUNCT
fuelectenerg-1866	144	55	,	,	PUNCT
fuelectenerg-1866	144	56	pp	pp	ADJ
fuelectenerg-1866	144	57	.	.	PUNCT
fuelectenerg-1866	145	1	7	7	NUM
fuelectenerg-1866	145	2	-	-	SYM
fuelectenerg-1866	145	3	20	20	NUM
fuelectenerg-1866	145	4	,	,	PUNCT
fuelectenerg-1866	145	5	2003	2003	NUM
fuelectenerg-1866	145	6	.	.	PUNCT
fuelectenerg-1866	146	1	[	[	X
fuelectenerg-1866	146	2	10	10	NUM
fuelectenerg-1866	146	3	]	]	X
fuelectenerg-1866	146	4	r.	r.	PROPN
fuelectenerg-1866	146	5	q.	q.	PROPN
fuelectenerg-1866	146	6	van	van	PROPN
fuelectenerg-1866	146	7	der	der	PROPN
fuelectenerg-1866	146	8	linde	linde	PROPN
fuelectenerg-1866	146	9	,	,	PUNCT
fuelectenerg-1866	146	10	p.	p.	PROPN
fuelectenerg-1866	146	11	lammertse	lammertse	PROPN
fuelectenerg-1866	146	12	,	,	PUNCT
fuelectenerg-1866	146	13	e.	e.	PROPN
fuelectenerg-1866	146	14	frederiksen	frederiksen	PROPN
fuelectenerg-1866	146	15	,	,	PUNCT
fuelectenerg-1866	146	16	and	and	CCONJ
fuelectenerg-1866	146	17	b.	b.	PROPN
fuelectenerg-1866	146	18	ruiter	ruiter	NOUN
fuelectenerg-1866	146	19	,	,	PUNCT
fuelectenerg-1866	146	20	"	"	PUNCT
fuelectenerg-1866	146	21	the	the	DET
fuelectenerg-1866	146	22	hapticmaster	hapticmaster	NOUN
fuelectenerg-1866	146	23	,	,	PUNCT
fuelectenerg-1866	146	24	a	a	DET
fuelectenerg-1866	146	25	new	new	ADJ
fuelectenerg-1866	146	26	high	high	ADJ
fuelectenerg-1866	146	27	-	-	PUNCT
fuelectenerg-1866	146	28	performance	performance	NOUN
fuelectenerg-1866	146	29	haptic	haptic	ADJ
fuelectenerg-1866	146	30	interface	interface	NOUN
fuelectenerg-1866	146	31	"	"	PUNCT
fuelectenerg-1866	146	32	,	,	PUNCT
fuelectenerg-1866	146	33	in	in	ADP
fuelectenerg-1866	146	34	proc	proc	NOUN
fuelectenerg-1866	146	35	.	.	PUNCT
fuelectenerg-1866	147	1	eurohaptics	eurohaptic	NOUN
fuelectenerg-1866	147	2	,	,	PUNCT
fuelectenerg-1866	147	3	2002	2002	NUM
fuelectenerg-1866	147	4	,	,	PUNCT
fuelectenerg-1866	147	5	pp	pp	ADJ
fuelectenerg-1866	147	6	.	.	PUNCT
fuelectenerg-1866	148	1	1	1	NUM
fuelectenerg-1866	148	2	-	-	SYM
fuelectenerg-1866	148	3	5	5	NUM
fuelectenerg-1866	148	4	.	.	PUNCT
fuelectenerg-1866	149	1	[	[	X
fuelectenerg-1866	149	2	11	11	NUM
fuelectenerg-1866	149	3	]	]	PUNCT
fuelectenerg-1866	149	4	r.	r.	PROPN
fuelectenerg-1866	149	5	loureiro	loureiro	PROPN
fuelectenerg-1866	149	6	,	,	PUNCT
fuelectenerg-1866	149	7	f.	f.	PROPN
fuelectenerg-1866	149	8	amirabdollahian	amirabdollahian	PROPN
fuelectenerg-1866	149	9	,	,	PUNCT
fuelectenerg-1866	149	10	m.	m.	NOUN
fuelectenerg-1866	149	11	topping	topping	NOUN
fuelectenerg-1866	149	12	,	,	PUNCT
fuelectenerg-1866	149	13	b.	b.	PROPN
fuelectenerg-1866	149	14	driessen	driessen	PROPN
fuelectenerg-1866	149	15	,	,	PUNCT
fuelectenerg-1866	149	16	and	and	CCONJ
fuelectenerg-1866	149	17	w.	w.	PROPN
fuelectenerg-1866	149	18	harwin	harwin	PROPN
fuelectenerg-1866	149	19	,	,	PUNCT
fuelectenerg-1866	149	20	"	"	PUNCT
fuelectenerg-1866	149	21	upper	upper	ADJ
fuelectenerg-1866	149	22	limb	limb	NOUN
fuelectenerg-1866	149	23	robot	robot	NOUN
fuelectenerg-1866	149	24	mediated	mediate	VERB
fuelectenerg-1866	149	25	stroke	stroke	NOUN
fuelectenerg-1866	149	26	therapy	therapy	NOUN
fuelectenerg-1866	149	27	:	:	PUNCT
fuelectenerg-1866	149	28	gentle	gentle	ADJ
fuelectenerg-1866	149	29	/	/	SYM
fuelectenerg-1866	149	30	s	s	PART
fuelectenerg-1866	149	31	approach	approach	NOUN
fuelectenerg-1866	149	32	"	"	PUNCT
fuelectenerg-1866	149	33	,	,	PUNCT
fuelectenerg-1866	149	34	autonomous	autonomous	ADJ
fuelectenerg-1866	149	35	robots	robot	NOUN
fuelectenerg-1866	149	36	,	,	PUNCT
fuelectenerg-1866	149	37	vol	vol	NOUN
fuelectenerg-1866	149	38	.	.	PROPN
fuelectenerg-1866	149	39	15	15	NUM
fuelectenerg-1866	149	40	(	(	PUNCT
fuelectenerg-1866	149	41	1	1	NUM
fuelectenerg-1866	149	42	)	)	PUNCT
fuelectenerg-1866	149	43	,	,	PUNCT
fuelectenerg-1866	149	44	pp	pp	PROPN
fuelectenerg-1866	149	45	.	.	PUNCT
fuelectenerg-1866	150	1	35	35	NUM
fuelectenerg-1866	150	2	-	-	SYM
fuelectenerg-1866	150	3	51	51	NUM
fuelectenerg-1866	150	4	,	,	PUNCT
fuelectenerg-1866	150	5	2003	2003	NUM
fuelectenerg-1866	150	6	.	.	PUNCT
fuelectenerg-1866	151	1	144	144	NUM
fuelectenerg-1866	151	2	m.	m.	NOUN
fuelectenerg-1866	151	3	d.	d.	PROPN
fuelectenerg-1866	151	4	kostić	kostić	PROPN
fuelectenerg-1866	151	5	,	,	PUNCT
fuelectenerg-1866	151	6	m.	m.	PROPN
fuelectenerg-1866	151	7	r.	r.	PROPN
fuelectenerg-1866	151	8	mataušek	mataušek	PROPN
fuelectenerg-1866	151	9	,	,	PUNCT
fuelectenerg-1866	151	10	d.	d.	PROPN
fuelectenerg-1866	151	11	b.	b.	PROPN
fuelectenerg-1866	151	12	popović	popović	PROPN
fuelectenerg-1866	152	1	[	[	X
fuelectenerg-1866	152	2	12	12	NUM
fuelectenerg-1866	152	3	]	]	PUNCT
fuelectenerg-1866	152	4	j.	j.	PROPN
fuelectenerg-1866	152	5	l.	l.	PROPN
fuelectenerg-1866	152	6	emken	emken	PROPN
fuelectenerg-1866	152	7	,	,	PUNCT
fuelectenerg-1866	152	8	s.	s.	PROPN
fuelectenerg-1866	152	9	j.	j.	PROPN
fuelectenerg-1866	152	10	harkema	harkema	PROPN
fuelectenerg-1866	152	11	,	,	PUNCT
fuelectenerg-1866	152	12	j.	j.	PROPN
fuelectenerg-1866	152	13	a.	a.	PROPN
fuelectenerg-1866	152	14	beres	beres	PROPN
fuelectenerg-1866	152	15	-	-	PUNCT
fuelectenerg-1866	152	16	jones	jones	PROPN
fuelectenerg-1866	152	17	,	,	PUNCT
fuelectenerg-1866	152	18	c.	c.	PROPN
fuelectenerg-1866	152	19	k.	k.	PROPN
fuelectenerg-1866	152	20	ferreira	ferreira	PROPN
fuelectenerg-1866	152	21	,	,	PUNCT
fuelectenerg-1866	152	22	and	and	CCONJ
fuelectenerg-1866	152	23	d.	d.	PROPN
fuelectenerg-1866	152	24	j.	j.	PROPN
fuelectenerg-1866	152	25	reinkensmeyer	reinkensmeyer	PROPN
fuelectenerg-1866	152	26	,	,	PUNCT
fuelectenerg-1866	152	27	"	"	PUNCT
fuelectenerg-1866	152	28	feasibility	feasibility	NOUN
fuelectenerg-1866	152	29	of	of	ADP
fuelectenerg-1866	152	30	manual	manual	ADJ
fuelectenerg-1866	152	31	teach	teach	NOUN
fuelectenerg-1866	152	32	-	-	PUNCT
fuelectenerg-1866	152	33	and	and	CCONJ
fuelectenerg-1866	152	34	-	-	PUNCT
fuelectenerg-1866	152	35	replay	replay	NOUN
fuelectenerg-1866	152	36	and	and	CCONJ
fuelectenerg-1866	152	37	continuous	continuous	ADJ
fuelectenerg-1866	152	38	impedance	impedance	NOUN
fuelectenerg-1866	152	39	shaping	shaping	NOUN
fuelectenerg-1866	152	40	for	for	ADP
fuelectenerg-1866	152	41	robotic	robotic	ADJ
fuelectenerg-1866	152	42	locomotor	locomotor	NOUN
fuelectenerg-1866	152	43	training	training	NOUN
fuelectenerg-1866	152	44	following	follow	VERB
fuelectenerg-1866	152	45	spinal	spinal	ADJ
fuelectenerg-1866	152	46	cord	cord	NOUN
fuelectenerg-1866	152	47	injury	injury	NOUN
fuelectenerg-1866	152	48	"	"	PUNCT
fuelectenerg-1866	152	49	,	,	PUNCT
fuelectenerg-1866	152	50	biomedical	biomedical	ADJ
fuelectenerg-1866	152	51	engineering	engineering	NOUN
fuelectenerg-1866	152	52	,	,	PUNCT
fuelectenerg-1866	152	53	ieee	ieee	NOUN
fuelectenerg-1866	152	54	transactions	transaction	NOUN
fuelectenerg-1866	152	55	on	on	ADP
fuelectenerg-1866	152	56	,	,	PUNCT
fuelectenerg-1866	152	57	vol	vol	NOUN
fuelectenerg-1866	152	58	.	.	PUNCT
fuelectenerg-1866	153	1	55	55	NUM
fuelectenerg-1866	153	2	(	(	PUNCT
fuelectenerg-1866	153	3	1	1	NUM
fuelectenerg-1866	153	4	)	)	PUNCT
fuelectenerg-1866	153	5	,	,	PUNCT
fuelectenerg-1866	153	6	pp	pp	PROPN
fuelectenerg-1866	153	7	.	.	PUNCT
fuelectenerg-1866	154	1	322	322	NUM
fuelectenerg-1866	154	2	-	-	SYM
fuelectenerg-1866	154	3	334	334	NUM
fuelectenerg-1866	154	4	,	,	PUNCT
fuelectenerg-1866	154	5	2008	2008	NUM
fuelectenerg-1866	154	6	.	.	PUNCT
fuelectenerg-1866	155	1	[	[	X
fuelectenerg-1866	155	2	13	13	NUM
fuelectenerg-1866	155	3	]	]	X
fuelectenerg-1866	155	4	b.	b.	PROPN
fuelectenerg-1866	155	5	d.	d.	PROPN
fuelectenerg-1866	155	6	argall	argall	PROPN
fuelectenerg-1866	155	7	,	,	PUNCT
fuelectenerg-1866	155	8	s.	s.	PROPN
fuelectenerg-1866	155	9	chernova	chernova	PROPN
fuelectenerg-1866	155	10	,	,	PUNCT
fuelectenerg-1866	155	11	m.	m.	NOUN
fuelectenerg-1866	155	12	veloso	veloso	PROPN
fuelectenerg-1866	155	13	,	,	PUNCT
fuelectenerg-1866	155	14	and	and	CCONJ
fuelectenerg-1866	155	15	b.	b.	PROPN
fuelectenerg-1866	155	16	browning	browning	PROPN
fuelectenerg-1866	155	17	,	,	PUNCT
fuelectenerg-1866	155	18	"	"	PUNCT
fuelectenerg-1866	155	19	a	a	DET
fuelectenerg-1866	155	20	survey	survey	NOUN
fuelectenerg-1866	155	21	of	of	ADP
fuelectenerg-1866	155	22	robot	robot	NOUN
fuelectenerg-1866	155	23	learning	learn	VERB
fuelectenerg-1866	155	24	from	from	ADP
fuelectenerg-1866	155	25	demonstration	demonstration	NOUN
fuelectenerg-1866	155	26	"	"	PUNCT
fuelectenerg-1866	155	27	,	,	PUNCT
fuelectenerg-1866	155	28	robotics	robotic	NOUN
fuelectenerg-1866	155	29	and	and	CCONJ
fuelectenerg-1866	155	30	autonomous	autonomous	ADJ
fuelectenerg-1866	155	31	systems	system	NOUN
fuelectenerg-1866	155	32	,	,	PUNCT
fuelectenerg-1866	155	33	vol	vol	NOUN
fuelectenerg-1866	155	34	.	.	PROPN
fuelectenerg-1866	155	35	57	57	NUM
fuelectenerg-1866	155	36	(	(	PUNCT
fuelectenerg-1866	155	37	5	5	NUM
fuelectenerg-1866	155	38	)	)	PUNCT
fuelectenerg-1866	155	39	,	,	PUNCT
fuelectenerg-1866	155	40	pp	pp	ADP
fuelectenerg-1866	155	41	.	.	PUNCT
fuelectenerg-1866	156	1	469	469	NUM
fuelectenerg-1866	156	2	-	-	SYM
fuelectenerg-1866	156	3	483	483	NUM
fuelectenerg-1866	156	4	,	,	PUNCT
fuelectenerg-1866	156	5	2009	2009	NUM
fuelectenerg-1866	156	6	.	.	PUNCT
fuelectenerg-1866	157	1	[	[	X
fuelectenerg-1866	157	2	14	14	NUM
fuelectenerg-1866	157	3	]	]	PUNCT
fuelectenerg-1866	157	4	m.	m.	PROPN
fuelectenerg-1866	157	5	d.	d.	PROPN
fuelectenerg-1866	157	6	kostić	kostić	PROPN
fuelectenerg-1866	157	7	,	,	PUNCT
fuelectenerg-1866	157	8	m.	m.	PROPN
fuelectenerg-1866	157	9	b.	b.	PROPN
fuelectenerg-1866	157	10	popović	popović	PROPN
fuelectenerg-1866	157	11	,	,	PUNCT
fuelectenerg-1866	157	12	and	and	CCONJ
fuelectenerg-1866	157	13	d	d	X
fuelectenerg-1866	157	14	..	..	PUNCT
fuelectenerg-1866	157	15	b.	b.	PROPN
fuelectenerg-1866	157	16	popović	popović	PROPN
fuelectenerg-1866	157	17	,	,	PUNCT
fuelectenerg-1866	157	18	"	"	PUNCT
fuelectenerg-1866	157	19	a	a	DET
fuelectenerg-1866	157	20	method	method	NOUN
fuelectenerg-1866	157	21	for	for	ADP
fuelectenerg-1866	157	22	assessing	assess	VERB
fuelectenerg-1866	157	23	the	the	DET
fuelectenerg-1866	157	24	arm	arm	NOUN
fuelectenerg-1866	157	25	movement	movement	NOUN
fuelectenerg-1866	157	26	performance	performance	NOUN
fuelectenerg-1866	157	27	:	:	PUNCT
fuelectenerg-1866	157	28	probability	probability	NOUN
fuelectenerg-1866	157	29	tube	tube	NOUN
fuelectenerg-1866	157	30	"	"	PUNCT
fuelectenerg-1866	157	31	,	,	PUNCT
fuelectenerg-1866	157	32	medical	medical	ADJ
fuelectenerg-1866	157	33	&	&	CCONJ
fuelectenerg-1866	157	34	biological	biological	ADJ
fuelectenerg-1866	157	35	engineering	engineering	PROPN
fuelectenerg-1866	157	36	&	&	CCONJ
fuelectenerg-1866	157	37	computing	computing	PROPN
fuelectenerg-1866	157	38	,	,	PUNCT
fuelectenerg-1866	157	39	vol	vol	NOUN
fuelectenerg-1866	157	40	.	.	PROPN
fuelectenerg-1866	157	41	51	51	NUM
fuelectenerg-1866	157	42	(	(	PUNCT
fuelectenerg-1866	157	43	12	12	NUM
fuelectenerg-1866	157	44	)	)	PUNCT
fuelectenerg-1866	157	45	,	,	PUNCT
fuelectenerg-1866	157	46	pp	pp	ADP
fuelectenerg-1866	157	47	.	.	PUNCT
fuelectenerg-1866	158	1	1315	1315	NUM
fuelectenerg-1866	158	2	-	-	SYM
fuelectenerg-1866	158	3	1323	1323	NUM
fuelectenerg-1866	158	4	,	,	PUNCT
fuelectenerg-1866	158	5	2013	2013	NUM
fuelectenerg-1866	158	6	.	.	PUNCT
fuelectenerg-1866	159	1	[	[	X
fuelectenerg-1866	159	2	15	15	NUM
fuelectenerg-1866	159	3	]	]	X
fuelectenerg-1866	159	4	m.d	m.d	PROPN
fuelectenerg-1866	159	5	.	.	PROPN
fuelectenerg-1866	159	6	kostić	kostić	PROPN
fuelectenerg-1866	159	7	,	,	PUNCT
fuelectenerg-1866	159	8	;	;	PUNCT
fuelectenerg-1866	159	9	m.	m.	NOUN
fuelectenerg-1866	159	10	d.	d.	PROPN
fuelectenerg-1866	159	11	popović	popović	PROPN
fuelectenerg-1866	159	12	,	,	PUNCT
fuelectenerg-1866	159	13	and	and	CCONJ
fuelectenerg-1866	159	14	d.	d.	PROPN
fuelectenerg-1866	159	15	b.	b.	PROPN
fuelectenerg-1866	159	16	popović	popović	PROPN
fuelectenerg-1866	159	17	,	,	PUNCT
fuelectenerg-1866	159	18	"	"	PUNCT
fuelectenerg-1866	159	19	the	the	DET
fuelectenerg-1866	159	20	robot	robot	NOUN
fuelectenerg-1866	159	21	that	that	PRON
fuelectenerg-1866	159	22	learns	learn	VERB
fuelectenerg-1866	159	23	from	from	ADP
fuelectenerg-1866	159	24	the	the	DET
fuelectenerg-1866	159	25	therapist	therapist	NOUN
fuelectenerg-1866	159	26	how	how	SCONJ
fuelectenerg-1866	159	27	to	to	PART
fuelectenerg-1866	159	28	assist	assist	VERB
fuelectenerg-1866	159	29	stroke	stroke	NOUN
fuelectenerg-1866	159	30	patients	patient	NOUN
fuelectenerg-1866	159	31	"	"	PUNCT
fuelectenerg-1866	159	32	,	,	PUNCT
fuelectenerg-1866	159	33	new	new	ADJ
fuelectenerg-1866	159	34	trends	trend	NOUN
fuelectenerg-1866	159	35	in	in	ADP
fuelectenerg-1866	159	36	medical	medical	ADJ
fuelectenerg-1866	159	37	and	and	CCONJ
fuelectenerg-1866	159	38	service	service	NOUN
fuelectenerg-1866	159	39	robots	robot	NOUN
fuelectenerg-1866	159	40	.	.	PUNCT
fuelectenerg-1866	160	1	springer	springer	NOUN
fuelectenerg-1866	160	2	international	international	ADJ
fuelectenerg-1866	160	3	publishing	publishing	NOUN
fuelectenerg-1866	160	4	,	,	PUNCT
fuelectenerg-1866	160	5	pp	pp	ADP
fuelectenerg-1866	160	6	.	.	PUNCT
fuelectenerg-1866	160	7	1729	1729	NUM
fuelectenerg-1866	160	8	,	,	PUNCT
fuelectenerg-1866	160	9	2014	2014	NUM
fuelectenerg-1866	160	10	.	.	PUNCT
fuelectenerg-1866	161	1	[	[	X
fuelectenerg-1866	161	2	16	16	NUM
fuelectenerg-1866	161	3	]	]	PUNCT
fuelectenerg-1866	161	4	m.	m.	PROPN
fuelectenerg-1866	161	5	r.	r.	PROPN
fuelectenerg-1866	161	6	mataušek	mataušek	PROPN
fuelectenerg-1866	161	7	and	and	CCONJ
fuelectenerg-1866	161	8	d.	d.	PROPN
fuelectenerg-1866	161	9	m.	m.	PROPN
fuelectenerg-1866	161	10	stipanović	stipanović	PROPN
fuelectenerg-1866	161	11	,	,	PUNCT
fuelectenerg-1866	161	12	"	"	PUNCT
fuelectenerg-1866	161	13	modified	modify	VERB
fuelectenerg-1866	161	14	nonlinear	nonlinear	ADJ
fuelectenerg-1866	161	15	internal	internal	ADJ
fuelectenerg-1866	161	16	model	model	NOUN
fuelectenerg-1866	161	17	control	control	PROPN
fuelectenerg-1866	161	18	"	"	PUNCT
fuelectenerg-1866	161	19	,	,	PUNCT
fuelectenerg-1866	161	20	control	control	NOUN
fuelectenerg-1866	161	21	and	and	CCONJ
fuelectenerg-1866	161	22	intelligent	intelligent	ADJ
fuelectenerg-1866	161	23	systems	system	NOUN
fuelectenerg-1866	161	24	,	,	PUNCT
fuelectenerg-1866	161	25	vol	vol	NOUN
fuelectenerg-1866	161	26	.	.	PROPN
fuelectenerg-1866	162	1	26	26	NUM
fuelectenerg-1866	162	2	(	(	PUNCT
fuelectenerg-1866	162	3	2	2	NUM
fuelectenerg-1866	162	4	)	)	PUNCT
fuelectenerg-1866	162	5	,	,	PUNCT
fuelectenerg-1866	162	6	pp	pp	ADP
fuelectenerg-1866	162	7	.	.	PUNCT
fuelectenerg-1866	163	1	57	57	NUM
fuelectenerg-1866	163	2	-	-	SYM
fuelectenerg-1866	163	3	63	63	NUM
fuelectenerg-1866	163	4	,	,	PUNCT
fuelectenerg-1866	163	5	1998	1998	NUM
fuelectenerg-1866	163	6	.	.	PUNCT
fuelectenerg-1866	164	1	[	[	X
fuelectenerg-1866	164	2	17	17	NUM
fuelectenerg-1866	164	3	]	]	X
fuelectenerg-1866	164	4	m.r	m.r	PROPN
fuelectenerg-1866	164	5	.	.	PROPN
fuelectenerg-1866	164	6	mataušek	mataušek	PROPN
fuelectenerg-1866	164	7	,	,	PUNCT
fuelectenerg-1866	164	8	a.	a.	PROPN
fuelectenerg-1866	164	9	d.	d.	PROPN
fuelectenerg-1866	164	10	mićić	mićić	PROPN
fuelectenerg-1866	164	11	,	,	PUNCT
fuelectenerg-1866	164	12	and	and	CCONJ
fuelectenerg-1866	164	13	d.	d.	PROPN
fuelectenerg-1866	164	14	b.	b.	PROPN
fuelectenerg-1866	164	15	dacić	dacić	PROPN
fuelectenerg-1866	164	16	,	,	PUNCT
fuelectenerg-1866	164	17	"	"	PUNCT
fuelectenerg-1866	164	18	modified	modify	VERB
fuelectenerg-1866	164	19	internal	internal	ADJ
fuelectenerg-1866	164	20	model	model	NOUN
fuelectenerg-1866	164	21	control	control	NOUN
fuelectenerg-1866	164	22	approach	approach	NOUN
fuelectenerg-1866	164	23	to	to	ADP
fuelectenerg-1866	164	24	the	the	DET
fuelectenerg-1866	164	25	design	design	NOUN
fuelectenerg-1866	164	26	and	and	CCONJ
fuelectenerg-1866	164	27	tuning	tuning	NOUN
fuelectenerg-1866	164	28	of	of	ADP
fuelectenerg-1866	164	29	linear	linear	PROPN
fuelectenerg-1866	164	30	digital	digital	ADJ
fuelectenerg-1866	164	31	controllers	controller	NOUN
fuelectenerg-1866	164	32	"	"	PUNCT
fuelectenerg-1866	164	33	,	,	PUNCT
fuelectenerg-1866	164	34	international	international	ADJ
fuelectenerg-1866	164	35	journal	journal	NOUN
fuelectenerg-1866	164	36	of	of	ADP
fuelectenerg-1866	164	37	systems	system	NOUN
fuelectenerg-1866	164	38	science	science	NOUN
fuelectenerg-1866	164	39	,	,	PUNCT
fuelectenerg-1866	164	40	vol	vol	NOUN
fuelectenerg-1866	164	41	.	.	PROPN
fuelectenerg-1866	165	1	33	33	NUM
fuelectenerg-1866	165	2	(	(	PUNCT
fuelectenerg-1866	165	3	1	1	NUM
fuelectenerg-1866	165	4	)	)	PUNCT
fuelectenerg-1866	165	5	,	,	PUNCT
fuelectenerg-1866	165	6	pp	pp	PROPN
fuelectenerg-1866	165	7	.	.	PUNCT
fuelectenerg-1866	166	1	67	67	NUM
fuelectenerg-1866	166	2	-	-	SYM
fuelectenerg-1866	166	3	79	79	NUM
fuelectenerg-1866	166	4	,	,	PUNCT
fuelectenerg-1866	166	5	2002	2002	NUM
fuelectenerg-1866	166	6	.	.	PUNCT
fuelectenerg-1866	167	1	[	[	X
fuelectenerg-1866	167	2	18	18	NUM
fuelectenerg-1866	167	3	]	]	PUNCT
fuelectenerg-1866	167	4	m.	m.	PROPN
fuelectenerg-1866	167	5	r.	r.	PROPN
fuelectenerg-1866	167	6	mataušek	mataušek	PROPN
fuelectenerg-1866	167	7	,	,	PUNCT
fuelectenerg-1866	167	8	d.	d.	PROPN
fuelectenerg-1866	167	9	m.	m.	PROPN
fuelectenerg-1866	167	10	miljković	miljković	PROPN
fuelectenerg-1866	167	11	,	,	PUNCT
fuelectenerg-1866	167	12	and	and	CCONJ
fuelectenerg-1866	167	13	b.	b.	PROPN
fuelectenerg-1866	167	14	i.	i.	PROPN
fuelectenerg-1866	167	15	jeftenić	jeftenić	PROPN
fuelectenerg-1866	167	16	,	,	PUNCT
fuelectenerg-1866	167	17	"	"	PUNCT
fuelectenerg-1866	167	18	nonlinear	nonlinear	ADJ
fuelectenerg-1866	167	19	multi	multi	ADJ
fuelectenerg-1866	167	20	-	-	ADJ
fuelectenerg-1866	167	21	input	input	ADJ
fuelectenerg-1866	167	22	-	-	PUNCT
fuelectenerg-1866	167	23	multi	multi	ADJ
fuelectenerg-1866	167	24	-	-	ADJ
fuelectenerg-1866	167	25	output	output	ADJ
fuelectenerg-1866	167	26	neural	neural	ADJ
fuelectenerg-1866	167	27	network	network	NOUN
fuelectenerg-1866	167	28	control	control	NOUN
fuelectenerg-1866	167	29	of	of	ADP
fuelectenerg-1866	167	30	dc	dc	PROPN
fuelectenerg-1866	167	31	motor	motor	PROPN
fuelectenerg-1866	167	32	drive	drive	NOUN
fuelectenerg-1866	167	33	with	with	ADP
fuelectenerg-1866	167	34	field	field	NOUN
fuelectenerg-1866	167	35	weakening	weaken	VERB
fuelectenerg-1866	167	36	"	"	PUNCT
fuelectenerg-1866	167	37	,	,	PUNCT
fuelectenerg-1866	167	38	ieee	ieee	NOUN
fuelectenerg-1866	167	39	transactions	transaction	NOUN
fuelectenerg-1866	167	40	on	on	ADP
fuelectenerg-1866	167	41	industrial	industrial	ADJ
fuelectenerg-1866	167	42	electronics	electronic	NOUN
fuelectenerg-1866	167	43	,	,	PUNCT
fuelectenerg-1866	167	44	vol	vol	NOUN
fuelectenerg-1866	167	45	.	.	PROPN
fuelectenerg-1866	167	46	45	45	NUM
fuelectenerg-1866	167	47	(	(	PUNCT
fuelectenerg-1866	167	48	1	1	NUM
fuelectenerg-1866	167	49	)	)	PUNCT
fuelectenerg-1866	167	50	,	,	PUNCT
fuelectenerg-1866	167	51	pp	pp	ADJ
fuelectenerg-1866	167	52	.	.	PUNCT
fuelectenerg-1866	168	1	185	185	NUM
fuelectenerg-1866	168	2	-	-	SYM
fuelectenerg-1866	168	3	187	187	NUM
fuelectenerg-1866	168	4	,	,	PUNCT
fuelectenerg-1866	168	5	1998	1998	NUM
fuelectenerg-1866	168	6	.	.	PUNCT
fuelectenerg-1866	169	1	[	[	X
fuelectenerg-1866	169	2	19	19	NUM
fuelectenerg-1866	169	3	]	]	X
fuelectenerg-1866	169	4	"	"	PUNCT
fuelectenerg-1866	169	5	cost	cost	NOUN
fuelectenerg-1866	169	6	action	action	NOUN
fuelectenerg-1866	169	7	td1006	td1006	PROPN
fuelectenerg-1866	169	8	"	"	PUNCT
fuelectenerg-1866	169	9	,	,	PUNCT
fuelectenerg-1866	169	10	http://www.rehabilitationrobotics.eu/2013	http://www.rehabilitationrobotics.eu/2013	PROPN
fuelectenerg-1866	169	11	.	.	PUNCT