id	sid	tid	token	lemma	pos
fumecheng-583	1	1	plane	plane	NOUN
fumecheng-583	1	2	thermoelastic	thermoelastic	ADJ
fumecheng-583	1	3	waves	wave	NOUN
fumecheng-583	1	4	in	in	ADP
fumecheng-583	1	5	infinite	infinite	ADJ
fumecheng-583	1	6	half	half	ADJ
fumecheng-583	1	7	-	-	PUNCT
fumecheng-583	1	8	space	space	NOUN
fumecheng-583	1	9	caused	cause	VERB
fumecheng-583	1	10	facta	facta	PROPN
fumecheng-583	1	11	universitatis	universitatis	PROPN
fumecheng-583	1	12	series	series	NOUN
fumecheng-583	1	13	:	:	PUNCT
fumecheng-583	1	14	mechanical	mechanical	ADJ
fumecheng-583	1	15	engineering	engineering	NOUN
fumecheng-583	1	16	vol	vol	NOUN
fumecheng-583	1	17	.	.	PROPN
fumecheng-583	2	1	12	12	NUM
fumecheng-583	2	2	,	,	PUNCT
fumecheng-583	2	3	no	no	DET
fumecheng-583	2	4	3	3	NUM
fumecheng-583	2	5	,	,	PUNCT
fumecheng-583	2	6	2014	2014	NUM
fumecheng-583	2	7	,	,	PUNCT
fumecheng-583	2	8	pp	pp	ADV
fumecheng-583	2	9	.	.	PUNCT
fumecheng-583	3	1	251	251	NUM
fumecheng-583	3	2	260	260	NUM
fumecheng-583	3	3	1situation	1situation	NUM
fumecheng-583	3	4	assessment	assessment	NOUN
fumecheng-583	3	5	through	through	ADP
fumecheng-583	3	6	multi	multi	ADJ
fumecheng-583	3	7	-	-	ADJ
fumecheng-583	3	8	modal	modal	ADJ
fumecheng-583	3	9	sensing	sensing	NOUN
fumecheng-583	3	10	of	of	ADP
fumecheng-583	3	11	dynamic	dynamic	ADJ
fumecheng-583	3	12	environments	environment	NOUN
fumecheng-583	3	13	to	to	PART
fumecheng-583	3	14	support	support	VERB
fumecheng-583	3	15	cognitive	cognitive	ADJ
fumecheng-583	3	16	robot	robot	NOUN
fumecheng-583	3	17	control	control	PROPN
fumecheng-583	3	18	udc	udc	PROPN
fumecheng-583	3	19	681.5	681.5	NUM
fumecheng-583	3	20	atta	atta	PROPN
fumecheng-583	3	21	badii	badii	PROPN
fumecheng-583	3	22	,	,	PUNCT
fumecheng-583	3	23	ali	ali	PROPN
fumecheng-583	3	24	khan	khan	PROPN
fumecheng-583	3	25	,	,	PUNCT
fumecheng-583	3	26	rajkumar	rajkumar	PROPN
fumecheng-583	3	27	raval	raval	PROPN
fumecheng-583	3	28	,	,	PUNCT
fumecheng-583	3	29	hamid	hamid	PROPN
fumecheng-583	3	30	oudi	oudi	PROPN
fumecheng-583	3	31	,	,	PUNCT
fumecheng-583	3	32	ricardo	ricardo	PROPN
fumecheng-583	3	33	ayora	ayora	PROPN
fumecheng-583	3	34	,	,	PUNCT
fumecheng-583	3	35	wasiq	wasiq	PROPN
fumecheng-583	3	36	khan	khan	PROPN
fumecheng-583	3	37	,	,	PUNCT
fumecheng-583	3	38	amine	amine	ADJ
fumecheng-583	3	39	jaidi	jaidi	NOUN
fumecheng-583	3	40	,	,	PUNCT
fumecheng-583	3	41	nagarajan	nagarajan	NOUN
fumecheng-583	3	42	viswanathan	viswanathan	PROPN
fumecheng-583	3	43	intelligent	intelligent	ADJ
fumecheng-583	3	44	systems	system	NOUN
fumecheng-583	3	45	research	research	NOUN
fumecheng-583	3	46	laboratory	laboratory	NOUN
fumecheng-583	3	47	,	,	PUNCT
fumecheng-583	3	48	school	school	NOUN
fumecheng-583	3	49	of	of	ADP
fumecheng-583	3	50	computer	computer	NOUN
fumecheng-583	3	51	science	science	NOUN
fumecheng-583	3	52	and	and	CCONJ
fumecheng-583	3	53	electronic	electronic	ADJ
fumecheng-583	3	54	engineering	engineering	NOUN
fumecheng-583	3	55	,	,	PUNCT
fumecheng-583	3	56	university	university	NOUN
fumecheng-583	3	57	of	of	ADP
fumecheng-583	3	58	reading	reading	PROPN
fumecheng-583	3	59	,	,	PUNCT
fumecheng-583	3	60	united	united	ADJ
fumecheng-583	3	61	kingdom	kingdom	PROPN
fumecheng-583	3	62	abstract	abstract	PROPN
fumecheng-583	3	63	.	.	PUNCT
fumecheng-583	4	1	awareness	awareness	NOUN
fumecheng-583	4	2	of	of	ADP
fumecheng-583	4	3	emerging	emerge	VERB
fumecheng-583	4	4	situations	situation	NOUN
fumecheng-583	4	5	in	in	ADP
fumecheng-583	4	6	a	a	DET
fumecheng-583	4	7	dynamic	dynamic	ADJ
fumecheng-583	4	8	operational	operational	ADJ
fumecheng-583	4	9	environment	environment	NOUN
fumecheng-583	4	10	of	of	ADP
fumecheng-583	4	11	a	a	DET
fumecheng-583	4	12	robotic	robotic	ADJ
fumecheng-583	4	13	assistive	assistive	ADJ
fumecheng-583	4	14	device	device	NOUN
fumecheng-583	4	15	is	be	AUX
fumecheng-583	4	16	an	an	DET
fumecheng-583	4	17	essential	essential	ADJ
fumecheng-583	4	18	capability	capability	NOUN
fumecheng-583	4	19	of	of	ADP
fumecheng-583	4	20	such	such	DET
fumecheng-583	4	21	a	a	DET
fumecheng-583	4	22	cognitive	cognitive	ADJ
fumecheng-583	4	23	system	system	NOUN
fumecheng-583	4	24	,	,	PUNCT
fumecheng-583	4	25	based	base	VERB
fumecheng-583	4	26	on	on	ADP
fumecheng-583	4	27	its	its	PRON
fumecheng-583	4	28	effective	effective	ADJ
fumecheng-583	4	29	and	and	CCONJ
fumecheng-583	4	30	efficient	efficient	ADJ
fumecheng-583	4	31	assessment	assessment	NOUN
fumecheng-583	4	32	of	of	ADP
fumecheng-583	4	33	the	the	DET
fumecheng-583	4	34	prevailing	prevail	VERB
fumecheng-583	4	35	situation	situation	NOUN
fumecheng-583	4	36	.	.	PUNCT
fumecheng-583	5	1	this	this	PRON
fumecheng-583	5	2	allows	allow	VERB
fumecheng-583	5	3	the	the	DET
fumecheng-583	5	4	system	system	NOUN
fumecheng-583	5	5	to	to	PART
fumecheng-583	5	6	interact	interact	VERB
fumecheng-583	5	7	with	with	ADP
fumecheng-583	5	8	the	the	DET
fumecheng-583	5	9	environment	environment	NOUN
fumecheng-583	5	10	in	in	ADP
fumecheng-583	5	11	a	a	DET
fumecheng-583	5	12	sensible	sensible	ADJ
fumecheng-583	5	13	(	(	PUNCT
fumecheng-583	5	14	semi)autonomous	semi)autonomous	ADJ
fumecheng-583	5	15	/	/	SYM
fumecheng-583	5	16	pro	pro	ADJ
fumecheng-583	5	17	-	-	ADJ
fumecheng-583	5	18	active	active	ADJ
fumecheng-583	5	19	manner	manner	NOUN
fumecheng-583	5	20	without	without	ADP
fumecheng-583	5	21	the	the	DET
fumecheng-583	5	22	need	need	NOUN
fumecheng-583	5	23	for	for	ADP
fumecheng-583	5	24	frequent	frequent	ADJ
fumecheng-583	5	25	interventions	intervention	NOUN
fumecheng-583	5	26	from	from	ADP
fumecheng-583	5	27	a	a	DET
fumecheng-583	5	28	supervisor	supervisor	NOUN
fumecheng-583	5	29	.	.	PUNCT
fumecheng-583	6	1	in	in	ADP
fumecheng-583	6	2	this	this	DET
fumecheng-583	6	3	paper	paper	NOUN
fumecheng-583	6	4	,	,	PUNCT
fumecheng-583	6	5	we	we	PRON
fumecheng-583	6	6	report	report	VERB
fumecheng-583	6	7	a	a	DET
fumecheng-583	6	8	novel	novel	ADJ
fumecheng-583	6	9	generic	generic	ADJ
fumecheng-583	6	10	situation	situation	NOUN
fumecheng-583	6	11	assessment	assessment	NOUN
fumecheng-583	6	12	architecture	architecture	NOUN
fumecheng-583	6	13	for	for	ADP
fumecheng-583	6	14	robotic	robotic	ADJ
fumecheng-583	6	15	systems	system	NOUN
fumecheng-583	6	16	directly	directly	ADV
fumecheng-583	6	17	assisting	assist	VERB
fumecheng-583	6	18	humans	human	NOUN
fumecheng-583	6	19	as	as	SCONJ
fumecheng-583	6	20	developed	develop	VERB
fumecheng-583	6	21	in	in	ADP
fumecheng-583	6	22	the	the	DET
fumecheng-583	6	23	corbys	corbys	NOUN
fumecheng-583	6	24	project	project	NOUN
fumecheng-583	6	25	.	.	PUNCT
fumecheng-583	7	1	this	this	DET
fumecheng-583	7	2	paper	paper	NOUN
fumecheng-583	7	3	presents	present	VERB
fumecheng-583	7	4	the	the	DET
fumecheng-583	7	5	overall	overall	ADJ
fumecheng-583	7	6	architecture	architecture	NOUN
fumecheng-583	7	7	for	for	ADP
fumecheng-583	7	8	situation	situation	NOUN
fumecheng-583	7	9	assessment	assessment	NOUN
fumecheng-583	7	10	and	and	CCONJ
fumecheng-583	7	11	its	its	PRON
fumecheng-583	7	12	application	application	NOUN
fumecheng-583	7	13	in	in	ADP
fumecheng-583	7	14	proof	proof	NOUN
fumecheng-583	7	15	-	-	PUNCT
fumecheng-583	7	16	of	of	ADP
fumecheng-583	7	17	-	-	PUNCT
fumecheng-583	7	18	concept	concept	NOUN
fumecheng-583	7	19	demonstrators	demonstrator	NOUN
fumecheng-583	7	20	as	as	SCONJ
fumecheng-583	7	21	developed	develop	VERB
fumecheng-583	7	22	and	and	CCONJ
fumecheng-583	7	23	validated	validate	VERB
fumecheng-583	7	24	within	within	ADP
fumecheng-583	7	25	the	the	DET
fumecheng-583	7	26	corbys	corbys	NOUN
fumecheng-583	7	27	project	project	NOUN
fumecheng-583	7	28	.	.	PUNCT
fumecheng-583	8	1	these	these	PRON
fumecheng-583	8	2	include	include	VERB
fumecheng-583	8	3	a	a	DET
fumecheng-583	8	4	robotic	robotic	ADJ
fumecheng-583	8	5	human	human	ADJ
fumecheng-583	8	6	follower	follower	NOUN
fumecheng-583	8	7	and	and	CCONJ
fumecheng-583	8	8	a	a	DET
fumecheng-583	8	9	mobile	mobile	ADJ
fumecheng-583	8	10	gait	gait	NOUN
fumecheng-583	8	11	rehabilitation	rehabilitation	NOUN
fumecheng-583	8	12	robotic	robotic	ADJ
fumecheng-583	8	13	system	system	NOUN
fumecheng-583	8	14	.	.	PUNCT
fumecheng-583	9	1	we	we	PRON
fumecheng-583	9	2	present	present	VERB
fumecheng-583	9	3	an	an	DET
fumecheng-583	9	4	overview	overview	NOUN
fumecheng-583	9	5	of	of	ADP
fumecheng-583	9	6	the	the	DET
fumecheng-583	9	7	structure	structure	NOUN
fumecheng-583	9	8	and	and	CCONJ
fumecheng-583	9	9	functionality	functionality	NOUN
fumecheng-583	9	10	of	of	ADP
fumecheng-583	9	11	the	the	DET
fumecheng-583	9	12	situation	situation	NOUN
fumecheng-583	9	13	assessment	assessment	NOUN
fumecheng-583	9	14	architecture	architecture	NOUN
fumecheng-583	9	15	for	for	ADP
fumecheng-583	9	16	robotic	robotic	ADJ
fumecheng-583	9	17	systems	system	NOUN
fumecheng-583	9	18	with	with	ADP
fumecheng-583	9	19	results	result	NOUN
fumecheng-583	9	20	and	and	CCONJ
fumecheng-583	9	21	observations	observation	NOUN
fumecheng-583	9	22	as	as	SCONJ
fumecheng-583	9	23	collected	collect	VERB
fumecheng-583	9	24	from	from	ADP
fumecheng-583	9	25	initial	initial	ADJ
fumecheng-583	9	26	validation	validation	NOUN
fumecheng-583	9	27	on	on	ADP
fumecheng-583	9	28	the	the	DET
fumecheng-583	9	29	two	two	NUM
fumecheng-583	9	30	corbys	corbys	NOUN
fumecheng-583	9	31	demonstrators	demonstrator	NOUN
fumecheng-583	9	32	.	.	PUNCT
fumecheng-583	10	1	key	key	ADJ
fumecheng-583	10	2	words	word	NOUN
fumecheng-583	10	3	:	:	PUNCT
fumecheng-583	10	4	situation	situation	NOUN
fumecheng-583	10	5	assessment	assessment	NOUN
fumecheng-583	10	6	,	,	PUNCT
fumecheng-583	10	7	cognitive	cognitive	ADJ
fumecheng-583	10	8	control	control	NOUN
fumecheng-583	10	9	,	,	PUNCT
fumecheng-583	10	10	dynamic	dynamic	ADJ
fumecheng-583	10	11	environments	environment	NOUN
fumecheng-583	10	12	,	,	PUNCT
fumecheng-583	10	13	humanrobot	humanrobot	NOUN
fumecheng-583	10	14	interaction	interaction	NOUN
fumecheng-583	10	15	,	,	PUNCT
fumecheng-583	10	16	human	human	NOUN
fumecheng-583	10	17	-	-	PUNCT
fumecheng-583	10	18	robot	robot	NOUN
fumecheng-583	10	19	co	co	NOUN
fumecheng-583	10	20	-	-	ADJ
fumecheng-583	10	21	working	working	ADJ
fumecheng-583	10	22	and	and	CCONJ
fumecheng-583	10	23	mixed	mixed	ADJ
fumecheng-583	10	24	-	-	PUNCT
fumecheng-583	10	25	initiative	initiative	NOUN
fumecheng-583	10	26	taking	take	VERB
fumecheng-583	10	27	1	1	NUM
fumecheng-583	10	28	.	.	PUNCT
fumecheng-583	11	1	introduction	introduction	NOUN
fumecheng-583	11	2	situation	situation	NOUN
fumecheng-583	11	3	assessment	assessment	NOUN
fumecheng-583	11	4	is	be	AUX
fumecheng-583	11	5	that	that	DET
fumecheng-583	11	6	capability	capability	NOUN
fumecheng-583	11	7	of	of	ADP
fumecheng-583	11	8	a	a	DET
fumecheng-583	11	9	system	system	NOUN
fumecheng-583	11	10	,	,	PUNCT
fumecheng-583	11	11	which	which	PRON
fumecheng-583	11	12	provides	provide	VERB
fumecheng-583	11	13	for	for	ADP
fumecheng-583	11	14	an	an	DET
fumecheng-583	11	15	awareness	awareness	NOUN
fumecheng-583	11	16	of	of	ADP
fumecheng-583	11	17	emerging	emerge	VERB
fumecheng-583	11	18	situations	situation	NOUN
fumecheng-583	11	19	.	.	PUNCT
fumecheng-583	12	1	in	in	ADP
fumecheng-583	12	2	a	a	DET
fumecheng-583	12	3	robotic	robotic	ADJ
fumecheng-583	12	4	environment	environment	NOUN
fumecheng-583	12	5	,	,	PUNCT
fumecheng-583	12	6	this	this	PRON
fumecheng-583	12	7	typically	typically	ADV
fumecheng-583	12	8	includes	include	VERB
fumecheng-583	12	9	updates	update	NOUN
fumecheng-583	12	10	on	on	ADP
fumecheng-583	12	11	the	the	DET
fumecheng-583	12	12	relevant	relevant	ADJ
fumecheng-583	12	13	static	static	ADJ
fumecheng-583	12	14	and	and	CCONJ
fumecheng-583	12	15	dynamic	dynamic	ADJ
fumecheng-583	12	16	states	state	NOUN
fumecheng-583	12	17	of	of	ADP
fumecheng-583	12	18	entities	entity	NOUN
fumecheng-583	12	19	(	(	PUNCT
fumecheng-583	12	20	objects	object	NOUN
fumecheng-583	12	21	,	,	PUNCT
fumecheng-583	12	22	persons	person	NOUN
fumecheng-583	12	23	,	,	PUNCT
fumecheng-583	12	24	spaces	space	NOUN
fumecheng-583	12	25	)	)	PUNCT
fumecheng-583	12	26	with	with	ADP
fumecheng-583	12	27	which	which	PRON
fumecheng-583	12	28	the	the	DET
fumecheng-583	12	29	robot	robot	NOUN
fumecheng-583	12	30	may	may	AUX
fumecheng-583	12	31	or	or	CCONJ
fumecheng-583	12	32	may	may	AUX
fumecheng-583	12	33	not	not	PART
fumecheng-583	12	34	be	be	AUX
fumecheng-583	12	35	interacting	interact	VERB
fumecheng-583	12	36	at	at	ADP
fumecheng-583	12	37	the	the	DET
fumecheng-583	12	38	time	time	NOUN
fumecheng-583	13	1	[	[	X
fumecheng-583	13	2	1	1	NUM
fumecheng-583	13	3	-	-	SYM
fumecheng-583	13	4	5	5	NUM
fumecheng-583	13	5	]	]	PUNCT
fumecheng-583	13	6	.	.	PUNCT
fumecheng-583	14	1	this	this	DET
fumecheng-583	14	2	assessment	assessment	NOUN
fumecheng-583	14	3	allows	allow	VERB
fumecheng-583	14	4	the	the	DET
fumecheng-583	14	5	robotic	robotic	ADJ
fumecheng-583	14	6	system	system	NOUN
fumecheng-583	14	7	to	to	PART
fumecheng-583	14	8	interact	interact	VERB
fumecheng-583	14	9	with	with	ADP
fumecheng-583	14	10	the	the	DET
fumecheng-583	14	11	environment	environment	NOUN
fumecheng-583	14	12	in	in	ADP
fumecheng-583	14	13	a	a	DET
fumecheng-583	14	14	sensible	sensible	ADJ
fumecheng-583	14	15	manner	manner	NOUN
fumecheng-583	14	16	without	without	ADP
fumecheng-583	14	17	the	the	DET
fumecheng-583	14	18	need	need	NOUN
fumecheng-583	14	19	for	for	ADP
fumecheng-583	14	20	the	the	DET
fumecheng-583	14	21	intervention	intervention	NOUN
fumecheng-583	14	22	of	of	ADP
fumecheng-583	14	23	a	a	DET
fumecheng-583	14	24	(	(	PUNCT
fumecheng-583	14	25	human	human	NOUN
fumecheng-583	14	26	)	)	PUNCT
fumecheng-583	14	27	supervisor	supervisor	NOUN
fumecheng-583	14	28	.	.	PUNCT
fumecheng-583	15	1	an	an	DET
fumecheng-583	15	2	innovative	innovative	ADJ
fumecheng-583	15	3	generic	generic	ADJ
fumecheng-583	15	4	situation	situation	NOUN
fumecheng-583	15	5	assessment	assessment	NOUN
fumecheng-583	15	6	architecture	architecture	NOUN
fumecheng-583	15	7	for	for	ADP
fumecheng-583	15	8	robotic	robotic	ADJ
fumecheng-583	15	9	systems	system	NOUN
fumecheng-583	15	10	has	have	AUX
fumecheng-583	15	11	received	receive	VERB
fumecheng-583	15	12	october	october	PROPN
fumecheng-583	15	13	23	23	NUM
fumecheng-583	15	14	,	,	PUNCT
fumecheng-583	15	15	2014	2014	NUM
fumecheng-583	15	16	/	/	SYM
fumecheng-583	15	17	accepted	accept	VERB
fumecheng-583	15	18	november	november	PROPN
fumecheng-583	15	19	25	25	NUM
fumecheng-583	15	20	,	,	PUNCT
fumecheng-583	15	21	2014	2014	NUM
fumecheng-583	15	22	corresponding	correspond	VERB
fumecheng-583	15	23	author	author	NOUN
fumecheng-583	15	24	:	:	PUNCT
fumecheng-583	16	1	atta	atta	PROPN
fumecheng-583	16	2	badii	badii	PROPN
fumecheng-583	16	3	school	school	NOUN
fumecheng-583	16	4	of	of	ADP
fumecheng-583	16	5	systems	system	NOUN
fumecheng-583	16	6	engineering	engineering	NOUN
fumecheng-583	16	7	,	,	PUNCT
fumecheng-583	16	8	university	university	NOUN
fumecheng-583	16	9	of	of	ADP
fumecheng-583	16	10	reading	reading	PROPN
fumecheng-583	16	11	,	,	PUNCT
fumecheng-583	16	12	whiteknights	whiteknight	NOUN
fumecheng-583	16	13	,	,	PUNCT
fumecheng-583	16	14	jj	jj	PROPN
fumecheng-583	16	15	thomson	thomson	PROPN
fumecheng-583	16	16	building	building	PROPN
fumecheng-583	16	17	,	,	PUNCT
fumecheng-583	16	18	rg6	rg6	PROPN
fumecheng-583	16	19	6ay	6ay	NOUN
fumecheng-583	16	20	,	,	PUNCT
fumecheng-583	16	21	uk	uk	PROPN
fumecheng-583	16	22	e	e	NOUN
fumecheng-583	16	23	-	-	NOUN
fumecheng-583	16	24	mail	mail	NOUN
fumecheng-583	16	25	:	:	PUNCT
fumecheng-583	16	26	atta.badii@reading.ac.uk	atta.badii@reading.ac.uk	PUNCT
fumecheng-583	16	27	original	original	ADJ
fumecheng-583	16	28	scientific	scientific	ADJ
fumecheng-583	16	29	paper	paper	NOUN
fumecheng-583	16	30	252	252	NUM
fumecheng-583	16	31	a.	a.	NOUN
fumecheng-583	16	32	badii	badii	NOUN
fumecheng-583	16	33	,	,	PUNCT
fumecheng-583	16	34	a.	a.	PROPN
fumecheng-583	16	35	khan	khan	PROPN
fumecheng-583	16	36	,	,	PUNCT
fumecheng-583	16	37	r.	r.	PROPN
fumecheng-583	16	38	raval	raval	PROPN
fumecheng-583	16	39	,	,	PUNCT
fumecheng-583	16	40	h.	h.	PROPN
fumecheng-583	16	41	oudi	oudi	PROPN
fumecheng-583	16	42	,	,	PUNCT
fumecheng-583	16	43	r.	r.	PROPN
fumecheng-583	16	44	ayora	ayora	PROPN
fumecheng-583	16	45	,	,	PUNCT
fumecheng-583	16	46	w.	w.	PROPN
fumecheng-583	16	47	khan	khan	PROPN
fumecheng-583	16	48	,	,	PUNCT
fumecheng-583	16	49	a.	a.	NOUN
fumecheng-583	16	50	jaidi	jaidi	PROPN
fumecheng-583	16	51	,	,	PUNCT
fumecheng-583	16	52	n.	n.	PROPN
fumecheng-583	16	53	viswanathan	viswanathan	PROPN
fumecheng-583	16	54	been	be	AUX
fumecheng-583	16	55	developed	develop	VERB
fumecheng-583	16	56	as	as	ADP
fumecheng-583	16	57	part	part	NOUN
fumecheng-583	16	58	of	of	ADP
fumecheng-583	16	59	the	the	DET
fumecheng-583	16	60	european	european	PROPN
fumecheng-583	16	61	corbys	corbys	PROPN
fumecheng-583	16	62	project	project	NOUN
fumecheng-583	16	63	(	(	PUNCT
fumecheng-583	16	64	ec	ec	PROPN
fumecheng-583	16	65	fp7	fp7	PROPN
fumecheng-583	16	66	)	)	PUNCT
fumecheng-583	17	1	[	[	X
fumecheng-583	17	2	10	10	NUM
fumecheng-583	17	3	]	]	PUNCT
fumecheng-583	17	4	.	.	PUNCT
fumecheng-583	18	1	this	this	DET
fumecheng-583	18	2	paper	paper	NOUN
fumecheng-583	18	3	presents	present	VERB
fumecheng-583	18	4	the	the	DET
fumecheng-583	18	5	overall	overall	ADJ
fumecheng-583	18	6	architecture	architecture	NOUN
fumecheng-583	18	7	for	for	ADP
fumecheng-583	18	8	this	this	DET
fumecheng-583	18	9	situation	situation	NOUN
fumecheng-583	18	10	assessment	assessment	NOUN
fumecheng-583	18	11	capability	capability	NOUN
fumecheng-583	18	12	and	and	CCONJ
fumecheng-583	18	13	its	its	PRON
fumecheng-583	18	14	application	application	NOUN
fumecheng-583	18	15	in	in	ADP
fumecheng-583	18	16	proof	proof	ADJ
fumecheng-583	18	17	-	-	PUNCT
fumecheng-583	18	18	ofconcept	ofconcept	ADJ
fumecheng-583	18	19	demonstrators	demonstrator	NOUN
fumecheng-583	18	20	as	as	SCONJ
fumecheng-583	18	21	developed	develop	VERB
fumecheng-583	18	22	and	and	CCONJ
fumecheng-583	18	23	validated	validate	VERB
fumecheng-583	18	24	in	in	ADP
fumecheng-583	18	25	the	the	DET
fumecheng-583	18	26	corbys	corbys	NOUN
fumecheng-583	18	27	project	project	NOUN
fumecheng-583	18	28	.	.	PUNCT
fumecheng-583	19	1	these	these	DET
fumecheng-583	19	2	demonstrators	demonstrator	NOUN
fumecheng-583	19	3	include	include	VERB
fumecheng-583	19	4	a	a	DET
fumecheng-583	19	5	gait	gait	ADJ
fumecheng-583	19	6	rehabilitation	rehabilitation	NOUN
fumecheng-583	19	7	robotic	robotic	ADJ
fumecheng-583	19	8	system	system	NOUN
fumecheng-583	19	9	and	and	CCONJ
fumecheng-583	19	10	a	a	DET
fumecheng-583	19	11	robotic	robotic	ADJ
fumecheng-583	19	12	human	human	ADJ
fumecheng-583	19	13	follower	follower	NOUN
fumecheng-583	19	14	(	(	PUNCT
fumecheng-583	19	15	henceforth	henceforth	ADV
fumecheng-583	19	16	also	also	ADV
fumecheng-583	19	17	referred	refer	VERB
fumecheng-583	19	18	to	to	ADP
fumecheng-583	19	19	as	as	ADP
fumecheng-583	19	20	demonstrator	demonstrator	PROPN
fumecheng-583	19	21	i	i	PROPN
fumecheng-583	19	22	and	and	CCONJ
fumecheng-583	19	23	demonstrator	demonstrator	PROPN
fumecheng-583	19	24	ii	ii	PROPN
fumecheng-583	19	25	respectively	respectively	ADV
fumecheng-583	19	26	)	)	PUNCT
fumecheng-583	19	27	.	.	PUNCT
fumecheng-583	20	1	the	the	DET
fumecheng-583	20	2	robotic	robotic	ADJ
fumecheng-583	20	3	human	human	ADJ
fumecheng-583	20	4	follower	follower	NOUN
fumecheng-583	20	5	(	(	PUNCT
fumecheng-583	20	6	corbys	corbys	PROPN
fumecheng-583	20	7	demonstrator	demonstrator	PROPN
fumecheng-583	20	8	ii	ii	PROPN
fumecheng-583	20	9	)	)	PUNCT
fumecheng-583	20	10	is	be	AUX
fumecheng-583	20	11	an	an	DET
fumecheng-583	20	12	existing	exist	VERB
fumecheng-583	20	13	mobile	mobile	ADJ
fumecheng-583	20	14	robot	robot	NOUN
fumecheng-583	20	15	that	that	PRON
fumecheng-583	20	16	has	have	AUX
fumecheng-583	20	17	been	be	AUX
fumecheng-583	20	18	modified	modify	VERB
fumecheng-583	20	19	using	use	VERB
fumecheng-583	20	20	the	the	DET
fumecheng-583	20	21	corbys	corbys	NOUN
fumecheng-583	20	22	system	system	NOUN
fumecheng-583	20	23	to	to	PART
fumecheng-583	20	24	autonomously	autonomously	ADV
fumecheng-583	20	25	follow	follow	VERB
fumecheng-583	20	26	a	a	DET
fumecheng-583	20	27	human	human	ADJ
fumecheng-583	20	28	coworker	coworker	NOUN
fumecheng-583	20	29	in	in	ADP
fumecheng-583	20	30	exploratory	exploratory	ADJ
fumecheng-583	20	31	settings	setting	NOUN
fumecheng-583	20	32	.	.	PUNCT
fumecheng-583	21	1	the	the	DET
fumecheng-583	21	2	mobile	mobile	ADJ
fumecheng-583	21	3	platform	platform	NOUN
fumecheng-583	21	4	is	be	AUX
fumecheng-583	21	5	equipped	equip	VERB
fumecheng-583	21	6	with	with	ADP
fumecheng-583	21	7	sensors	sensor	NOUN
fumecheng-583	21	8	for	for	ADP
fumecheng-583	21	9	perception	perception	NOUN
fumecheng-583	21	10	of	of	ADP
fumecheng-583	21	11	the	the	DET
fumecheng-583	21	12	environment	environment	NOUN
fumecheng-583	21	13	including	include	VERB
fumecheng-583	21	14	perception	perception	NOUN
fumecheng-583	21	15	of	of	ADP
fumecheng-583	21	16	the	the	DET
fumecheng-583	21	17	states	state	NOUN
fumecheng-583	21	18	and	and	CCONJ
fumecheng-583	21	19	behaviour	behaviour	NOUN
fumecheng-583	21	20	of	of	ADP
fumecheng-583	21	21	humans	human	NOUN
fumecheng-583	21	22	in	in	ADP
fumecheng-583	21	23	the	the	DET
fumecheng-583	21	24	ambient	ambient	ADJ
fumecheng-583	21	25	space	space	NOUN
fumecheng-583	21	26	.	.	PUNCT
fumecheng-583	22	1	thus	thus	ADV
fumecheng-583	22	2	the	the	DET
fumecheng-583	22	3	corbys	corbys	NOUN
fumecheng-583	22	4	cognitive	cognitive	ADJ
fumecheng-583	22	5	modules	module	NOUN
fumecheng-583	22	6	anticipate	anticipate	VERB
fumecheng-583	22	7	human	human	ADJ
fumecheng-583	22	8	behaviour	behaviour	NOUN
fumecheng-583	22	9	in	in	ADP
fumecheng-583	22	10	the	the	DET
fumecheng-583	22	11	environment	environment	NOUN
fumecheng-583	22	12	and	and	CCONJ
fumecheng-583	22	13	create	create	VERB
fumecheng-583	22	14	appropriate	appropriate	ADJ
fumecheng-583	22	15	inputs	input	NOUN
fumecheng-583	22	16	to	to	ADP
fumecheng-583	22	17	the	the	DET
fumecheng-583	22	18	low	low	ADJ
fumecheng-583	22	19	-	-	PUNCT
fumecheng-583	22	20	level	level	NOUN
fumecheng-583	22	21	controls	control	NOUN
fumecheng-583	22	22	so	so	SCONJ
fumecheng-583	22	23	as	as	SCONJ
fumecheng-583	22	24	to	to	PART
fumecheng-583	22	25	enable	enable	VERB
fumecheng-583	22	26	the	the	DET
fumecheng-583	22	27	robot	robot	NOUN
fumecheng-583	22	28	to	to	PART
fumecheng-583	22	29	follow	follow	VERB
fumecheng-583	22	30	the	the	DET
fumecheng-583	22	31	human	human	ADJ
fumecheng-583	22	32	co	co	NOUN
fumecheng-583	22	33	-	-	NOUN
fumecheng-583	22	34	worker	worker	NOUN
fumecheng-583	22	35	whilst	whilst	SCONJ
fumecheng-583	22	36	avoiding	avoid	VERB
fumecheng-583	22	37	obstacles	obstacle	NOUN
fumecheng-583	22	38	.	.	PUNCT
fumecheng-583	23	1	the	the	DET
fumecheng-583	23	2	mobile	mobile	PROPN
fumecheng-583	23	3	gait	gait	PROPN
fumecheng-583	23	4	rehabilitation	rehabilitation	NOUN
fumecheng-583	23	5	robotic	robotic	ADJ
fumecheng-583	23	6	system	system	NOUN
fumecheng-583	23	7	(	(	PUNCT
fumecheng-583	23	8	demonstrator	demonstrator	NOUN
fumecheng-583	23	9	i	i	PROPN
fumecheng-583	23	10	)	)	PUNCT
fumecheng-583	23	11	represents	represent	VERB
fumecheng-583	23	12	another	another	DET
fumecheng-583	23	13	very	very	ADV
fumecheng-583	23	14	challenging	challenging	ADJ
fumecheng-583	23	15	application	application	NOUN
fumecheng-583	23	16	domain	domain	NOUN
fumecheng-583	23	17	that	that	PRON
fumecheng-583	23	18	has	have	AUX
fumecheng-583	23	19	been	be	AUX
fumecheng-583	23	20	developed	develop	VERB
fumecheng-583	23	21	as	as	ADP
fumecheng-583	23	22	part	part	NOUN
fumecheng-583	23	23	of	of	ADP
fumecheng-583	23	24	the	the	DET
fumecheng-583	23	25	corbys	corbys	NOUN
fumecheng-583	23	26	project	project	NOUN
fumecheng-583	23	27	.	.	PUNCT
fumecheng-583	24	1	this	this	PRON
fumecheng-583	24	2	consists	consist	VERB
fumecheng-583	24	3	of	of	ADP
fumecheng-583	24	4	a	a	DET
fumecheng-583	24	5	mobile	mobile	ADJ
fumecheng-583	24	6	platform	platform	NOUN
fumecheng-583	24	7	which	which	PRON
fumecheng-583	24	8	hosts	host	VERB
fumecheng-583	24	9	a	a	DET
fumecheng-583	24	10	powered	powered	ADJ
fumecheng-583	24	11	robotic	robotic	ADJ
fumecheng-583	24	12	orthosis	orthosis	NOUN
fumecheng-583	24	13	.	.	PUNCT
fumecheng-583	25	1	the	the	DET
fumecheng-583	25	2	mobile	mobile	ADJ
fumecheng-583	25	3	platform	platform	NOUN
fumecheng-583	25	4	facilitates	facilitate	VERB
fumecheng-583	25	5	mobility	mobility	NOUN
fumecheng-583	25	6	whereas	whereas	SCONJ
fumecheng-583	25	7	the	the	DET
fumecheng-583	25	8	powered	power	VERB
fumecheng-583	25	9	robotic	robotic	ADJ
fumecheng-583	25	10	orthosis	orthosis	NOUN
fumecheng-583	25	11	assists	assist	VERB
fumecheng-583	25	12	a	a	DET
fumecheng-583	25	13	patient	patient	NOUN
fumecheng-583	25	14	with	with	ADP
fumecheng-583	25	15	their	their	PRON
fumecheng-583	25	16	locomotion	locomotion	NOUN
fumecheng-583	25	17	.	.	PUNCT
fumecheng-583	26	1	the	the	DET
fumecheng-583	26	2	situation	situation	NOUN
fumecheng-583	26	3	assessment	assessment	NOUN
fumecheng-583	26	4	architecture	architecture	NOUN
fumecheng-583	26	5	interprets	interpret	VERB
fumecheng-583	26	6	the	the	DET
fumecheng-583	26	7	state	state	NOUN
fumecheng-583	26	8	and	and	CCONJ
fumecheng-583	26	9	effort	effort	NOUN
fumecheng-583	26	10	of	of	ADP
fumecheng-583	26	11	the	the	DET
fumecheng-583	26	12	patient	patient	NOUN
fumecheng-583	26	13	including	include	VERB
fumecheng-583	26	14	the	the	DET
fumecheng-583	26	15	physical	physical	ADJ
fumecheng-583	26	16	and	and	CCONJ
fumecheng-583	26	17	psychological	psychological	ADJ
fumecheng-583	26	18	state	state	NOUN
fumecheng-583	26	19	.	.	PUNCT
fumecheng-583	27	1	this	this	DET
fumecheng-583	27	2	interpretation	interpretation	NOUN
fumecheng-583	27	3	is	be	AUX
fumecheng-583	27	4	used	use	VERB
fumecheng-583	27	5	to	to	PART
fumecheng-583	27	6	create	create	VERB
fumecheng-583	27	7	appropriate	appropriate	ADJ
fumecheng-583	27	8	commands	command	NOUN
fumecheng-583	27	9	for	for	ADP
fumecheng-583	27	10	robot	robot	NOUN
fumecheng-583	27	11	control	control	PROPN
fumecheng-583	27	12	adaptation	adaptation	NOUN
fumecheng-583	27	13	.	.	PUNCT
fumecheng-583	28	1	the	the	DET
fumecheng-583	28	2	corbys	corbys	NOUN
fumecheng-583	28	3	architecture	architecture	NOUN
fumecheng-583	28	4	enables	enable	VERB
fumecheng-583	28	5	this	this	DET
fumecheng-583	28	6	gait	gait	ADJ
fumecheng-583	28	7	rehabilitation	rehabilitation	NOUN
fumecheng-583	28	8	system	system	NOUN
fumecheng-583	28	9	to	to	PART
fumecheng-583	28	10	optimally	optimally	ADV
fumecheng-583	28	11	support	support	VERB
fumecheng-583	28	12	the	the	DET
fumecheng-583	28	13	rehabilitation	rehabilitation	NOUN
fumecheng-583	28	14	requirements	requirement	NOUN
fumecheng-583	28	15	of	of	ADP
fumecheng-583	28	16	the	the	DET
fumecheng-583	28	17	patient	patient	NOUN
fumecheng-583	28	18	at	at	ADP
fumecheng-583	28	19	different	different	ADJ
fumecheng-583	28	20	stages	stage	NOUN
fumecheng-583	28	21	in	in	ADP
fumecheng-583	28	22	a	a	DET
fumecheng-583	28	23	range	range	NOUN
fumecheng-583	28	24	of	of	ADP
fumecheng-583	28	25	gait	gait	ADJ
fumecheng-583	28	26	disorders	disorder	NOUN
fumecheng-583	28	27	.	.	PUNCT
fumecheng-583	29	1	2	2	X
fumecheng-583	29	2	.	.	X
fumecheng-583	29	3	situation	situation	NOUN
fumecheng-583	29	4	assessment	assessment	NOUN
fumecheng-583	29	5	architecture	architecture	NOUN
fumecheng-583	29	6	the	the	DET
fumecheng-583	29	7	overall	overall	ADJ
fumecheng-583	29	8	corbys	corbys	NOUN
fumecheng-583	29	9	system	system	NOUN
fumecheng-583	29	10	is	be	AUX
fumecheng-583	29	11	comprised	comprise	VERB
fumecheng-583	29	12	of	of	ADP
fumecheng-583	29	13	four	four	NUM
fumecheng-583	29	14	layers	layer	NOUN
fumecheng-583	29	15	;	;	PUNCT
fumecheng-583	29	16	the	the	DET
fumecheng-583	29	17	physical	physical	ADJ
fumecheng-583	29	18	layer	layer	NOUN
fumecheng-583	29	19	is	be	AUX
fumecheng-583	29	20	at	at	ADP
fumecheng-583	29	21	the	the	DET
fumecheng-583	29	22	bottom	bottom	NOUN
fumecheng-583	29	23	of	of	ADP
fumecheng-583	29	24	the	the	DET
fumecheng-583	29	25	stack	stack	NOUN
fumecheng-583	29	26	;	;	PUNCT
fumecheng-583	29	27	this	this	PRON
fumecheng-583	29	28	consists	consist	VERB
fumecheng-583	29	29	of	of	ADP
fumecheng-583	29	30	the	the	DET
fumecheng-583	29	31	sensors	sensor	NOUN
fumecheng-583	29	32	and	and	CCONJ
fumecheng-583	29	33	actuators	actuator	NOUN
fumecheng-583	29	34	that	that	PRON
fumecheng-583	29	35	are	be	AUX
fumecheng-583	29	36	plugged	plug	VERB
fumecheng-583	29	37	in	in	ADP
fumecheng-583	29	38	to	to	ADP
fumecheng-583	29	39	the	the	DET
fumecheng-583	29	40	corbys	corbys	NOUN
fumecheng-583	29	41	architecture	architecture	NOUN
fumecheng-583	29	42	,	,	PUNCT
fumecheng-583	29	43	based	base	VERB
fumecheng-583	29	44	on	on	ADP
fumecheng-583	29	45	the	the	DET
fumecheng-583	29	46	specific	specific	ADJ
fumecheng-583	29	47	application	application	NOUN
fumecheng-583	29	48	domain	domain	NOUN
fumecheng-583	29	49	.	.	PUNCT
fumecheng-583	30	1	the	the	DET
fumecheng-583	30	2	logical	logical	ADJ
fumecheng-583	30	3	layers	layer	NOUN
fumecheng-583	30	4	include	include	VERB
fumecheng-583	30	5	the	the	DET
fumecheng-583	30	6	cognitive	cognitive	ADJ
fumecheng-583	30	7	,	,	PUNCT
fumecheng-583	30	8	executive	executive	ADJ
fumecheng-583	30	9	and	and	CCONJ
fumecheng-583	30	10	control	control	NOUN
fumecheng-583	30	11	layers	layer	NOUN
fumecheng-583	30	12	.	.	PUNCT
fumecheng-583	31	1	it	it	PRON
fumecheng-583	31	2	is	be	AUX
fumecheng-583	31	3	the	the	DET
fumecheng-583	31	4	cognitive	cognitive	ADJ
fumecheng-583	31	5	layer	layer	NOUN
fumecheng-583	31	6	where	where	SCONJ
fumecheng-583	31	7	the	the	DET
fumecheng-583	31	8	situation	situation	NOUN
fumecheng-583	31	9	assessment	assessment	NOUN
fumecheng-583	31	10	architecture	architecture	NOUN
fumecheng-583	31	11	resides	reside	VERB
fumecheng-583	31	12	.	.	PUNCT
fumecheng-583	32	1	this	this	DET
fumecheng-583	32	2	architecture	architecture	NOUN
fumecheng-583	32	3	,	,	PUNCT
fumecheng-583	32	4	the	the	DET
fumecheng-583	32	5	main	main	ADJ
fumecheng-583	32	6	focus	focus	NOUN
fumecheng-583	32	7	of	of	ADP
fumecheng-583	32	8	this	this	DET
fumecheng-583	32	9	paper	paper	NOUN
fumecheng-583	32	10	,	,	PUNCT
fumecheng-583	32	11	endows	endow	VERB
fumecheng-583	32	12	the	the	DET
fumecheng-583	32	13	robotic	robotic	ADJ
fumecheng-583	32	14	system	system	NOUN
fumecheng-583	32	15	with	with	ADP
fumecheng-583	32	16	the	the	DET
fumecheng-583	32	17	cognitive	cognitive	ADJ
fumecheng-583	32	18	capabilities	capability	NOUN
fumecheng-583	32	19	by	by	ADP
fumecheng-583	32	20	assessing	assess	VERB
fumecheng-583	32	21	the	the	DET
fumecheng-583	32	22	current	current	ADJ
fumecheng-583	32	23	states	state	NOUN
fumecheng-583	32	24	of	of	ADP
fumecheng-583	32	25	the	the	DET
fumecheng-583	32	26	system	system	NOUN
fumecheng-583	32	27	and	and	CCONJ
fumecheng-583	32	28	the	the	DET
fumecheng-583	32	29	environment	environment	NOUN
fumecheng-583	32	30	(	(	PUNCT
fumecheng-583	32	31	including	include	VERB
fumecheng-583	32	32	humans	human	NOUN
fumecheng-583	32	33	)	)	PUNCT
fumecheng-583	32	34	to	to	PART
fumecheng-583	32	35	inform	inform	VERB
fumecheng-583	32	36	decision	decision	NOUN
fumecheng-583	32	37	making	make	VERB
fumecheng-583	32	38	responsive	responsive	ADJ
fumecheng-583	32	39	to	to	ADP
fumecheng-583	32	40	emerging	emerge	VERB
fumecheng-583	32	41	situations	situation	NOUN
fumecheng-583	32	42	by	by	ADP
fumecheng-583	32	43	generating	generate	VERB
fumecheng-583	32	44	high	high	ADJ
fumecheng-583	32	45	-	-	PUNCT
fumecheng-583	32	46	level	level	NOUN
fumecheng-583	32	47	inputs	input	NOUN
fumecheng-583	32	48	for	for	ADP
fumecheng-583	32	49	the	the	DET
fumecheng-583	32	50	control	control	NOUN
fumecheng-583	32	51	system	system	NOUN
fumecheng-583	32	52	.	.	PUNCT
fumecheng-583	33	1	2.1	2.1	NUM
fumecheng-583	33	2	.	.	PUNCT
fumecheng-583	34	1	building	build	VERB
fumecheng-583	34	2	situation	situation	NOUN
fumecheng-583	34	3	awareness	awareness	NOUN
fumecheng-583	34	4	we	we	PRON
fumecheng-583	34	5	define	define	VERB
fumecheng-583	34	6	situation	situation	NOUN
fumecheng-583	34	7	awareness	awareness	NOUN
fumecheng-583	34	8	as	as	ADP
fumecheng-583	34	9	having	have	VERB
fumecheng-583	34	10	knowledge	knowledge	NOUN
fumecheng-583	34	11	about	about	ADP
fumecheng-583	34	12	a	a	DET
fumecheng-583	34	13	particular	particular	ADJ
fumecheng-583	34	14	situation	situation	NOUN
fumecheng-583	34	15	.	.	PUNCT
fumecheng-583	35	1	our	our	PRON
fumecheng-583	35	2	architecture	architecture	NOUN
fumecheng-583	35	3	interprets	interpret	VERB
fumecheng-583	35	4	data	datum	NOUN
fumecheng-583	35	5	provided	provide	VERB
fumecheng-583	35	6	by	by	ADP
fumecheng-583	35	7	the	the	DET
fumecheng-583	35	8	sensors	sensor	NOUN
fumecheng-583	35	9	and	and	CCONJ
fumecheng-583	35	10	actuators	actuator	NOUN
fumecheng-583	35	11	coming	come	VERB
fumecheng-583	35	12	from	from	ADP
fumecheng-583	35	13	a	a	DET
fumecheng-583	35	14	robotic	robotic	ADJ
fumecheng-583	35	15	system	system	NOUN
fumecheng-583	35	16	to	to	PART
fumecheng-583	35	17	create	create	VERB
fumecheng-583	35	18	such	such	ADJ
fumecheng-583	35	19	awareness	awareness	NOUN
fumecheng-583	35	20	.	.	PUNCT
fumecheng-583	36	1	there	there	PRON
fumecheng-583	36	2	are	be	VERB
fumecheng-583	36	3	several	several	ADJ
fumecheng-583	36	4	factors	factor	NOUN
fumecheng-583	36	5	a	a	DET
fumecheng-583	36	6	robot	robot	NOUN
fumecheng-583	36	7	may	may	AUX
fumecheng-583	36	8	need	need	VERB
fumecheng-583	36	9	to	to	PART
fumecheng-583	36	10	be	be	AUX
fumecheng-583	36	11	made	make	VERB
fumecheng-583	36	12	aware	aware	ADJ
fumecheng-583	36	13	of	of	ADP
fumecheng-583	36	14	in	in	ADP
fumecheng-583	36	15	an	an	DET
fumecheng-583	36	16	environment	environment	NOUN
fumecheng-583	36	17	,	,	PUNCT
fumecheng-583	36	18	therefore	therefore	ADV
fumecheng-583	36	19	,	,	PUNCT
fumecheng-583	36	20	we	we	PRON
fumecheng-583	36	21	follow	follow	VERB
fumecheng-583	36	22	a	a	DET
fumecheng-583	36	23	suitably	suitably	ADV
fumecheng-583	36	24	scoped	scope	VERB
fumecheng-583	36	25	but	but	CCONJ
fumecheng-583	36	26	extensible	extensible	ADJ
fumecheng-583	36	27	approach	approach	NOUN
fumecheng-583	36	28	in	in	ADP
fumecheng-583	36	29	terms	term	NOUN
fumecheng-583	36	30	of	of	ADP
fumecheng-583	36	31	cardinality	cardinality	NOUN
fumecheng-583	36	32	of	of	ADP
fumecheng-583	36	33	the	the	DET
fumecheng-583	36	34	states	state	NOUN
fumecheng-583	36	35	to	to	PART
fumecheng-583	36	36	be	be	AUX
fumecheng-583	36	37	assessed	assess	VERB
fumecheng-583	36	38	using	use	VERB
fumecheng-583	36	39	ontologies	ontology	NOUN
fumecheng-583	36	40	and	and	CCONJ
fumecheng-583	36	41	formalise	formalise	VERB
fumecheng-583	36	42	the	the	DET
fumecheng-583	36	43	definitions	definition	NOUN
fumecheng-583	36	44	of	of	ADP
fumecheng-583	36	45	context	context	NOUN
fumecheng-583	36	46	and	and	CCONJ
fumecheng-583	36	47	situation	situation	NOUN
fumecheng-583	36	48	in	in	ADP
fumecheng-583	36	49	corbys	corbys	NOUN
fumecheng-583	36	50	.	.	PUNCT
fumecheng-583	37	1	our	our	PRON
fumecheng-583	37	2	definition	definition	NOUN
fumecheng-583	37	3	of	of	ADP
fumecheng-583	37	4	context	context	NOUN
fumecheng-583	37	5	for	for	ADP
fumecheng-583	37	6	robotic	robotic	ADJ
fumecheng-583	37	7	applications	application	NOUN
fumecheng-583	37	8	is	be	AUX
fumecheng-583	37	9	centred	centre	VERB
fumecheng-583	37	10	on	on	ADP
fumecheng-583	37	11	the	the	DET
fumecheng-583	37	12	location	location	NOUN
fumecheng-583	37	13	of	of	ADP
fumecheng-583	37	14	the	the	DET
fumecheng-583	37	15	robot	robot	NOUN
fumecheng-583	37	16	in	in	ADP
fumecheng-583	37	17	an	an	DET
fumecheng-583	37	18	environment	environment	NOUN
fumecheng-583	37	19	and	and	CCONJ
fumecheng-583	37	20	the	the	DET
fumecheng-583	37	21	entities	entity	NOUN
fumecheng-583	37	22	(	(	PUNCT
fumecheng-583	37	23	mainly	mainly	ADV
fumecheng-583	37	24	objects	object	NOUN
fumecheng-583	37	25	but	but	CCONJ
fumecheng-583	37	26	also	also	ADV
fumecheng-583	37	27	co	co	NOUN
fumecheng-583	37	28	-	-	NOUN
fumecheng-583	37	29	workers	worker	NOUN
fumecheng-583	37	30	)	)	PUNCT
fumecheng-583	37	31	existing	exist	VERB
fumecheng-583	37	32	in	in	ADP
fumecheng-583	37	33	such	such	DET
fumecheng-583	37	34	an	an	DET
fumecheng-583	37	35	environment	environment	NOUN
fumecheng-583	37	36	and	and	CCONJ
fumecheng-583	37	37	whose	whose	DET
fumecheng-583	37	38	dynamic	dynamic	ADJ
fumecheng-583	37	39	states	state	NOUN
fumecheng-583	37	40	would	would	AUX
fumecheng-583	37	41	need	need	VERB
fumecheng-583	37	42	to	to	PART
fumecheng-583	37	43	be	be	AUX
fumecheng-583	37	44	continuously	continuously	ADV
fumecheng-583	37	45	monitored	monitor	VERB
fumecheng-583	37	46	and	and	CCONJ
fumecheng-583	37	47	assessed	assess	VERB
fumecheng-583	37	48	.	.	PUNCT
fumecheng-583	38	1	on	on	ADP
fumecheng-583	38	2	the	the	DET
fumecheng-583	38	3	other	other	ADJ
fumecheng-583	38	4	hand	hand	NOUN
fumecheng-583	38	5	,	,	PUNCT
fumecheng-583	38	6	a	a	DET
fumecheng-583	38	7	situation	situation	NOUN
fumecheng-583	38	8	is	be	AUX
fumecheng-583	38	9	defined	define	VERB
fumecheng-583	38	10	by	by	ADP
fumecheng-583	38	11	events	event	NOUN
fumecheng-583	38	12	happening	happen	VERB
fumecheng-583	38	13	in	in	ADP
fumecheng-583	38	14	a	a	DET
fumecheng-583	38	15	specific	specific	ADJ
fumecheng-583	38	16	context	context	NOUN
fumecheng-583	38	17	.	.	PUNCT
fumecheng-583	39	1	situation	situation	NOUN
fumecheng-583	39	2	assessment	assessment	NOUN
fumecheng-583	39	3	through	through	ADP
fumecheng-583	39	4	multi	multi	ADJ
fumecheng-583	39	5	-	-	ADJ
fumecheng-583	39	6	modal	modal	ADJ
fumecheng-583	39	7	sensing	sensing	NOUN
fumecheng-583	39	8	of	of	ADP
fumecheng-583	39	9	dynamic	dynamic	ADJ
fumecheng-583	39	10	environments	environment	NOUN
fumecheng-583	39	11	to	to	PART
fumecheng-583	39	12	support	support	VERB
fumecheng-583	39	13	cognitive	cognitive	ADJ
fumecheng-583	39	14	robot	robot	NOUN
fumecheng-583	39	15	253	253	NUM
fumecheng-583	39	16	the	the	DET
fumecheng-583	39	17	context	context	NOUN
fumecheng-583	39	18	for	for	ADP
fumecheng-583	39	19	a	a	DET
fumecheng-583	39	20	robot	robot	NOUN
fumecheng-583	39	21	is	be	AUX
fumecheng-583	39	22	the	the	DET
fumecheng-583	39	23	set	set	NOUN
fumecheng-583	39	24	of	of	ADP
fumecheng-583	39	25	those	those	DET
fumecheng-583	39	26	predicates	predicate	NOUN
fumecheng-583	39	27	related	relate	VERB
fumecheng-583	39	28	to	to	ADP
fumecheng-583	39	29	the	the	DET
fumecheng-583	39	30	spatio	spatio	PROPN
fumecheng-583	39	31	-	-	PUNCT
fumecheng-583	39	32	temporally	temporally	ADV
fumecheng-583	39	33	specific	specific	ADJ
fumecheng-583	39	34	state	state	NOUN
fumecheng-583	39	35	vectors	vector	NOUN
fumecheng-583	39	36	of	of	ADP
fumecheng-583	39	37	the	the	DET
fumecheng-583	39	38	robot	robot	NOUN
fumecheng-583	39	39	itself	itself	PRON
fumecheng-583	39	40	and	and	CCONJ
fumecheng-583	39	41	the	the	DET
fumecheng-583	39	42	entities	entity	NOUN
fumecheng-583	39	43	in	in	ADP
fumecheng-583	39	44	its	its	PRON
fumecheng-583	39	45	operational	operational	ADJ
fumecheng-583	39	46	space	space	NOUN
fumecheng-583	39	47	relevant	relevant	ADJ
fumecheng-583	39	48	to	to	ADP
fumecheng-583	39	49	the	the	DET
fumecheng-583	39	50	robot	robot	NOUN
fumecheng-583	39	51	interactions	interaction	NOUN
fumecheng-583	39	52	in	in	ADP
fumecheng-583	39	53	the	the	DET
fumecheng-583	39	54	recent	recent	ADJ
fumecheng-583	39	55	past	past	NOUN
fumecheng-583	39	56	,	,	PUNCT
fumecheng-583	39	57	present	present	ADJ
fumecheng-583	39	58	or	or	CCONJ
fumecheng-583	39	59	immediate	immediate	ADJ
fumecheng-583	39	60	future	future	NOUN
fumecheng-583	39	61	.	.	PUNCT
fumecheng-583	40	1	this	this	PRON
fumecheng-583	40	2	includes	include	VERB
fumecheng-583	40	3	all	all	DET
fumecheng-583	40	4	self	self	NOUN
fumecheng-583	40	5	-	-	PUNCT
fumecheng-583	40	6	states	state	NOUN
fumecheng-583	40	7	such	such	ADJ
fumecheng-583	40	8	as	as	ADP
fumecheng-583	40	9	space	space	NOUN
fumecheng-583	40	10	,	,	PUNCT
fumecheng-583	40	11	position	position	NOUN
fumecheng-583	40	12	,	,	PUNCT
fumecheng-583	40	13	place	place	NOUN
fumecheng-583	40	14	,	,	PUNCT
fumecheng-583	40	15	location	location	NOUN
fumecheng-583	40	16	,	,	PUNCT
fumecheng-583	40	17	resources	resource	NOUN
fumecheng-583	40	18	,	,	PUNCT
fumecheng-583	40	19	and	and	CCONJ
fumecheng-583	40	20	the	the	DET
fumecheng-583	40	21	states	state	NOUN
fumecheng-583	40	22	of	of	ADP
fumecheng-583	40	23	persons	person	NOUN
fumecheng-583	40	24	and	and	CCONJ
fumecheng-583	40	25	objects	object	NOUN
fumecheng-583	40	26	with	with	ADP
fumecheng-583	40	27	which	which	PRON
fumecheng-583	40	28	the	the	DET
fumecheng-583	40	29	robot	robot	NOUN
fumecheng-583	40	30	is	be	AUX
fumecheng-583	40	31	interacting	interact	VERB
fumecheng-583	40	32	.	.	PUNCT
fumecheng-583	41	1	the	the	DET
fumecheng-583	41	2	notion	notion	NOUN
fumecheng-583	41	3	of	of	ADP
fumecheng-583	41	4	context	context	NOUN
fumecheng-583	41	5	is	be	AUX
fumecheng-583	41	6	a	a	DET
fumecheng-583	41	7	hierarchical	hierarchical	ADJ
fumecheng-583	41	8	(	(	PUNCT
fumecheng-583	41	9	multilayered	multilayered	ADJ
fumecheng-583	41	10	)	)	PUNCT
fumecheng-583	41	11	abstraction	abstraction	NOUN
fumecheng-583	41	12	space	space	NOUN
fumecheng-583	41	13	and	and	CCONJ
fumecheng-583	41	14	its	its	PRON
fumecheng-583	41	15	formulation	formulation	NOUN
fumecheng-583	41	16	and	and	CCONJ
fumecheng-583	41	17	expression	expression	NOUN
fumecheng-583	41	18	are	be	AUX
fumecheng-583	41	19	strongly	strongly	ADV
fumecheng-583	41	20	ontologically	ontologically	ADV
fumecheng-583	41	21	committed	commit	VERB
fumecheng-583	41	22	and	and	CCONJ
fumecheng-583	41	23	have	have	VERB
fumecheng-583	41	24	to	to	PART
fumecheng-583	41	25	be	be	AUX
fumecheng-583	41	26	efficiently	efficiently	ADV
fumecheng-583	41	27	structured	structure	VERB
fumecheng-583	41	28	and	and	CCONJ
fumecheng-583	41	29	de	de	VERB
fumecheng-583	41	30	-	-	ADJ
fumecheng-583	41	31	limited	limited	ADJ
fumecheng-583	41	32	to	to	PART
fumecheng-583	41	33	provide	provide	VERB
fumecheng-583	41	34	only	only	ADV
fumecheng-583	41	35	the	the	DET
fumecheng-583	41	36	necessary	necessary	ADJ
fumecheng-583	41	37	and	and	CCONJ
fumecheng-583	41	38	sufficient	sufficient	ADJ
fumecheng-583	41	39	situation	situation	NOUN
fumecheng-583	41	40	parametric	parametric	ADJ
fumecheng-583	41	41	values	value	NOUN
fumecheng-583	41	42	within	within	ADP
fumecheng-583	41	43	a	a	DET
fumecheng-583	41	44	spatio	spatio	NOUN
fumecheng-583	41	45	-	-	PUNCT
fumecheng-583	41	46	temporally	temporally	ADV
fumecheng-583	41	47	logical	logical	ADJ
fumecheng-583	41	48	analysis	analysis	NOUN
fumecheng-583	41	49	window	window	NOUN
fumecheng-583	41	50	so	so	SCONJ
fumecheng-583	41	51	as	as	SCONJ
fumecheng-583	41	52	to	to	PART
fumecheng-583	41	53	avoid	avoid	VERB
fumecheng-583	41	54	computationally	computationally	ADV
fumecheng-583	41	55	prohibitive	prohibitive	ADJ
fumecheng-583	41	56	complexity	complexity	NOUN
fumecheng-583	41	57	.	.	PUNCT
fumecheng-583	42	1	we	we	PRON
fumecheng-583	42	2	build	build	VERB
fumecheng-583	42	3	a	a	DET
fumecheng-583	42	4	context	context	NOUN
fumecheng-583	42	5	by	by	ADP
fumecheng-583	42	6	aggregating	aggregate	VERB
fumecheng-583	42	7	and	and	CCONJ
fumecheng-583	42	8	interpreting	interpret	VERB
fumecheng-583	42	9	the	the	DET
fumecheng-583	42	10	data	datum	NOUN
fumecheng-583	42	11	coming	come	VERB
fumecheng-583	42	12	from	from	ADP
fumecheng-583	42	13	different	different	ADJ
fumecheng-583	42	14	sensors	sensor	NOUN
fumecheng-583	42	15	and	and	CCONJ
fumecheng-583	42	16	actuators	actuator	NOUN
fumecheng-583	42	17	.	.	PUNCT
fumecheng-583	43	1	therefore	therefore	ADV
fumecheng-583	43	2	any	any	DET
fumecheng-583	43	3	information	information	NOUN
fumecheng-583	43	4	sensed	sense	VERB
fumecheng-583	43	5	from	from	ADP
fumecheng-583	43	6	an	an	DET
fumecheng-583	43	7	environment	environment	NOUN
fumecheng-583	43	8	becomes	become	VERB
fumecheng-583	43	9	part	part	NOUN
fumecheng-583	43	10	of	of	ADP
fumecheng-583	43	11	the	the	DET
fumecheng-583	43	12	context	context	NOUN
fumecheng-583	43	13	.	.	PUNCT
fumecheng-583	44	1	a	a	DET
fumecheng-583	44	2	situation	situation	NOUN
fumecheng-583	44	3	,	,	PUNCT
fumecheng-583	44	4	on	on	ADP
fumecheng-583	44	5	the	the	DET
fumecheng-583	44	6	other	other	ADJ
fumecheng-583	44	7	hand	hand	NOUN
fumecheng-583	44	8	,	,	PUNCT
fumecheng-583	44	9	is	be	AUX
fumecheng-583	44	10	time	time	NOUN
fumecheng-583	44	11	and	and	CCONJ
fumecheng-583	44	12	event	event	NOUN
fumecheng-583	44	13	critical	critical	ADJ
fumecheng-583	44	14	and	and	CCONJ
fumecheng-583	44	15	is	be	AUX
fumecheng-583	44	16	highly	highly	ADV
fumecheng-583	44	17	dependent	dependent	ADJ
fumecheng-583	44	18	on	on	ADP
fumecheng-583	44	19	the	the	DET
fumecheng-583	44	20	context	context	NOUN
fumecheng-583	44	21	.	.	PUNCT
fumecheng-583	45	1	in	in	ADP
fumecheng-583	45	2	other	other	ADJ
fumecheng-583	45	3	words	word	NOUN
fumecheng-583	45	4	,	,	PUNCT
fumecheng-583	45	5	a	a	DET
fumecheng-583	45	6	situation	situation	NOUN
fumecheng-583	45	7	relies	rely	VERB
fumecheng-583	45	8	on	on	ADP
fumecheng-583	45	9	the	the	DET
fumecheng-583	45	10	current	current	ADJ
fumecheng-583	45	11	context	context	NOUN
fumecheng-583	45	12	and	and	CCONJ
fumecheng-583	45	13	is	be	AUX
fumecheng-583	45	14	defined	define	VERB
fumecheng-583	45	15	by	by	ADP
fumecheng-583	45	16	the	the	DET
fumecheng-583	45	17	co	co	NOUN
fumecheng-583	45	18	-	-	NOUN
fumecheng-583	45	19	occurrence	occurrence	NOUN
fumecheng-583	45	20	of	of	ADP
fumecheng-583	45	21	particular	particular	ADJ
fumecheng-583	45	22	events	event	NOUN
fumecheng-583	45	23	happening	happen	VERB
fumecheng-583	45	24	over	over	ADP
fumecheng-583	45	25	a	a	DET
fumecheng-583	45	26	temporal	temporal	ADJ
fumecheng-583	45	27	analysis	analysis	NOUN
fumecheng-583	45	28	window	window	NOUN
fumecheng-583	45	29	.	.	PUNCT
fumecheng-583	46	1	in	in	ADP
fumecheng-583	46	2	corbys	corbys	PROPN
fumecheng-583	46	3	,	,	PUNCT
fumecheng-583	46	4	the	the	DET
fumecheng-583	46	5	gait	gait	PROPN
fumecheng-583	46	6	rehabilitation	rehabilitation	NOUN
fumecheng-583	46	7	robot	robot	NOUN
fumecheng-583	46	8	uses	use	VERB
fumecheng-583	46	9	the	the	DET
fumecheng-583	46	10	corbys	corbys	NOUN
fumecheng-583	46	11	cognitive	cognitive	ADJ
fumecheng-583	46	12	architecture	architecture	NOUN
fumecheng-583	46	13	to	to	PART
fumecheng-583	46	14	control	control	VERB
fumecheng-583	46	15	a	a	DET
fumecheng-583	46	16	powered	powered	ADJ
fumecheng-583	46	17	orthosis	orthosis	NOUN
fumecheng-583	46	18	to	to	PART
fumecheng-583	46	19	help	help	VERB
fumecheng-583	46	20	patients	patient	NOUN
fumecheng-583	46	21	with	with	ADP
fumecheng-583	46	22	walking	walk	VERB
fumecheng-583	46	23	difficulties	difficulty	NOUN
fumecheng-583	46	24	to	to	PART
fumecheng-583	46	25	overcome	overcome	VERB
fumecheng-583	46	26	some	some	PRON
fumecheng-583	46	27	of	of	ADP
fumecheng-583	46	28	the	the	DET
fumecheng-583	46	29	challenges	challenge	NOUN
fumecheng-583	46	30	posed	pose	VERB
fumecheng-583	46	31	by	by	ADP
fumecheng-583	46	32	their	their	PRON
fumecheng-583	46	33	particular	particular	ADJ
fumecheng-583	46	34	gait	gait	NOUN
fumecheng-583	46	35	impairments	impairment	NOUN
fumecheng-583	46	36	.	.	PUNCT
fumecheng-583	47	1	for	for	ADP
fumecheng-583	47	2	this	this	DET
fumecheng-583	47	3	case	case	NOUN
fumecheng-583	47	4	,	,	PUNCT
fumecheng-583	47	5	we	we	PRON
fumecheng-583	47	6	analyse	analyse	VERB
fumecheng-583	47	7	a	a	DET
fumecheng-583	47	8	patient	patient	NOUN
fumecheng-583	47	9	’s	’s	PART
fumecheng-583	47	10	gait	gait	NOUN
fumecheng-583	47	11	to	to	PART
fumecheng-583	47	12	identify	identify	VERB
fumecheng-583	47	13	their	their	PRON
fumecheng-583	47	14	specific	specific	ADJ
fumecheng-583	47	15	locomotion	locomotion	NOUN
fumecheng-583	47	16	difficulties	difficulty	NOUN
fumecheng-583	47	17	as	as	SCONJ
fumecheng-583	47	18	encountered	encounter	VERB
fumecheng-583	47	19	in	in	ADP
fumecheng-583	47	20	particular	particular	ADJ
fumecheng-583	47	21	gait	gait	NOUN
fumecheng-583	47	22	phases	phase	NOUN
fumecheng-583	47	23	.	.	PUNCT
fumecheng-583	48	1	fig	fig	NOUN
fumecheng-583	48	2	.	.	PUNCT
fumecheng-583	49	1	1	1	NUM
fumecheng-583	50	1	the	the	DET
fumecheng-583	50	2	corbys	corbys	ADJ
fumecheng-583	50	3	situation	situation	NOUN
fumecheng-583	50	4	assessment	assessment	NOUN
fumecheng-583	50	5	architecture	architecture	NOUN
fumecheng-583	50	6	254	254	NUM
fumecheng-583	50	7	a.	a.	NOUN
fumecheng-583	50	8	badii	badii	NOUN
fumecheng-583	50	9	,	,	PUNCT
fumecheng-583	50	10	a.	a.	PROPN
fumecheng-583	50	11	khan	khan	PROPN
fumecheng-583	50	12	,	,	PUNCT
fumecheng-583	50	13	r.	r.	PROPN
fumecheng-583	50	14	raval	raval	PROPN
fumecheng-583	50	15	,	,	PUNCT
fumecheng-583	50	16	h.	h.	PROPN
fumecheng-583	50	17	oudi	oudi	PROPN
fumecheng-583	50	18	,	,	PUNCT
fumecheng-583	50	19	r.	r.	PROPN
fumecheng-583	50	20	ayora	ayora	PROPN
fumecheng-583	50	21	,	,	PUNCT
fumecheng-583	50	22	w.	w.	PROPN
fumecheng-583	50	23	khan	khan	PROPN
fumecheng-583	50	24	,	,	PUNCT
fumecheng-583	50	25	a.	a.	NOUN
fumecheng-583	50	26	jaidi	jaidi	PROPN
fumecheng-583	50	27	,	,	PUNCT
fumecheng-583	50	28	n.	n.	PROPN
fumecheng-583	50	29	viswanathan	viswanathan	PROPN
fumecheng-583	50	30	the	the	DET
fumecheng-583	50	31	results	result	NOUN
fumecheng-583	50	32	produced	produce	VERB
fumecheng-583	50	33	from	from	ADP
fumecheng-583	50	34	the	the	DET
fumecheng-583	50	35	gait	gait	NOUN
fumecheng-583	50	36	pattern	pattern	NOUN
fumecheng-583	50	37	analysis	analysis	NOUN
fumecheng-583	50	38	are	be	AUX
fumecheng-583	50	39	then	then	ADV
fumecheng-583	50	40	correlated	correlate	VERB
fumecheng-583	50	41	with	with	ADP
fumecheng-583	50	42	physiological	physiological	ADJ
fumecheng-583	50	43	data	datum	NOUN
fumecheng-583	50	44	to	to	PART
fumecheng-583	50	45	track	track	VERB
fumecheng-583	50	46	progress	progress	NOUN
fumecheng-583	50	47	and	and	CCONJ
fumecheng-583	50	48	state	state	NOUN
fumecheng-583	50	49	.	.	PUNCT
fumecheng-583	51	1	the	the	DET
fumecheng-583	51	2	second	second	ADJ
fumecheng-583	51	3	corbys	corbys	NOUN
fumecheng-583	51	4	demonstrator	demonstrator	NOUN
fumecheng-583	51	5	is	be	AUX
fumecheng-583	51	6	required	require	VERB
fumecheng-583	51	7	to	to	PART
fumecheng-583	51	8	navigate	navigate	VERB
fumecheng-583	51	9	in	in	ADP
fumecheng-583	51	10	an	an	DET
fumecheng-583	51	11	environment	environment	NOUN
fumecheng-583	51	12	and	and	CCONJ
fumecheng-583	51	13	take	take	VERB
fumecheng-583	51	14	deliberate	deliberate	ADJ
fumecheng-583	51	15	actions	action	NOUN
fumecheng-583	51	16	responsive	responsive	ADJ
fumecheng-583	51	17	to	to	ADP
fumecheng-583	51	18	its	its	PRON
fumecheng-583	51	19	sensory	sensory	ADJ
fumecheng-583	51	20	input	input	NOUN
fumecheng-583	51	21	to	to	PART
fumecheng-583	51	22	detect	detect	VERB
fumecheng-583	51	23	obstacles	obstacle	NOUN
fumecheng-583	51	24	and	and	CCONJ
fumecheng-583	51	25	assert	assert	VERB
fumecheng-583	51	26	their	their	PRON
fumecheng-583	51	27	presence	presence	NOUN
fumecheng-583	51	28	to	to	PART
fumecheng-583	51	29	facilitate	facilitate	VERB
fumecheng-583	51	30	route	route	NOUN
fumecheng-583	51	31	planning	planning	NOUN
fumecheng-583	51	32	and	and	CCONJ
fumecheng-583	51	33	decision	decision	NOUN
fumecheng-583	51	34	making	making	NOUN
fumecheng-583	51	35	.	.	PUNCT
fumecheng-583	52	1	for	for	ADP
fumecheng-583	52	2	demonstrator	demonstrator	PROPN
fumecheng-583	52	3	i	i	PROPN
fumecheng-583	52	4	,	,	PUNCT
fumecheng-583	52	5	the	the	DET
fumecheng-583	52	6	location	location	NOUN
fumecheng-583	52	7	context	context	NOUN
fumecheng-583	52	8	remains	remain	VERB
fumecheng-583	52	9	the	the	DET
fumecheng-583	52	10	same	same	ADJ
fumecheng-583	52	11	given	give	VERB
fumecheng-583	52	12	that	that	SCONJ
fumecheng-583	52	13	the	the	DET
fumecheng-583	52	14	mobile	mobile	ADJ
fumecheng-583	52	15	robotic	robotic	ADJ
fumecheng-583	52	16	system	system	NOUN
fumecheng-583	52	17	with	with	ADP
fumecheng-583	52	18	the	the	DET
fumecheng-583	52	19	powered	power	VERB
fumecheng-583	52	20	orthosis	orthosis	NOUN
fumecheng-583	52	21	will	will	AUX
fumecheng-583	52	22	allow	allow	VERB
fumecheng-583	52	23	the	the	DET
fumecheng-583	52	24	patient	patient	NOUN
fumecheng-583	52	25	to	to	PART
fumecheng-583	52	26	move	move	VERB
fumecheng-583	52	27	about	about	ADP
fumecheng-583	52	28	in	in	ADP
fumecheng-583	52	29	a	a	DET
fumecheng-583	52	30	big	big	ADJ
fumecheng-583	52	31	hall	hall	NOUN
fumecheng-583	52	32	space	space	NOUN
fumecheng-583	52	33	,	,	PUNCT
fumecheng-583	52	34	however	however	ADV
fumecheng-583	52	35	,	,	PUNCT
fumecheng-583	52	36	the	the	DET
fumecheng-583	52	37	system	system	NOUN
fumecheng-583	52	38	and	and	CCONJ
fumecheng-583	52	39	the	the	DET
fumecheng-583	52	40	human	human	NOUN
fumecheng-583	52	41	will	will	AUX
fumecheng-583	52	42	not	not	PART
fumecheng-583	52	43	leave	leave	VERB
fumecheng-583	52	44	that	that	DET
fumecheng-583	52	45	space	space	NOUN
fumecheng-583	52	46	to	to	PART
fumecheng-583	52	47	enter	enter	VERB
fumecheng-583	52	48	a	a	DET
fumecheng-583	52	49	different	different	ADJ
fumecheng-583	52	50	location	location	NOUN
fumecheng-583	52	51	,	,	PUNCT
fumecheng-583	52	52	e.g.	e.g.	ADV
fumecheng-583	52	53	,	,	PUNCT
fumecheng-583	52	54	an	an	DET
fumecheng-583	52	55	adjacent	adjacent	ADJ
fumecheng-583	52	56	room	room	NOUN
fumecheng-583	52	57	.	.	PUNCT
fumecheng-583	53	1	thus	thus	ADV
fumecheng-583	53	2	the	the	DET
fumecheng-583	53	3	focus	focus	NOUN
fumecheng-583	53	4	in	in	ADP
fumecheng-583	53	5	this	this	DET
fumecheng-583	53	6	demonstrator	demonstrator	NOUN
fumecheng-583	53	7	is	be	AUX
fumecheng-583	53	8	on	on	ADP
fumecheng-583	53	9	the	the	DET
fumecheng-583	53	10	representation	representation	NOUN
fumecheng-583	53	11	of	of	ADP
fumecheng-583	53	12	the	the	DET
fumecheng-583	53	13	human	human	ADJ
fumecheng-583	53	14	context	context	NOUN
fumecheng-583	53	15	that	that	PRON
fumecheng-583	53	16	is	be	AUX
fumecheng-583	53	17	interacting	interact	VERB
fumecheng-583	53	18	with	with	ADP
fumecheng-583	53	19	the	the	DET
fumecheng-583	53	20	robot	robot	NOUN
fumecheng-583	53	21	.	.	PUNCT
fumecheng-583	54	1	this	this	PRON
fumecheng-583	54	2	is	be	AUX
fumecheng-583	54	3	based	base	VERB
fumecheng-583	54	4	on	on	ADP
fumecheng-583	54	5	the	the	DET
fumecheng-583	54	6	sensed	sense	VERB
fumecheng-583	54	7	gait	gait	PROPN
fumecheng-583	54	8	motion	motion	NOUN
fumecheng-583	54	9	,	,	PUNCT
fumecheng-583	54	10	and	and	CCONJ
fumecheng-583	54	11	the	the	DET
fumecheng-583	54	12	psycho	psycho	NOUN
fumecheng-583	54	13	-	-	PUNCT
fumecheng-583	54	14	physiological	physiological	ADJ
fumecheng-583	54	15	states	state	NOUN
fumecheng-583	54	16	.	.	PUNCT
fumecheng-583	55	1	given	give	VERB
fumecheng-583	55	2	that	that	SCONJ
fumecheng-583	55	3	each	each	DET
fumecheng-583	55	4	corbys	corbys	NOUN
fumecheng-583	55	5	demonstrator	demonstrator	NOUN
fumecheng-583	55	6	is	be	AUX
fumecheng-583	55	7	intended	intend	VERB
fumecheng-583	55	8	for	for	ADP
fumecheng-583	55	9	a	a	DET
fumecheng-583	55	10	different	different	ADJ
fumecheng-583	55	11	application	application	NOUN
fumecheng-583	55	12	domain	domain	NOUN
fumecheng-583	55	13	;	;	PUNCT
fumecheng-583	55	14	these	these	PRON
fumecheng-583	55	15	would	would	AUX
fumecheng-583	55	16	eventually	eventually	ADV
fumecheng-583	55	17	come	come	VERB
fumecheng-583	55	18	with	with	ADP
fumecheng-583	55	19	different	different	ADJ
fumecheng-583	55	20	data	data	NOUN
fumecheng-583	55	21	requirements	requirement	NOUN
fumecheng-583	55	22	therefore	therefore	ADV
fumecheng-583	55	23	we	we	PRON
fumecheng-583	55	24	have	have	AUX
fumecheng-583	55	25	provided	provide	VERB
fumecheng-583	55	26	for	for	ADP
fumecheng-583	55	27	a	a	DET
fumecheng-583	55	28	flexible	flexible	ADJ
fumecheng-583	55	29	way	way	NOUN
fumecheng-583	55	30	to	to	PART
fumecheng-583	55	31	import	import	VERB
fumecheng-583	55	32	new	new	ADJ
fumecheng-583	55	33	ontologies	ontology	NOUN
fumecheng-583	55	34	that	that	PRON
fumecheng-583	55	35	can	can	AUX
fumecheng-583	55	36	be	be	AUX
fumecheng-583	55	37	domain	domain	NOUN
fumecheng-583	55	38	-	-	PUNCT
fumecheng-583	55	39	specific	specific	ADJ
fumecheng-583	55	40	to	to	PART
fumecheng-583	55	41	extend	extend	VERB
fumecheng-583	55	42	the	the	DET
fumecheng-583	55	43	current	current	ADJ
fumecheng-583	55	44	general	general	ADJ
fumecheng-583	55	45	robot	robot	NOUN
fumecheng-583	55	46	ontology	ontology	NOUN
fumecheng-583	55	47	.	.	PUNCT
fumecheng-583	56	1	in	in	ADP
fumecheng-583	56	2	this	this	DET
fumecheng-583	56	3	case	case	NOUN
fumecheng-583	56	4	although	although	SCONJ
fumecheng-583	56	5	a	a	DET
fumecheng-583	56	6	context	context	NOUN
fumecheng-583	56	7	will	will	AUX
fumecheng-583	56	8	reference	reference	VERB
fumecheng-583	56	9	something	something	PRON
fumecheng-583	56	10	different	different	ADJ
fumecheng-583	56	11	in	in	ADP
fumecheng-583	56	12	both	both	DET
fumecheng-583	56	13	demonstrators	demonstrator	NOUN
fumecheng-583	56	14	given	give	VERB
fumecheng-583	56	15	the	the	DET
fumecheng-583	56	16	distinct	distinct	ADJ
fumecheng-583	56	17	application	application	NOUN
fumecheng-583	56	18	domains	domain	NOUN
fumecheng-583	56	19	,	,	PUNCT
fumecheng-583	56	20	the	the	DET
fumecheng-583	56	21	logical	logical	ADJ
fumecheng-583	56	22	foundation	foundation	NOUN
fumecheng-583	56	23	,	,	PUNCT
fumecheng-583	56	24	and	and	CCONJ
fumecheng-583	56	25	the	the	DET
fumecheng-583	56	26	definitions	definition	NOUN
fumecheng-583	56	27	remain	remain	VERB
fumecheng-583	56	28	re	re	ADJ
fumecheng-583	56	29	-	-	ADJ
fumecheng-583	56	30	usable	usable	ADJ
fumecheng-583	56	31	throughout	throughout	ADV
fumecheng-583	56	32	.	.	PUNCT
fumecheng-583	57	1	the	the	DET
fumecheng-583	57	2	graphs	graph	NOUN
fumecheng-583	57	3	which	which	PRON
fumecheng-583	57	4	contain	contain	VERB
fumecheng-583	57	5	the	the	DET
fumecheng-583	57	6	built	build	VERB
fumecheng-583	57	7	context	context	NOUN
fumecheng-583	57	8	and	and	CCONJ
fumecheng-583	57	9	situations	situation	NOUN
fumecheng-583	57	10	are	be	AUX
fumecheng-583	57	11	then	then	ADV
fumecheng-583	57	12	stored	store	VERB
fumecheng-583	57	13	in	in	ADP
fumecheng-583	57	14	a	a	DET
fumecheng-583	57	15	triple	triple	ADJ
fumecheng-583	57	16	store	store	NOUN
fumecheng-583	57	17	which	which	PRON
fumecheng-583	57	18	works	work	VERB
fumecheng-583	57	19	as	as	ADP
fumecheng-583	57	20	a	a	DET
fumecheng-583	57	21	long	long	ADJ
fumecheng-583	57	22	-	-	PUNCT
fumecheng-583	57	23	term	term	NOUN
fumecheng-583	57	24	memory	memory	NOUN
fumecheng-583	57	25	of	of	ADP
fumecheng-583	57	26	experiences	experience	NOUN
fumecheng-583	57	27	(	(	PUNCT
fumecheng-583	57	28	lived	live	VERB
fumecheng-583	57	29	experiences	experience	NOUN
fumecheng-583	57	30	of	of	ADP
fumecheng-583	57	31	situations	situation	NOUN
fumecheng-583	57	32	created	create	VERB
fumecheng-583	57	33	by	by	ADP
fumecheng-583	57	34	the	the	DET
fumecheng-583	57	35	occurrence	occurrence	NOUN
fumecheng-583	57	36	of	of	ADP
fumecheng-583	57	37	events	event	NOUN
fumecheng-583	57	38	)	)	PUNCT
fumecheng-583	57	39	and	and	CCONJ
fumecheng-583	57	40	encounters	encounter	NOUN
fumecheng-583	57	41	(	(	PUNCT
fumecheng-583	57	42	objects	object	NOUN
fumecheng-583	57	43	detected	detect	VERB
fumecheng-583	57	44	in	in	ADP
fumecheng-583	57	45	an	an	DET
fumecheng-583	57	46	environment	environment	NOUN
fumecheng-583	57	47	)	)	PUNCT
fumecheng-583	57	48	by	by	ADP
fumecheng-583	57	49	the	the	DET
fumecheng-583	57	50	robot	robot	NOUN
fumecheng-583	57	51	.	.	PUNCT
fumecheng-583	58	1	saving	save	VERB
fumecheng-583	58	2	this	this	DET
fumecheng-583	58	3	data	datum	NOUN
fumecheng-583	58	4	in	in	ADP
fumecheng-583	58	5	memory	memory	NOUN
fumecheng-583	58	6	,	,	PUNCT
fumecheng-583	58	7	stored	store	VERB
fumecheng-583	58	8	as	as	ADP
fumecheng-583	58	9	a	a	DET
fumecheng-583	58	10	timestamped	timestamped	ADJ
fumecheng-583	58	11	context	context	NOUN
fumecheng-583	58	12	cache	cache	NOUN
fumecheng-583	58	13	,	,	PUNCT
fumecheng-583	58	14	is	be	AUX
fumecheng-583	58	15	crucial	crucial	ADJ
fumecheng-583	58	16	as	as	SCONJ
fumecheng-583	58	17	it	it	PRON
fumecheng-583	58	18	can	can	AUX
fumecheng-583	58	19	be	be	AUX
fumecheng-583	58	20	used	use	VERB
fumecheng-583	58	21	later	later	ADV
fumecheng-583	58	22	by	by	ADP
fumecheng-583	58	23	the	the	DET
fumecheng-583	58	24	robot	robot	NOUN
fumecheng-583	58	25	for	for	ADP
fumecheng-583	58	26	offline	offline	ADJ
fumecheng-583	58	27	processing	processing	NOUN
fumecheng-583	58	28	or	or	CCONJ
fumecheng-583	58	29	by	by	ADP
fumecheng-583	58	30	the	the	DET
fumecheng-583	58	31	researcher	researcher	NOUN
fumecheng-583	58	32	for	for	ADP
fumecheng-583	58	33	debugging	debugging	NOUN
fumecheng-583	58	34	and	and	CCONJ
fumecheng-583	58	35	further	further	ADJ
fumecheng-583	58	36	research	research	NOUN
fumecheng-583	58	37	.	.	PUNCT
fumecheng-583	59	1	the	the	DET
fumecheng-583	59	2	ontology	ontology	NOUN
fumecheng-583	59	3	works	work	VERB
fumecheng-583	59	4	as	as	ADP
fumecheng-583	59	5	a	a	DET
fumecheng-583	59	6	logical	logical	ADJ
fumecheng-583	59	7	schema	schema	NOUN
fumecheng-583	59	8	for	for	ADP
fumecheng-583	59	9	the	the	DET
fumecheng-583	59	10	data	datum	NOUN
fumecheng-583	59	11	that	that	PRON
fumecheng-583	59	12	needs	need	VERB
fumecheng-583	59	13	to	to	PART
fumecheng-583	59	14	be	be	AUX
fumecheng-583	59	15	represented	represent	VERB
fumecheng-583	59	16	in	in	ADP
fumecheng-583	59	17	a	a	DET
fumecheng-583	59	18	semantic	semantic	ADJ
fumecheng-583	59	19	graph	graph	NOUN
fumecheng-583	59	20	,	,	PUNCT
fumecheng-583	59	21	as	as	ADV
fumecheng-583	59	22	well	well	ADV
fumecheng-583	59	23	as	as	ADP
fumecheng-583	59	24	provide	provide	VERB
fumecheng-583	59	25	a	a	DET
fumecheng-583	59	26	general	general	ADJ
fumecheng-583	59	27	definition	definition	NOUN
fumecheng-583	59	28	in	in	ADP
fumecheng-583	59	29	description	description	NOUN
fumecheng-583	59	30	-	-	PUNCT
fumecheng-583	59	31	logic	logic	NOUN
fumecheng-583	59	32	to	to	PART
fumecheng-583	59	33	support	support	VERB
fumecheng-583	59	34	the	the	DET
fumecheng-583	59	35	dynamic	dynamic	ADJ
fumecheng-583	59	36	binding	binding	NOUN
fumecheng-583	59	37	and	and	CCONJ
fumecheng-583	59	38	expression	expression	NOUN
fumecheng-583	59	39	of	of	ADP
fumecheng-583	59	40	contexts	context	NOUN
fumecheng-583	59	41	and	and	CCONJ
fumecheng-583	59	42	situations	situation	NOUN
fumecheng-583	59	43	as	as	SCONJ
fumecheng-583	59	44	required	require	VERB
fumecheng-583	59	45	by	by	ADP
fumecheng-583	59	46	the	the	DET
fumecheng-583	59	47	demonstrators	demonstrator	NOUN
fumecheng-583	59	48	in	in	ADP
fumecheng-583	59	49	this	this	DET
fumecheng-583	59	50	project	project	NOUN
fumecheng-583	59	51	.	.	PUNCT
fumecheng-583	60	1	thus	thus	ADV
fumecheng-583	60	2	in	in	ADP
fumecheng-583	60	3	corbys	corbys	NOUN
fumecheng-583	60	4	,	,	PUNCT
fumecheng-583	60	5	having	have	VERB
fumecheng-583	60	6	the	the	DET
fumecheng-583	60	7	data	datum	NOUN
fumecheng-583	60	8	in	in	ADP
fumecheng-583	60	9	such	such	DET
fumecheng-583	60	10	a	a	DET
fumecheng-583	60	11	semantic	semantic	ADJ
fumecheng-583	60	12	graph	graph	NOUN
fumecheng-583	60	13	structure	structure	NOUN
fumecheng-583	60	14	supports	support	VERB
fumecheng-583	60	15	the	the	DET
fumecheng-583	60	16	process	process	NOUN
fumecheng-583	60	17	of	of	ADP
fumecheng-583	60	18	coupling	couple	VERB
fumecheng-583	60	19	the	the	DET
fumecheng-583	60	20	inference	inference	NOUN
fumecheng-583	60	21	information	information	NOUN
fumecheng-583	60	22	provided	provide	VERB
fumecheng-583	60	23	by	by	ADP
fumecheng-583	60	24	the	the	DET
fumecheng-583	60	25	perception	perception	NOUN
fumecheng-583	60	26	and	and	CCONJ
fumecheng-583	60	27	comprehension	comprehension	NOUN
fumecheng-583	60	28	modules	module	NOUN
fumecheng-583	60	29	with	with	ADP
fumecheng-583	60	30	contexts	context	NOUN
fumecheng-583	60	31	and	and	CCONJ
fumecheng-583	60	32	the	the	DET
fumecheng-583	60	33	identified	identify	VERB
fumecheng-583	60	34	situations	situation	NOUN
fumecheng-583	60	35	.	.	PUNCT
fumecheng-583	61	1	we	we	PRON
fumecheng-583	61	2	start	start	VERB
fumecheng-583	61	3	building	build	VERB
fumecheng-583	61	4	contexts	context	NOUN
fumecheng-583	61	5	after	after	ADP
fumecheng-583	61	6	identifying	identify	VERB
fumecheng-583	61	7	patterns	pattern	NOUN
fumecheng-583	61	8	of	of	ADP
fumecheng-583	61	9	interest	interest	NOUN
fumecheng-583	61	10	to	to	PART
fumecheng-583	61	11	give	give	VERB
fumecheng-583	61	12	the	the	DET
fumecheng-583	61	13	robot	robot	NOUN
fumecheng-583	61	14	an	an	DET
fumecheng-583	61	15	understanding	understanding	NOUN
fumecheng-583	61	16	of	of	ADP
fumecheng-583	61	17	its	its	PRON
fumecheng-583	61	18	environment	environment	NOUN
fumecheng-583	61	19	to	to	PART
fumecheng-583	61	20	know	know	VERB
fumecheng-583	61	21	which	which	DET
fumecheng-583	61	22	situations	situation	NOUN
fumecheng-583	61	23	to	to	PART
fumecheng-583	61	24	expect	expect	VERB
fumecheng-583	61	25	or	or	CCONJ
fumecheng-583	61	26	which	which	DET
fumecheng-583	61	27	ones	one	NOUN
fumecheng-583	61	28	are	be	AUX
fumecheng-583	61	29	more	more	ADV
fumecheng-583	61	30	likely	likely	ADJ
fumecheng-583	61	31	to	to	PART
fumecheng-583	61	32	occur	occur	VERB
fumecheng-583	61	33	.	.	PUNCT
fumecheng-583	62	1	the	the	DET
fumecheng-583	62	2	context	context	NOUN
fumecheng-583	62	3	built	build	VERB
fumecheng-583	62	4	based	base	VERB
fumecheng-583	62	5	on	on	ADP
fumecheng-583	62	6	the	the	DET
fumecheng-583	62	7	logical	logical	ADJ
fumecheng-583	62	8	definition	definition	NOUN
fumecheng-583	62	9	in	in	ADP
fumecheng-583	62	10	our	our	PRON
fumecheng-583	62	11	ontology	ontology	NOUN
fumecheng-583	62	12	couples	couple	NOUN
fumecheng-583	62	13	situations	situation	NOUN
fumecheng-583	62	14	that	that	PRON
fumecheng-583	62	15	occur	occur	VERB
fumecheng-583	62	16	over	over	ADP
fumecheng-583	62	17	particular	particular	ADJ
fumecheng-583	62	18	temporal	temporal	ADJ
fumecheng-583	62	19	analysis	analysis	NOUN
fumecheng-583	62	20	windows	window	NOUN
fumecheng-583	62	21	of	of	ADP
fumecheng-583	62	22	interest	interest	NOUN
fumecheng-583	62	23	.	.	PUNCT
fumecheng-583	63	1	fig	fig	NOUN
fumecheng-583	63	2	.	.	PUNCT
fumecheng-583	64	1	1	1	NUM
fumecheng-583	64	2	illustrates	illustrate	VERB
fumecheng-583	64	3	the	the	DET
fumecheng-583	64	4	final	final	ADJ
fumecheng-583	64	5	implemented	implement	VERB
fumecheng-583	64	6	version	version	NOUN
fumecheng-583	64	7	of	of	ADP
fumecheng-583	64	8	the	the	DET
fumecheng-583	64	9	situation	situation	NOUN
fumecheng-583	64	10	assessment	assessment	NOUN
fumecheng-583	64	11	architecture	architecture	NOUN
fumecheng-583	64	12	.	.	PUNCT
fumecheng-583	65	1	the	the	DET
fumecheng-583	65	2	preceptors	preceptor	NOUN
fumecheng-583	65	3	and	and	CCONJ
fumecheng-583	65	4	state	state	NOUN
fumecheng-583	65	5	integrators	integrator	NOUN
fumecheng-583	65	6	process	process	VERB
fumecheng-583	65	7	the	the	DET
fumecheng-583	65	8	raw	raw	ADJ
fumecheng-583	65	9	device	device	NOUN
fumecheng-583	65	10	data	datum	NOUN
fumecheng-583	65	11	to	to	PART
fumecheng-583	65	12	arrive	arrive	VERB
fumecheng-583	65	13	at	at	ADP
fumecheng-583	65	14	semantic	semantic	ADJ
fumecheng-583	65	15	knowledge	knowledge	NOUN
fumecheng-583	65	16	upon	upon	SCONJ
fumecheng-583	65	17	which	which	PRON
fumecheng-583	65	18	the	the	DET
fumecheng-583	65	19	context	context	NOUN
fumecheng-583	65	20	builder	builder	NOUN
fumecheng-583	65	21	operates	operate	VERB
fumecheng-583	65	22	.	.	PUNCT
fumecheng-583	66	1	this	this	PRON
fumecheng-583	66	2	is	be	AUX
fumecheng-583	66	3	used	use	VERB
fumecheng-583	66	4	to	to	PART
fumecheng-583	66	5	arrive	arrive	VERB
fumecheng-583	66	6	at	at	ADP
fumecheng-583	66	7	the	the	DET
fumecheng-583	66	8	context	context	NOUN
fumecheng-583	66	9	and	and	CCONJ
fumecheng-583	66	10	situations	situation	NOUN
fumecheng-583	66	11	(	(	PUNCT
fumecheng-583	66	12	that	that	PRON
fumecheng-583	66	13	may	may	AUX
fumecheng-583	66	14	exist	exist	VERB
fumecheng-583	66	15	at	at	ADP
fumecheng-583	66	16	a	a	DET
fumecheng-583	66	17	given	give	VERB
fumecheng-583	66	18	point	point	NOUN
fumecheng-583	66	19	in	in	ADP
fumecheng-583	66	20	time	time	NOUN
fumecheng-583	66	21	)	)	PUNCT
fumecheng-583	66	22	upon	upon	SCONJ
fumecheng-583	66	23	which	which	PRON
fumecheng-583	66	24	to	to	PART
fumecheng-583	66	25	base	base	VERB
fumecheng-583	66	26	the	the	DET
fumecheng-583	66	27	decision	decision	NOUN
fumecheng-583	66	28	regarding	regard	VERB
fumecheng-583	66	29	environment	environment	NOUN
fumecheng-583	66	30	impact	impact	NOUN
fumecheng-583	66	31	.	.	PUNCT
fumecheng-583	67	1	2.2	2.2	NUM
fumecheng-583	67	2	.	.	PUNCT
fumecheng-583	67	3	framework	framework	NOUN
fumecheng-583	67	4	architecture	architecture	NOUN
fumecheng-583	67	5	the	the	DET
fumecheng-583	67	6	modular	modular	ADJ
fumecheng-583	67	7	situation	situation	NOUN
fumecheng-583	67	8	assessment	assessment	NOUN
fumecheng-583	67	9	and	and	CCONJ
fumecheng-583	67	10	decision	decision	NOUN
fumecheng-583	67	11	sup	sup	NOUN
fumecheng-583	67	12	-	-	PUNCT
fumecheng-583	67	13	port	port	NOUN
fumecheng-583	67	14	system	system	NOUN
fumecheng-583	67	15	provides	provide	VERB
fumecheng-583	67	16	a	a	DET
fumecheng-583	67	17	hybrid	hybrid	ADJ
fumecheng-583	67	18	architecture	architecture	NOUN
fumecheng-583	67	19	integrating	integrate	VERB
fumecheng-583	67	20	machine	machine	NOUN
fumecheng-583	67	21	learning	learning	NOUN
fumecheng-583	67	22	and	and	CCONJ
fumecheng-583	67	23	semantic	semantic	ADJ
fumecheng-583	67	24	technologies	technology	NOUN
fumecheng-583	67	25	to	to	PART
fumecheng-583	67	26	enhance	enhance	VERB
fumecheng-583	67	27	the	the	DET
fumecheng-583	67	28	robotic	robotic	ADJ
fumecheng-583	67	29	perception	perception	NOUN
fumecheng-583	67	30	of	of	ADP
fumecheng-583	67	31	low	low	ADJ
fumecheng-583	67	32	level	level	NOUN
fumecheng-583	67	33	(	(	PUNCT
fumecheng-583	67	34	weak	weak	ADJ
fumecheng-583	67	35	)	)	PUNCT
fumecheng-583	67	36	data	datum	NOUN
fumecheng-583	67	37	signals	signal	NOUN
fumecheng-583	67	38	.	.	PUNCT
fumecheng-583	68	1	it	it	PRON
fumecheng-583	68	2	organises	organise	VERB
fumecheng-583	68	3	information	information	NOUN
fumecheng-583	68	4	as	as	ADP
fumecheng-583	68	5	taxonomy	taxonomy	NOUN
fumecheng-583	68	6	of	of	ADP
fumecheng-583	68	7	concepts	concept	NOUN
fumecheng-583	68	8	conforming	conform	VERB
fumecheng-583	68	9	to	to	ADP
fumecheng-583	68	10	knowledge	knowledge	NOUN
fumecheng-583	68	11	as	as	SCONJ
fumecheng-583	68	12	perceived	perceive	VERB
fumecheng-583	68	13	and	and	CCONJ
fumecheng-583	68	14	understood	understand	VERB
fumecheng-583	68	15	by	by	ADP
fumecheng-583	68	16	humans	human	NOUN
fumecheng-583	68	17	as	as	SCONJ
fumecheng-583	68	18	such	such	ADJ
fumecheng-583	68	19	remains	remain	NOUN
fumecheng-583	68	20	open	open	ADJ
fumecheng-583	68	21	to	to	ADP
fumecheng-583	68	22	integrating	integrate	VERB
fumecheng-583	68	23	human	human	NOUN
fumecheng-583	68	24	-	-	PUNCT
fumecheng-583	68	25	in	in	ADP
fumecheng-583	68	26	-	-	PUNCT
fumecheng-583	68	27	the	the	DET
fumecheng-583	68	28	-	-	PUNCT
fumecheng-583	68	29	loop	loop	NOUN
fumecheng-583	68	30	intervention	intervention	NOUN
fumecheng-583	68	31	if	if	SCONJ
fumecheng-583	68	32	desired	desire	VERB
fumecheng-583	68	33	.	.	PUNCT
fumecheng-583	69	1	therefore	therefore	ADV
fumecheng-583	69	2	we	we	PRON
fumecheng-583	69	3	make	make	VERB
fumecheng-583	69	4	use	use	NOUN
fumecheng-583	69	5	of	of	ADP
fumecheng-583	69	6	the	the	DET
fumecheng-583	69	7	decision	decision	NOUN
fumecheng-583	69	8	support	support	NOUN
fumecheng-583	69	9	system	system	NOUN
fumecheng-583	69	10	to	to	PART
fumecheng-583	69	11	make	make	VERB
fumecheng-583	69	12	inferences	inference	NOUN
fumecheng-583	69	13	based	base	VERB
fumecheng-583	69	14	on	on	ADP
fumecheng-583	69	15	the	the	DET
fumecheng-583	69	16	information	information	NOUN
fumecheng-583	69	17	available	available	ADJ
fumecheng-583	69	18	for	for	ADP
fumecheng-583	69	19	each	each	DET
fumecheng-583	69	20	situation	situation	NOUN
fumecheng-583	69	21	and	and	CCONJ
fumecheng-583	69	22	context	context	NOUN
fumecheng-583	69	23	.	.	PUNCT
fumecheng-583	70	1	situation	situation	NOUN
fumecheng-583	70	2	assessment	assessment	NOUN
fumecheng-583	70	3	through	through	ADP
fumecheng-583	70	4	multi	multi	ADJ
fumecheng-583	70	5	-	-	ADJ
fumecheng-583	70	6	modal	modal	ADJ
fumecheng-583	70	7	sensing	sensing	NOUN
fumecheng-583	70	8	of	of	ADP
fumecheng-583	70	9	dynamic	dynamic	ADJ
fumecheng-583	70	10	environments	environment	NOUN
fumecheng-583	70	11	to	to	PART
fumecheng-583	70	12	support	support	VERB
fumecheng-583	70	13	cognitive	cognitive	ADJ
fumecheng-583	70	14	robot	robot	NOUN
fumecheng-583	70	15	255	255	NUM
fumecheng-583	70	16	fig	fig	NOUN
fumecheng-583	70	17	.	.	PUNCT
fumecheng-583	71	1	2	2	NUM
fumecheng-583	72	1	the	the	DET
fumecheng-583	72	2	situation	situation	NOUN
fumecheng-583	72	3	assessment	assessment	NOUN
fumecheng-583	72	4	schema	schema	NOUN
fumecheng-583	72	5	for	for	ADP
fumecheng-583	72	6	the	the	DET
fumecheng-583	72	7	robotic	robotic	ADJ
fumecheng-583	72	8	follower	follower	NOUN
fumecheng-583	72	9	in	in	ADP
fumecheng-583	72	10	the	the	DET
fumecheng-583	72	11	corbys	corbys	NOUN
fumecheng-583	72	12	project	project	NOUN
fumecheng-583	72	13	the	the	DET
fumecheng-583	72	14	sensing	sense	VERB
fumecheng-583	72	15	modules	module	NOUN
fumecheng-583	72	16	or	or	CCONJ
fumecheng-583	72	17	preceptors	preceptor	NOUN
fumecheng-583	72	18	deal	deal	VERB
fumecheng-583	72	19	with	with	ADP
fumecheng-583	72	20	processing	process	VERB
fumecheng-583	72	21	sensory	sensory	ADJ
fumecheng-583	72	22	data	datum	NOUN
fumecheng-583	72	23	signals	signal	NOUN
fumecheng-583	72	24	.	.	PUNCT
fumecheng-583	73	1	we	we	PRON
fumecheng-583	73	2	identify	identify	VERB
fumecheng-583	73	3	patterns	pattern	NOUN
fumecheng-583	73	4	and	and	CCONJ
fumecheng-583	73	5	information	information	NOUN
fumecheng-583	73	6	of	of	ADP
fumecheng-583	73	7	interest	interest	NOUN
fumecheng-583	73	8	using	use	VERB
fumecheng-583	73	9	machine	machine	NOUN
fumecheng-583	73	10	learning	learning	NOUN
fumecheng-583	73	11	and	and	CCONJ
fumecheng-583	73	12	data	datum	NOUN
fumecheng-583	73	13	analysis	analysis	NOUN
fumecheng-583	73	14	to	to	PART
fumecheng-583	73	15	identify	identify	VERB
fumecheng-583	73	16	contexts	contexts	NOUN
fumecheng-583	73	17	.	.	PUNCT
fumecheng-583	74	1	together	together	ADV
fumecheng-583	74	2	with	with	ADP
fumecheng-583	74	3	the	the	DET
fumecheng-583	74	4	state	state	NOUN
fumecheng-583	74	5	integrators	integrator	NOUN
fumecheng-583	74	6	,	,	PUNCT
fumecheng-583	74	7	these	these	DET
fumecheng-583	74	8	build	build	NOUN
fumecheng-583	74	9	contexts	context	NOUN
fumecheng-583	74	10	from	from	ADP
fumecheng-583	74	11	data	datum	NOUN
fumecheng-583	74	12	acquired	acquire	VERB
fumecheng-583	74	13	from	from	ADP
fumecheng-583	74	14	sensors	sensor	NOUN
fumecheng-583	74	15	and	and	CCONJ
fumecheng-583	74	16	select	select	ADJ
fumecheng-583	74	17	areas	area	NOUN
fumecheng-583	74	18	of	of	ADP
fumecheng-583	74	19	interest	interest	NOUN
fumecheng-583	74	20	based	base	VERB
fumecheng-583	74	21	on	on	ADP
fumecheng-583	74	22	the	the	DET
fumecheng-583	74	23	sought	seek	VERB
fumecheng-583	74	24	after	after	ADP
fumecheng-583	74	25	patterns	pattern	NOUN
fumecheng-583	74	26	in	in	ADP
fumecheng-583	74	27	data	datum	NOUN
fumecheng-583	74	28	.	.	PUNCT
fumecheng-583	75	1	the	the	DET
fumecheng-583	75	2	contexts	context	NOUN
fumecheng-583	75	3	are	be	AUX
fumecheng-583	75	4	then	then	ADV
fumecheng-583	75	5	persisted	persist	VERB
fumecheng-583	75	6	in	in	ADP
fumecheng-583	75	7	memory	memory	NOUN
fumecheng-583	75	8	and	and	CCONJ
fumecheng-583	75	9	attached	attach	VERB
fumecheng-583	75	10	to	to	ADP
fumecheng-583	75	11	situations	situation	NOUN
fumecheng-583	75	12	where	where	SCONJ
fumecheng-583	75	13	particular	particular	ADJ
fumecheng-583	75	14	events	event	NOUN
fumecheng-583	75	15	of	of	ADP
fumecheng-583	75	16	interest	interest	NOUN
fumecheng-583	75	17	happen	happen	VERB
fumecheng-583	75	18	.	.	PUNCT
fumecheng-583	76	1	the	the	DET
fumecheng-583	76	2	decision	decision	NOUN
fumecheng-583	76	3	engine	engine	NOUN
fumecheng-583	76	4	makes	make	VERB
fumecheng-583	76	5	decisions	decision	NOUN
fumecheng-583	76	6	based	base	VERB
fumecheng-583	76	7	on	on	ADP
fumecheng-583	76	8	multiple	multiple	ADJ
fumecheng-583	76	9	selected	select	VERB
fumecheng-583	76	10	criteria	criterion	NOUN
fumecheng-583	76	11	given	give	VERB
fumecheng-583	76	12	the	the	DET
fumecheng-583	76	13	situation	situation	NOUN
fumecheng-583	76	14	at	at	ADP
fumecheng-583	76	15	hand	hand	NOUN
fumecheng-583	76	16	.	.	PUNCT
fumecheng-583	77	1	the	the	DET
fumecheng-583	77	2	decision	decision	NOUN
fumecheng-583	77	3	takes	take	VERB
fumecheng-583	77	4	the	the	DET
fumecheng-583	77	5	form	form	NOUN
fumecheng-583	77	6	of	of	ADP
fumecheng-583	77	7	an	an	DET
fumecheng-583	77	8	action	action	NOUN
fumecheng-583	77	9	that	that	PRON
fumecheng-583	77	10	can	can	AUX
fumecheng-583	77	11	be	be	AUX
fumecheng-583	77	12	performed	perform	VERB
fumecheng-583	77	13	,	,	PUNCT
fumecheng-583	77	14	e.g.	e.g.	ADV
fumecheng-583	77	15	,	,	PUNCT
fumecheng-583	77	16	stopping	stop	VERB
fumecheng-583	77	17	to	to	PART
fumecheng-583	77	18	avoid	avoid	VERB
fumecheng-583	77	19	an	an	DET
fumecheng-583	77	20	obstacle	obstacle	NOUN
fumecheng-583	77	21	,	,	PUNCT
fumecheng-583	77	22	or	or	CCONJ
fumecheng-583	77	23	adapting	adapt	VERB
fumecheng-583	77	24	the	the	DET
fumecheng-583	77	25	orthotic	orthotic	ADJ
fumecheng-583	77	26	actuation	actuation	NOUN
fumecheng-583	77	27	to	to	PART
fumecheng-583	77	28	better	better	VERB
fumecheng-583	77	29	the	the	DET
fumecheng-583	77	30	(	(	PUNCT
fumecheng-583	77	31	intended	intended	ADJ
fumecheng-583	77	32	)	)	PUNCT
fumecheng-583	77	33	movements	movement	NOUN
fumecheng-583	77	34	of	of	ADP
fumecheng-583	77	35	a	a	DET
fumecheng-583	77	36	patient	patient	NOUN
fumecheng-583	77	37	in	in	ADP
fumecheng-583	77	38	-	-	PUNCT
fumecheng-583	77	39	session	session	NOUN
fumecheng-583	77	40	.	.	PUNCT
fumecheng-583	78	1	although	although	SCONJ
fumecheng-583	78	2	the	the	DET
fumecheng-583	78	3	two	two	NUM
fumecheng-583	78	4	corbys	corbys	NOUN
fumecheng-583	78	5	demonstrators	demonstrator	NOUN
fumecheng-583	78	6	are	be	AUX
fumecheng-583	78	7	different	different	ADJ
fumecheng-583	78	8	in	in	ADP
fumecheng-583	78	9	their	their	PRON
fumecheng-583	78	10	application	application	NOUN
fumecheng-583	78	11	,	,	PUNCT
fumecheng-583	78	12	they	they	PRON
fumecheng-583	78	13	share	share	VERB
fumecheng-583	78	14	similarities	similarity	NOUN
fumecheng-583	78	15	in	in	ADP
fumecheng-583	78	16	their	their	PRON
fumecheng-583	78	17	data	data	NOUN
fumecheng-583	78	18	-	-	PUNCT
fumecheng-583	78	19	driven	drive	VERB
fumecheng-583	78	20	modes	mode	NOUN
fumecheng-583	78	21	of	of	ADP
fumecheng-583	78	22	reasoning	reasoning	NOUN
fumecheng-583	78	23	and	and	CCONJ
fumecheng-583	78	24	the	the	DET
fumecheng-583	78	25	need	need	NOUN
fumecheng-583	78	26	to	to	PART
fumecheng-583	78	27	acquire	acquire	VERB
fumecheng-583	78	28	ambient	ambient	ADJ
fumecheng-583	78	29	information	information	NOUN
fumecheng-583	78	30	to	to	PART
fumecheng-583	78	31	update	update	VERB
fumecheng-583	78	32	the	the	DET
fumecheng-583	78	33	context	context	NOUN
fumecheng-583	78	34	and	and	CCONJ
fumecheng-583	78	35	thus	thus	ADV
fumecheng-583	78	36	the	the	DET
fumecheng-583	78	37	situation	situation	NOUN
fumecheng-583	78	38	assessment	assessment	NOUN
fumecheng-583	78	39	upon	upon	SCONJ
fumecheng-583	78	40	which	which	PRON
fumecheng-583	78	41	to	to	PART
fumecheng-583	78	42	take	take	VERB
fumecheng-583	78	43	the	the	DET
fumecheng-583	78	44	best	good	ADJ
fumecheng-583	78	45	action	action	NOUN
fumecheng-583	78	46	after	after	ADP
fumecheng-583	78	47	careful	careful	ADJ
fumecheng-583	78	48	analysis	analysis	NOUN
fumecheng-583	78	49	of	of	ADP
fumecheng-583	78	50	the	the	DET
fumecheng-583	78	51	data	datum	NOUN
fumecheng-583	78	52	and	and	CCONJ
fumecheng-583	78	53	assessment	assessment	NOUN
fumecheng-583	78	54	of	of	ADP
fumecheng-583	78	55	the	the	DET
fumecheng-583	78	56	situations	situation	NOUN
fumecheng-583	78	57	at	at	ADP
fumecheng-583	78	58	hand	hand	NOUN
fumecheng-583	78	59	.	.	PUNCT
fumecheng-583	79	1	the	the	DET
fumecheng-583	79	2	situation	situation	NOUN
fumecheng-583	79	3	assessment	assessment	NOUN
fumecheng-583	79	4	schema	schema	NOUN
fumecheng-583	79	5	with	with	ADP
fumecheng-583	79	6	demonstrator	demonstrator	PROPN
fumecheng-583	79	7	ii	ii	PROPN
fumecheng-583	79	8	as	as	ADP
fumecheng-583	79	9	an	an	DET
fumecheng-583	79	10	example	example	NOUN
fumecheng-583	79	11	case	case	NOUN
fumecheng-583	79	12	can	can	AUX
fumecheng-583	79	13	be	be	AUX
fumecheng-583	79	14	seen	see	VERB
fumecheng-583	79	15	in	in	ADP
fumecheng-583	79	16	fig	fig	NOUN
fumecheng-583	79	17	.	.	PUNCT
fumecheng-583	80	1	2	2	X
fumecheng-583	80	2	.	.	X
fumecheng-583	80	3	perception	perception	NOUN
fumecheng-583	80	4	of	of	ADP
fumecheng-583	80	5	the	the	DET
fumecheng-583	80	6	environment	environment	NOUN
fumecheng-583	80	7	takes	take	VERB
fumecheng-583	80	8	place	place	NOUN
fumecheng-583	80	9	based	base	VERB
fumecheng-583	80	10	on	on	ADP
fumecheng-583	80	11	the	the	DET
fumecheng-583	80	12	sensory	sensory	ADJ
fumecheng-583	80	13	data	datum	NOUN
fumecheng-583	80	14	,	,	PUNCT
fumecheng-583	80	15	followed	follow	VERB
fumecheng-583	80	16	by	by	ADP
fumecheng-583	80	17	fusion	fusion	NOUN
fumecheng-583	80	18	in	in	ADP
fumecheng-583	80	19	the	the	DET
fumecheng-583	80	20	comprehension	comprehension	NOUN
fumecheng-583	80	21	phase	phase	NOUN
fumecheng-583	80	22	,	,	PUNCT
fumecheng-583	80	23	which	which	PRON
fumecheng-583	80	24	allows	allow	VERB
fumecheng-583	80	25	for	for	ADP
fumecheng-583	80	26	building	building	NOUN
fumecheng-583	80	27	of	of	ADP
fumecheng-583	80	28	relations	relation	NOUN
fumecheng-583	80	29	between	between	ADP
fumecheng-583	80	30	perceived	perceive	VERB
fumecheng-583	80	31	objects	object	NOUN
fumecheng-583	80	32	through	through	ADP
fumecheng-583	80	33	fusion	fusion	NOUN
fumecheng-583	80	34	and	and	CCONJ
fumecheng-583	80	35	inference	inference	NOUN
fumecheng-583	80	36	to	to	PART
fumecheng-583	80	37	arrive	arrive	VERB
fumecheng-583	80	38	at	at	ADP
fumecheng-583	80	39	a	a	DET
fumecheng-583	80	40	richer	rich	ADJ
fumecheng-583	80	41	context	context	NOUN
fumecheng-583	80	42	.	.	PUNCT
fumecheng-583	81	1	this	this	PRON
fumecheng-583	81	2	facilitates	facilitate	VERB
fumecheng-583	81	3	appropriate	appropriate	ADJ
fumecheng-583	81	4	decision	decision	NOUN
fumecheng-583	81	5	making	making	NOUN
fumecheng-583	81	6	which	which	PRON
fumecheng-583	81	7	leads	lead	VERB
fumecheng-583	81	8	to	to	ADP
fumecheng-583	81	9	an	an	DET
fumecheng-583	81	10	action	action	NOUN
fumecheng-583	81	11	execution	execution	NOUN
fumecheng-583	81	12	.	.	PUNCT
fumecheng-583	82	1	this	this	PRON
fumecheng-583	82	2	is	be	AUX
fumecheng-583	82	3	then	then	ADV
fumecheng-583	82	4	fed	feed	VERB
fumecheng-583	82	5	back	back	ADV
fumecheng-583	82	6	into	into	ADP
fumecheng-583	82	7	the	the	DET
fumecheng-583	82	8	loop	loop	NOUN
fumecheng-583	82	9	as	as	SCONJ
fumecheng-583	82	10	it	it	PRON
fumecheng-583	82	11	impacts	impact	VERB
fumecheng-583	82	12	the	the	DET
fumecheng-583	82	13	environment	environment	NOUN
fumecheng-583	82	14	which	which	PRON
fumecheng-583	82	15	is	be	AUX
fumecheng-583	82	16	being	be	AUX
fumecheng-583	82	17	sensed	sense	VERB
fumecheng-583	82	18	continuously	continuously	ADV
fumecheng-583	82	19	.	.	PUNCT
fumecheng-583	83	1	256	256	NUM
fumecheng-583	83	2	a.	a.	NOUN
fumecheng-583	83	3	badii	badii	NOUN
fumecheng-583	83	4	,	,	PUNCT
fumecheng-583	83	5	a.	a.	PROPN
fumecheng-583	83	6	khan	khan	PROPN
fumecheng-583	83	7	,	,	PUNCT
fumecheng-583	83	8	r.	r.	PROPN
fumecheng-583	83	9	raval	raval	PROPN
fumecheng-583	83	10	,	,	PUNCT
fumecheng-583	83	11	h.	h.	PROPN
fumecheng-583	83	12	oudi	oudi	PROPN
fumecheng-583	83	13	,	,	PUNCT
fumecheng-583	83	14	r.	r.	PROPN
fumecheng-583	83	15	ayora	ayora	PROPN
fumecheng-583	83	16	,	,	PUNCT
fumecheng-583	83	17	w.	w.	PROPN
fumecheng-583	83	18	khan	khan	PROPN
fumecheng-583	83	19	,	,	PUNCT
fumecheng-583	83	20	a.	a.	NOUN
fumecheng-583	83	21	jaidi	jaidi	PROPN
fumecheng-583	83	22	,	,	PUNCT
fumecheng-583	83	23	n.	n.	PROPN
fumecheng-583	83	24	viswanathan	viswanathan	PROPN
fumecheng-583	83	25	2.3	2.3	NUM
fumecheng-583	83	26	.	.	PUNCT
fumecheng-583	84	1	the	the	DET
fumecheng-583	84	2	human	human	ADJ
fumecheng-583	84	3	co	co	NOUN
fumecheng-583	84	4	-	-	NOUN
fumecheng-583	84	5	worker	worker	NOUN
fumecheng-583	84	6	’s	’s	PART
fumecheng-583	84	7	states	state	NOUN
fumecheng-583	84	8	pattern	pattern	NOUN
fumecheng-583	84	9	space	space	NOUN
fumecheng-583	84	10	one	one	NUM
fumecheng-583	84	11	of	of	ADP
fumecheng-583	84	12	the	the	DET
fumecheng-583	84	13	facets	facet	NOUN
fumecheng-583	84	14	of	of	ADP
fumecheng-583	84	15	the	the	DET
fumecheng-583	84	16	ambient	ambient	ADJ
fumecheng-583	84	17	pattern	pattern	NOUN
fumecheng-583	84	18	space	space	NOUN
fumecheng-583	84	19	as	as	SCONJ
fumecheng-583	84	20	monitored	monitor	VERB
fumecheng-583	84	21	by	by	ADP
fumecheng-583	84	22	the	the	DET
fumecheng-583	84	23	system	system	NOUN
fumecheng-583	84	24	to	to	PART
fumecheng-583	84	25	decide	decide	VERB
fumecheng-583	84	26	what	what	PRON
fumecheng-583	84	27	actions	action	NOUN
fumecheng-583	84	28	to	to	PART
fumecheng-583	84	29	take	take	VERB
fumecheng-583	84	30	(	(	PUNCT
fumecheng-583	84	31	e.g.	e.g.	ADV
fumecheng-583	84	32	,	,	PUNCT
fumecheng-583	84	33	adapting	adapt	VERB
fumecheng-583	84	34	the	the	DET
fumecheng-583	84	35	current	current	ADJ
fumecheng-583	84	36	gait	gait	NOUN
fumecheng-583	84	37	actuation	actuation	NOUN
fumecheng-583	84	38	level	level	NOUN
fumecheng-583	84	39	)	)	PUNCT
fumecheng-583	84	40	is	be	AUX
fumecheng-583	84	41	the	the	DET
fumecheng-583	84	42	psychophysiological	psychophysiological	ADJ
fumecheng-583	84	43	state	state	NOUN
fumecheng-583	84	44	vector	vector	NOUN
fumecheng-583	84	45	describing	describe	VERB
fumecheng-583	84	46	the	the	DET
fumecheng-583	84	47	person	person	NOUN
fumecheng-583	84	48	’s	’s	PART
fumecheng-583	84	49	relevant	relevant	ADJ
fumecheng-583	84	50	conditions	condition	NOUN
fumecheng-583	84	51	.	.	PUNCT
fumecheng-583	85	1	this	this	PRON
fumecheng-583	85	2	is	be	AUX
fumecheng-583	85	3	built	build	VERB
fumecheng-583	85	4	using	use	VERB
fumecheng-583	85	5	heart	heart	NOUN
fumecheng-583	85	6	rate	rate	NOUN
fumecheng-583	85	7	,	,	PUNCT
fumecheng-583	85	8	skin	skin	NOUN
fumecheng-583	85	9	temperature	temperature	NOUN
fumecheng-583	85	10	,	,	PUNCT
fumecheng-583	85	11	perspiration	perspiration	NOUN
fumecheng-583	85	12	,	,	PUNCT
fumecheng-583	85	13	posture	posture	NOUN
fumecheng-583	85	14	and	and	CCONJ
fumecheng-583	85	15	activity	activity	NOUN
fumecheng-583	85	16	level	level	NOUN
fumecheng-583	85	17	.	.	PUNCT
fumecheng-583	86	1	the	the	DET
fumecheng-583	86	2	applicability	applicability	NOUN
fumecheng-583	86	3	and	and	CCONJ
fumecheng-583	86	4	usability	usability	NOUN
fumecheng-583	86	5	of	of	ADP
fumecheng-583	86	6	this	this	DET
fumecheng-583	86	7	facet	facet	ADJ
fumecheng-583	86	8	span	span	NOUN
fumecheng-583	86	9	both	both	DET
fumecheng-583	86	10	corbys	corbys	NOUN
fumecheng-583	86	11	demonstrators	demonstrator	NOUN
fumecheng-583	86	12	.	.	PUNCT
fumecheng-583	87	1	in	in	ADP
fumecheng-583	87	2	demonstrator	demonstrator	PROPN
fumecheng-583	87	3	ii	ii	PROPN
fumecheng-583	87	4	,	,	PUNCT
fumecheng-583	87	5	the	the	DET
fumecheng-583	87	6	robotic	robotic	ADJ
fumecheng-583	87	7	follower	follower	NOUN
fumecheng-583	87	8	benefits	benefit	NOUN
fumecheng-583	87	9	from	from	ADP
fumecheng-583	87	10	an	an	DET
fumecheng-583	87	11	awareness	awareness	NOUN
fumecheng-583	87	12	of	of	ADP
fumecheng-583	87	13	the	the	DET
fumecheng-583	87	14	interacting	interact	VERB
fumecheng-583	87	15	human	human	NOUN
fumecheng-583	87	16	’s	’s	PART
fumecheng-583	87	17	physiological	physiological	ADJ
fumecheng-583	87	18	states	state	NOUN
fumecheng-583	87	19	in	in	ADP
fumecheng-583	87	20	scenarios	scenario	NOUN
fumecheng-583	87	21	such	such	ADJ
fumecheng-583	87	22	as	as	ADP
fumecheng-583	87	23	hazardous	hazardous	ADJ
fumecheng-583	87	24	environment	environment	NOUN
fumecheng-583	87	25	exploration	exploration	NOUN
fumecheng-583	87	26	.	.	PUNCT
fumecheng-583	88	1	in	in	ADP
fumecheng-583	88	2	demonstrator	demonstrator	PROPN
fumecheng-583	88	3	i	i	PROPN
fumecheng-583	88	4	,	,	PUNCT
fumecheng-583	88	5	a	a	DET
fumecheng-583	88	6	brain	brain	NOUN
fumecheng-583	88	7	computer	computer	NOUN
fumecheng-583	88	8	interface	interface	NOUN
fumecheng-583	88	9	is	be	AUX
fumecheng-583	88	10	also	also	ADV
fumecheng-583	88	11	employed	employ	VERB
fumecheng-583	88	12	,	,	PUNCT
fumecheng-583	88	13	which	which	PRON
fumecheng-583	88	14	processes	process	VERB
fumecheng-583	88	15	electroencephalography	electroencephalography	NOUN
fumecheng-583	88	16	(	(	PUNCT
fumecheng-583	88	17	eeg	eeg	NOUN
fumecheng-583	88	18	)	)	PUNCT
fumecheng-583	88	19	signals	signal	NOUN
fumecheng-583	88	20	to	to	PART
fumecheng-583	88	21	detect	detect	VERB
fumecheng-583	88	22	intention	intention	NOUN
fumecheng-583	88	23	of	of	ADP
fumecheng-583	88	24	motion	motion	NOUN
fumecheng-583	88	25	and	and	CCONJ
fumecheng-583	88	26	attention	attention	NOUN
fumecheng-583	88	27	to	to	ADP
fumecheng-583	88	28	motion	motion	NOUN
fumecheng-583	88	29	of	of	ADP
fumecheng-583	88	30	the	the	DET
fumecheng-583	88	31	person	person	NOUN
fumecheng-583	88	32	undergoing	undergo	VERB
fumecheng-583	88	33	gait	gait	NOUN
fumecheng-583	88	34	therapy	therapy	NOUN
fumecheng-583	88	35	.	.	PUNCT
fumecheng-583	89	1	this	this	PRON
fumecheng-583	89	2	is	be	AUX
fumecheng-583	89	3	particularly	particularly	ADV
fumecheng-583	89	4	relevant	relevant	ADJ
fumecheng-583	89	5	in	in	ADP
fumecheng-583	89	6	application	application	NOUN
fumecheng-583	89	7	domains	domain	NOUN
fumecheng-583	89	8	requiring	require	VERB
fumecheng-583	89	9	physical	physical	ADJ
fumecheng-583	89	10	companion	companion	NOUN
fumecheng-583	89	11	support	support	NOUN
fumecheng-583	89	12	responsive	responsive	ADJ
fumecheng-583	89	13	to	to	ADP
fumecheng-583	89	14	(	(	PUNCT
fumecheng-583	89	15	imminent	imminent	ADJ
fumecheng-583	89	16	)	)	PUNCT
fumecheng-583	89	17	ambient	ambient	ADJ
fumecheng-583	89	18	conditions	condition	NOUN
fumecheng-583	89	19	as	as	SCONJ
fumecheng-583	89	20	is	be	AUX
fumecheng-583	89	21	the	the	DET
fumecheng-583	89	22	case	case	NOUN
fumecheng-583	89	23	in	in	ADP
fumecheng-583	89	24	gait	gait	PROPN
fumecheng-583	89	25	rehabilitation	rehabilitation	NOUN
fumecheng-583	89	26	.	.	PUNCT
fumecheng-583	90	1	the	the	DET
fumecheng-583	90	2	architecture	architecture	NOUN
fumecheng-583	90	3	registers	register	VERB
fumecheng-583	90	4	the	the	DET
fumecheng-583	90	5	time	time	NOUN
fumecheng-583	90	6	-	-	PUNCT
fumecheng-583	90	7	stamped	stamp	VERB
fumecheng-583	90	8	intended	intend	VERB
fumecheng-583	90	9	motion	motion	NOUN
fumecheng-583	90	10	by	by	ADP
fumecheng-583	90	11	the	the	DET
fumecheng-583	90	12	patient	patient	NOUN
fumecheng-583	90	13	as	as	SCONJ
fumecheng-583	90	14	detected	detect	VERB
fumecheng-583	90	15	through	through	ADP
fumecheng-583	90	16	the	the	DET
fumecheng-583	90	17	bci	bci	PROPN
fumecheng-583	90	18	module	module	NOUN
fumecheng-583	90	19	;	;	PUNCT
fumecheng-583	90	20	such	such	ADJ
fumecheng-583	90	21	intended	intend	VERB
fumecheng-583	90	22	motion	motion	NOUN
fumecheng-583	90	23	information	information	NOUN
fumecheng-583	90	24	is	be	AUX
fumecheng-583	90	25	used	use	VERB
fumecheng-583	90	26	to	to	PART
fumecheng-583	90	27	decide	decide	VERB
fumecheng-583	90	28	on	on	ADP
fumecheng-583	90	29	the	the	DET
fumecheng-583	90	30	initial	initial	ADJ
fumecheng-583	90	31	level	level	NOUN
fumecheng-583	90	32	for	for	ADP
fumecheng-583	90	33	the	the	DET
fumecheng-583	90	34	patient	patient	NOUN
fumecheng-583	90	35	’s	’s	PART
fumecheng-583	90	36	supportive	supportive	ADJ
fumecheng-583	90	37	orthotic	orthotic	ADJ
fumecheng-583	90	38	actuation	actuation	NOUN
fumecheng-583	90	39	.	.	PUNCT
fumecheng-583	91	1	2.4	2.4	NUM
fumecheng-583	91	2	.	.	PUNCT
fumecheng-583	92	1	static	static	ADJ
fumecheng-583	92	2	and	and	CCONJ
fumecheng-583	92	3	dynamic	dynamic	ADJ
fumecheng-583	92	4	activity	activity	NOUN
fumecheng-583	92	5	recognition	recognition	NOUN
fumecheng-583	92	6	acceleration	acceleration	NOUN
fumecheng-583	92	7	and	and	CCONJ
fumecheng-583	92	8	rotation	rotation	NOUN
fumecheng-583	92	9	from	from	ADP
fumecheng-583	92	10	an	an	DET
fumecheng-583	92	11	inertial	inertial	ADJ
fumecheng-583	92	12	measurement	measurement	NOUN
fumecheng-583	92	13	unit	unit	NOUN
fumecheng-583	92	14	are	be	AUX
fumecheng-583	92	15	used	use	VERB
fumecheng-583	92	16	to	to	PART
fumecheng-583	92	17	detect	detect	VERB
fumecheng-583	92	18	static	static	ADJ
fumecheng-583	92	19	and	and	CCONJ
fumecheng-583	92	20	dynamic	dynamic	ADJ
fumecheng-583	92	21	activities	activity	NOUN
fumecheng-583	92	22	including	include	VERB
fumecheng-583	92	23	standing	standing	NOUN
fumecheng-583	92	24	,	,	PUNCT
fumecheng-583	92	25	walking	walk	VERB
fumecheng-583	92	26	,	,	PUNCT
fumecheng-583	92	27	turning	turn	VERB
fumecheng-583	92	28	left	left	ADJ
fumecheng-583	93	1	and	and	CCONJ
fumecheng-583	93	2	right	right	ADJ
fumecheng-583	93	3	.	.	PUNCT
fumecheng-583	94	1	fig	fig	NOUN
fumecheng-583	94	2	.	.	PUNCT
fumecheng-583	95	1	3	3	NUM
fumecheng-583	95	2	classification	classification	NOUN
fumecheng-583	95	3	of	of	ADP
fumecheng-583	95	4	static	static	NOUN
fumecheng-583	95	5	(	(	PUNCT
fumecheng-583	95	6	standing	standing	NOUN
fumecheng-583	95	7	)	)	PUNCT
fumecheng-583	95	8	and	and	CCONJ
fumecheng-583	95	9	dynamic	dynamic	ADJ
fumecheng-583	95	10	(	(	PUNCT
fumecheng-583	95	11	walking	walking	NOUN
fumecheng-583	95	12	,	,	PUNCT
fumecheng-583	95	13	turning	turn	VERB
fumecheng-583	95	14	)	)	PUNCT
fumecheng-583	95	15	activities	activity	NOUN
fumecheng-583	95	16	from	from	ADP
fumecheng-583	95	17	inertial	inertial	ADJ
fumecheng-583	95	18	measurements	measurement	NOUN
fumecheng-583	95	19	(	(	PUNCT
fumecheng-583	95	20	accelerometer	accelerometer	NOUN
fumecheng-583	95	21	and	and	CCONJ
fumecheng-583	95	22	gyroscope	gyroscope	PROPN
fumecheng-583	95	23	):	):	PUNCT
fumecheng-583	95	24	a	a	PRON
fumecheng-583	95	25	)	)	PUNCT
fumecheng-583	95	26	raw	raw	ADJ
fumecheng-583	95	27	acceleration	acceleration	NOUN
fumecheng-583	95	28	tri	tri	ADJ
fumecheng-583	95	29	-	-	ADJ
fumecheng-583	95	30	axial	axial	ADJ
fumecheng-583	95	31	signal	signal	NOUN
fumecheng-583	95	32	(	(	PUNCT
fumecheng-583	95	33	forward	forward	ADJ
fumecheng-583	95	34	progression	progression	NOUN
fumecheng-583	95	35	along	along	ADP
fumecheng-583	95	36	the	the	DET
fumecheng-583	95	37	z	z	NOUN
fumecheng-583	95	38	-	-	PUNCT
fumecheng-583	95	39	axis	axis	ADJ
fumecheng-583	95	40	,	,	PUNCT
fumecheng-583	95	41	all	all	DET
fumecheng-583	95	42	three	three	NUM
fumecheng-583	95	43	axes	axis	NOUN
fumecheng-583	95	44	are	be	AUX
fumecheng-583	95	45	highly	highly	ADV
fumecheng-583	95	46	correlated	correlate	VERB
fumecheng-583	95	47	)	)	PUNCT
fumecheng-583	95	48	,	,	PUNCT
fumecheng-583	95	49	b	b	X
fumecheng-583	95	50	)	)	PUNCT
fumecheng-583	95	51	raw	raw	ADJ
fumecheng-583	95	52	x	x	ADJ
fumecheng-583	95	53	-	-	ADJ
fumecheng-583	95	54	axis	axis	ADJ
fumecheng-583	95	55	rotational	rotational	ADJ
fumecheng-583	95	56	signal	signal	NOUN
fumecheng-583	95	57	from	from	ADP
fumecheng-583	95	58	gyroscope	gyroscope	NOUN
fumecheng-583	95	59	,	,	PUNCT
fumecheng-583	95	60	c	c	NOUN
fumecheng-583	95	61	)	)	PUNCT
fumecheng-583	95	62	aratg	aratg	NOUN
fumecheng-583	95	63	feature	feature	NOUN
fumecheng-583	95	64	extracted	extract	VERB
fumecheng-583	95	65	from	from	ADP
fumecheng-583	95	66	gyroscope	gyroscope	NOUN
fumecheng-583	95	67	signal	signal	NOUN
fumecheng-583	95	68	–	–	PUNCT
fumecheng-583	95	69	turning	turn	VERB
fumecheng-583	95	70	activities	activity	NOUN
fumecheng-583	95	71	can	can	AUX
fumecheng-583	95	72	be	be	AUX
fumecheng-583	95	73	distinguished	distinguish	VERB
fumecheng-583	95	74	from	from	ADP
fumecheng-583	95	75	other	other	ADJ
fumecheng-583	95	76	activities	activity	NOUN
fumecheng-583	95	77	(	(	PUNCT
fumecheng-583	95	78	turning	turn	VERB
fumecheng-583	95	79	direction	direction	NOUN
fumecheng-583	95	80	left	leave	VERB
fumecheng-583	95	81	for	for	ADP
fumecheng-583	95	82	upward	upward	ADJ
fumecheng-583	95	83	peaks	peak	NOUN
fumecheng-583	95	84	and	and	CCONJ
fumecheng-583	95	85	right	right	ADJ
fumecheng-583	95	86	for	for	ADP
fumecheng-583	95	87	downward	downward	ADJ
fumecheng-583	95	88	peaks	peak	NOUN
fumecheng-583	95	89	,	,	PUNCT
fumecheng-583	95	90	d	d	NOUN
fumecheng-583	95	91	)	)	PUNCT
fumecheng-583	95	92	expectation	expectation	NOUN
fumecheng-583	95	93	-	-	PUNCT
fumecheng-583	95	94	maximisation	maximisation	NOUN
fumecheng-583	95	95	clustering	clustering	NOUN
fumecheng-583	95	96	results	result	NOUN
fumecheng-583	95	97	show	show	VERB
fumecheng-583	95	98	linearly	linearly	ADV
fumecheng-583	95	99	separable	separable	ADJ
fumecheng-583	95	100	data	datum	NOUN
fumecheng-583	95	101	space	space	NOUN
fumecheng-583	95	102	suited	suit	VERB
fumecheng-583	95	103	to	to	ADP
fumecheng-583	95	104	a	a	DET
fumecheng-583	95	105	multi	multi	ADJ
fumecheng-583	95	106	-	-	ADJ
fumecheng-583	95	107	class	class	ADJ
fumecheng-583	95	108	support	support	NOUN
fumecheng-583	95	109	vector	vector	NOUN
fumecheng-583	95	110	machine	machine	NOUN
fumecheng-583	95	111	(	(	PUNCT
fumecheng-583	95	112	without	without	ADP
fumecheng-583	95	113	kernel	kernel	PROPN
fumecheng-583	95	114	)	)	PUNCT
fumecheng-583	95	115	situation	situation	NOUN
fumecheng-583	95	116	assessment	assessment	NOUN
fumecheng-583	95	117	through	through	ADP
fumecheng-583	95	118	multi	multi	ADJ
fumecheng-583	95	119	-	-	ADJ
fumecheng-583	95	120	modal	modal	ADJ
fumecheng-583	95	121	sensing	sensing	NOUN
fumecheng-583	95	122	of	of	ADP
fumecheng-583	95	123	dynamic	dynamic	ADJ
fumecheng-583	95	124	environments	environment	NOUN
fumecheng-583	95	125	to	to	PART
fumecheng-583	95	126	support	support	VERB
fumecheng-583	95	127	cognitive	cognitive	ADJ
fumecheng-583	95	128	robot	robot	NOUN
fumecheng-583	95	129	257	257	NUM
fumecheng-583	95	130	activity	activity	NOUN
fumecheng-583	95	131	classification	classification	NOUN
fumecheng-583	95	132	is	be	AUX
fumecheng-583	95	133	done	do	VERB
fumecheng-583	95	134	using	use	VERB
fumecheng-583	95	135	a	a	DET
fumecheng-583	95	136	multi	multi	ADJ
fumecheng-583	95	137	-	-	ADJ
fumecheng-583	95	138	class	class	ADJ
fumecheng-583	95	139	support	support	NOUN
fumecheng-583	95	140	vector	vector	NOUN
fumecheng-583	95	141	machine	machine	NOUN
fumecheng-583	95	142	with	with	ADP
fumecheng-583	95	143	features	feature	NOUN
fumecheng-583	95	144	including	include	VERB
fumecheng-583	95	145	the	the	DET
fumecheng-583	95	146	euclidean	euclidean	ADJ
fumecheng-583	95	147	distance	distance	NOUN
fumecheng-583	95	148	for	for	ADP
fumecheng-583	95	149	walking	walk	VERB
fumecheng-583	95	150	and	and	CCONJ
fumecheng-583	95	151	standing	standing	NOUN
fumecheng-583	95	152	activities	activity	NOUN
fumecheng-583	95	153	and	and	CCONJ
fumecheng-583	95	154	the	the	DET
fumecheng-583	95	155	average	average	ADJ
fumecheng-583	95	156	rotation	rotation	NOUN
fumecheng-583	95	157	angles	angle	NOUN
fumecheng-583	95	158	related	relate	VERB
fumecheng-583	95	159	to	to	ADP
fumecheng-583	95	160	gravity	gravity	NOUN
fumecheng-583	95	161	direction	direction	NOUN
fumecheng-583	96	1	[	[	X
fumecheng-583	96	2	6	6	NUM
fumecheng-583	96	3	]	]	PUNCT
fumecheng-583	96	4	–	–	PUNCT
fumecheng-583	96	5	also	also	ADV
fumecheng-583	96	6	known	know	VERB
fumecheng-583	96	7	as	as	ADP
fumecheng-583	96	8	aratg	aratg	PROPN
fumecheng-583	96	9	–	–	PUNCT
fumecheng-583	96	10	which	which	PRON
fumecheng-583	96	11	simplifies	simplify	VERB
fumecheng-583	96	12	the	the	DET
fumecheng-583	96	13	identification	identification	NOUN
fumecheng-583	96	14	of	of	ADP
fumecheng-583	96	15	left	left	ADJ
fumecheng-583	96	16	and	and	CCONJ
fumecheng-583	96	17	right	right	ADJ
fumecheng-583	96	18	turns	turn	NOUN
fumecheng-583	96	19	(	(	PUNCT
fumecheng-583	96	20	see	see	VERB
fumecheng-583	96	21	fig	fig	NOUN
fumecheng-583	96	22	.	.	PUNCT
fumecheng-583	97	1	3	3	NUM
fumecheng-583	97	2	)	)	PUNCT
fumecheng-583	97	3	.	.	PUNCT
fumecheng-583	98	1	a	a	DET
fumecheng-583	98	2	classification	classification	NOUN
fumecheng-583	98	3	accuracy	accuracy	NOUN
fumecheng-583	98	4	of	of	ADP
fumecheng-583	98	5	88.73	88.73	NUM
fumecheng-583	98	6	%	%	NOUN
fumecheng-583	98	7	with	with	ADP
fumecheng-583	98	8	an	an	DET
fumecheng-583	98	9	average	average	ADJ
fumecheng-583	98	10	detection	detection	NOUN
fumecheng-583	98	11	latency	latency	NOUN
fumecheng-583	98	12	of	of	ADP
fumecheng-583	98	13	34µs	34µs	NOUN
fumecheng-583	98	14	is	be	AUX
fumecheng-583	98	15	achieved	achieve	VERB
fumecheng-583	98	16	in	in	ADP
fumecheng-583	98	17	10	10	NUM
fumecheng-583	98	18	-	-	ADJ
fumecheng-583	98	19	fold	fold	ADJ
fumecheng-583	98	20	cross	cross	NOUN
fumecheng-583	98	21	validation	validation	NOUN
fumecheng-583	98	22	.	.	PUNCT
fumecheng-583	99	1	this	this	DET
fumecheng-583	99	2	facet	facet	PROPN
fumecheng-583	99	3	also	also	ADV
fumecheng-583	99	4	applies	apply	VERB
fumecheng-583	99	5	to	to	ADP
fumecheng-583	99	6	both	both	DET
fumecheng-583	99	7	corbys	corbys	NOUN
fumecheng-583	99	8	demonstrators	demonstrator	NOUN
fumecheng-583	99	9	.	.	PUNCT
fumecheng-583	100	1	the	the	DET
fumecheng-583	100	2	robotic	robotic	ADJ
fumecheng-583	100	3	follower	follower	NOUN
fumecheng-583	100	4	becomes	become	VERB
fumecheng-583	100	5	aware	aware	ADJ
fumecheng-583	100	6	of	of	ADP
fumecheng-583	100	7	the	the	DET
fumecheng-583	100	8	acceleration	acceleration	NOUN
fumecheng-583	100	9	and	and	CCONJ
fumecheng-583	100	10	orientation	orientation	NOUN
fumecheng-583	100	11	of	of	ADP
fumecheng-583	100	12	the	the	DET
fumecheng-583	100	13	interacting	interact	VERB
fumecheng-583	100	14	human	human	NOUN
fumecheng-583	100	15	through	through	ADP
fumecheng-583	100	16	this	this	DET
fumecheng-583	100	17	processing	processing	NOUN
fumecheng-583	100	18	of	of	ADP
fumecheng-583	100	19	the	the	DET
fumecheng-583	100	20	inertial	inertial	ADJ
fumecheng-583	100	21	measurements	measurement	NOUN
fumecheng-583	100	22	.	.	PUNCT
fumecheng-583	101	1	in	in	ADP
fumecheng-583	101	2	the	the	DET
fumecheng-583	101	3	robotic	robotic	ADJ
fumecheng-583	101	4	gait	gait	PROPN
fumecheng-583	101	5	rehabilitation	rehabilitation	NOUN
fumecheng-583	101	6	system	system	NOUN
fumecheng-583	101	7	,	,	PUNCT
fumecheng-583	101	8	this	this	DET
fumecheng-583	101	9	information	information	NOUN
fumecheng-583	101	10	allows	allow	VERB
fumecheng-583	101	11	suitable	suitable	ADJ
fumecheng-583	101	12	adaptations	adaptation	NOUN
fumecheng-583	101	13	in	in	ADP
fumecheng-583	101	14	the	the	DET
fumecheng-583	101	15	gait	gait	NOUN
fumecheng-583	101	16	trajectories	trajectory	NOUN
fumecheng-583	101	17	depending	depend	VERB
fumecheng-583	101	18	on	on	ADP
fumecheng-583	101	19	the	the	DET
fumecheng-583	101	20	activity	activity	NOUN
fumecheng-583	101	21	(	(	PUNCT
fumecheng-583	101	22	for	for	ADP
fumecheng-583	101	23	instance	instance	NOUN
fumecheng-583	101	24	,	,	PUNCT
fumecheng-583	101	25	starting	start	VERB
fumecheng-583	101	26	and	and	CCONJ
fumecheng-583	101	27	stopping	stop	VERB
fumecheng-583	101	28	)	)	PUNCT
fumecheng-583	101	29	.	.	PUNCT
fumecheng-583	102	1	2.5	2.5	NUM
fumecheng-583	102	2	.	.	PUNCT
fumecheng-583	102	3	gait	gait	VERB
fumecheng-583	102	4	analysis	analysis	NOUN
fumecheng-583	102	5	(	(	PUNCT
fumecheng-583	102	6	in	in	ADP
fumecheng-583	102	7	corbys	corbys	PROPN
fumecheng-583	102	8	demonstrator	demonstrator	PROPN
fumecheng-583	102	9	i	i	PROPN
fumecheng-583	102	10	)	)	PUNCT
fumecheng-583	103	1	it	it	PRON
fumecheng-583	103	2	is	be	AUX
fumecheng-583	103	3	the	the	DET
fumecheng-583	103	4	gait	gait	ADJ
fumecheng-583	103	5	deviation	deviation	NOUN
fumecheng-583	103	6	analysis	analysis	NOUN
fumecheng-583	103	7	based	base	VERB
fumecheng-583	103	8	on	on	ADP
fumecheng-583	103	9	joint	joint	ADJ
fumecheng-583	103	10	angles	angle	NOUN
fumecheng-583	103	11	data	datum	NOUN
fumecheng-583	103	12	that	that	PRON
fumecheng-583	103	13	provides	provide	VERB
fumecheng-583	103	14	the	the	DET
fumecheng-583	103	15	information	information	NOUN
fumecheng-583	103	16	required	require	VERB
fumecheng-583	103	17	for	for	ADP
fumecheng-583	103	18	the	the	DET
fumecheng-583	103	19	gait	gait	PROPN
fumecheng-583	103	20	rehabilitation	rehabilitation	NOUN
fumecheng-583	103	21	system	system	NOUN
fumecheng-583	103	22	to	to	PART
fumecheng-583	103	23	make	make	VERB
fumecheng-583	103	24	inferences	inference	NOUN
fumecheng-583	103	25	regarding	regard	VERB
fumecheng-583	103	26	what	what	PRON
fumecheng-583	103	27	supportive	supportive	ADJ
fumecheng-583	103	28	actuation	actuation	NOUN
fumecheng-583	103	29	needs	need	VERB
fumecheng-583	103	30	to	to	PART
fumecheng-583	103	31	be	be	AUX
fumecheng-583	103	32	applied	apply	VERB
fumecheng-583	103	33	at	at	ADP
fumecheng-583	103	34	which	which	DET
fumecheng-583	103	35	point	point	NOUN
fumecheng-583	103	36	in	in	ADP
fumecheng-583	103	37	the	the	DET
fumecheng-583	103	38	walk	walk	NOUN
fumecheng-583	103	39	cycle	cycle	NOUN
fumecheng-583	103	40	to	to	PART
fumecheng-583	103	41	improve	improve	VERB
fumecheng-583	103	42	the	the	DET
fumecheng-583	103	43	person	person	NOUN
fumecheng-583	103	44	’s	’s	PART
fumecheng-583	103	45	gait	gait	NOUN
fumecheng-583	103	46	as	as	ADV
fumecheng-583	103	47	best	well	ADV
fumecheng-583	103	48	suited	suit	VERB
fumecheng-583	103	49	to	to	ADP
fumecheng-583	103	50	the	the	DET
fumecheng-583	103	51	condition	condition	NOUN
fumecheng-583	103	52	consistent	consistent	ADJ
fumecheng-583	103	53	with	with	ADP
fumecheng-583	103	54	the	the	DET
fumecheng-583	103	55	clinical	clinical	ADJ
fumecheng-583	103	56	judgement	judgement	NOUN
fumecheng-583	103	57	of	of	ADP
fumecheng-583	103	58	the	the	DET
fumecheng-583	103	59	gait	gait	PROPN
fumecheng-583	103	60	therapist	therapist	PROPN
fumecheng-583	103	61	.	.	PUNCT
fumecheng-583	104	1	fig	fig	NOUN
fumecheng-583	104	2	.	.	PUNCT
fumecheng-583	105	1	4	4	NUM
fumecheng-583	105	2	hip	hip	NOUN
fumecheng-583	105	3	joint	joint	ADJ
fumecheng-583	105	4	angles	angle	NOUN
fumecheng-583	105	5	(	(	PUNCT
fumecheng-583	105	6	x	x	NOUN
fumecheng-583	105	7	-	-	ADJ
fumecheng-583	105	8	axis	axis	ADJ
fumecheng-583	105	9	/	/	SYM
fumecheng-583	105	10	sagittal	sagittal	ADJ
fumecheng-583	105	11	movement	movement	NOUN
fumecheng-583	105	12	)	)	PUNCT
fumecheng-583	105	13	for	for	ADP
fumecheng-583	105	14	one	one	NUM
fumecheng-583	105	15	pathological	pathological	ADJ
fumecheng-583	105	16	gait	gait	NOUN
fumecheng-583	105	17	cycle	cycle	NOUN
fumecheng-583	105	18	as	as	SCONJ
fumecheng-583	105	19	extracted	extract	VERB
fumecheng-583	105	20	and	and	CCONJ
fumecheng-583	105	21	segmented	segment	VERB
fumecheng-583	105	22	per	per	ADP
fumecheng-583	105	23	phase	phase	NOUN
fumecheng-583	105	24	by	by	ADP
fumecheng-583	105	25	our	our	PRON
fumecheng-583	105	26	gait	gait	ADJ
fumecheng-583	105	27	analysis	analysis	NOUN
fumecheng-583	105	28	method	method	NOUN
fumecheng-583	105	29	.	.	PUNCT
fumecheng-583	106	1	muscle	muscle	NOUN
fumecheng-583	106	2	activity	activity	NOUN
fumecheng-583	106	3	in	in	ADP
fumecheng-583	106	4	emg	emg	NOUN
fumecheng-583	106	5	signal	signal	NOUN
fumecheng-583	106	6	is	be	AUX
fumecheng-583	106	7	also	also	ADV
fumecheng-583	106	8	shown	show	VERB
fumecheng-583	106	9	for	for	ADP
fumecheng-583	106	10	the	the	DET
fumecheng-583	106	11	lower	low	ADJ
fumecheng-583	106	12	limb	limb	NOUN
fumecheng-583	106	13	muscle	muscle	NOUN
fumecheng-583	106	14	groups	group	NOUN
fumecheng-583	106	15	:	:	PUNCT
fumecheng-583	106	16	quadriceps	quadricep	NOUN
fumecheng-583	106	17	,	,	PUNCT
fumecheng-583	106	18	hamstring	hamstring	NOUN
fumecheng-583	106	19	,	,	PUNCT
fumecheng-583	106	20	tibialis	tibialis	NOUN
fumecheng-583	106	21	and	and	CCONJ
fumecheng-583	106	22	calf	calf	NOUN
fumecheng-583	106	23	.	.	PUNCT
fumecheng-583	107	1	top	top	ADJ
fumecheng-583	107	2	half	half	NOUN
fumecheng-583	107	3	of	of	ADP
fumecheng-583	107	4	figure	figure	NOUN
fumecheng-583	107	5	corresponds	correspond	NOUN
fumecheng-583	107	6	to	to	ADP
fumecheng-583	107	7	the	the	DET
fumecheng-583	107	8	left	left	ADJ
fumecheng-583	107	9	leg	leg	NOUN
fumecheng-583	107	10	while	while	SCONJ
fumecheng-583	107	11	the	the	DET
fumecheng-583	107	12	bottom	bottom	ADJ
fumecheng-583	107	13	half	half	NOUN
fumecheng-583	107	14	depicts	depict	VERB
fumecheng-583	107	15	motion	motion	NOUN
fumecheng-583	107	16	in	in	ADP
fumecheng-583	107	17	the	the	DET
fumecheng-583	107	18	right	right	ADJ
fumecheng-583	107	19	leg	leg	NOUN
fumecheng-583	107	20	.	.	PUNCT
fumecheng-583	108	1	258	258	NUM
fumecheng-583	108	2	a.	a.	NOUN
fumecheng-583	108	3	badii	badii	NOUN
fumecheng-583	108	4	,	,	PUNCT
fumecheng-583	108	5	a.	a.	PROPN
fumecheng-583	108	6	khan	khan	PROPN
fumecheng-583	108	7	,	,	PUNCT
fumecheng-583	108	8	r.	r.	PROPN
fumecheng-583	108	9	raval	raval	PROPN
fumecheng-583	108	10	,	,	PUNCT
fumecheng-583	108	11	h.	h.	PROPN
fumecheng-583	108	12	oudi	oudi	PROPN
fumecheng-583	108	13	,	,	PUNCT
fumecheng-583	108	14	r.	r.	PROPN
fumecheng-583	108	15	ayora	ayora	PROPN
fumecheng-583	108	16	,	,	PUNCT
fumecheng-583	108	17	w.	w.	PROPN
fumecheng-583	108	18	khan	khan	PROPN
fumecheng-583	108	19	,	,	PUNCT
fumecheng-583	108	20	a.	a.	NOUN
fumecheng-583	108	21	jaidi	jaidi	PROPN
fumecheng-583	108	22	,	,	PUNCT
fumecheng-583	108	23	n.	n.	PROPN
fumecheng-583	108	24	viswanathan	viswanathan	PROPN
fumecheng-583	108	25	a	a	DET
fumecheng-583	108	26	range	range	NOUN
fumecheng-583	108	27	of	of	ADP
fumecheng-583	108	28	machine	machine	NOUN
fumecheng-583	108	29	learning	learning	NOUN
fumecheng-583	108	30	and	and	CCONJ
fumecheng-583	108	31	classification	classification	NOUN
fumecheng-583	108	32	techniques	technique	NOUN
fumecheng-583	108	33	were	be	AUX
fumecheng-583	108	34	evaluated	evaluate	VERB
fumecheng-583	108	35	with	with	ADP
fumecheng-583	108	36	respect	respect	NOUN
fumecheng-583	108	37	to	to	ADP
fumecheng-583	108	38	the	the	DET
fumecheng-583	108	39	accuracy	accuracy	NOUN
fumecheng-583	108	40	of	of	ADP
fumecheng-583	108	41	their	their	PRON
fumecheng-583	108	42	results	result	NOUN
fumecheng-583	108	43	in	in	ADP
fumecheng-583	108	44	classifying	classify	VERB
fumecheng-583	108	45	the	the	DET
fumecheng-583	108	46	phases	phase	NOUN
fumecheng-583	108	47	in	in	ADP
fumecheng-583	108	48	a	a	DET
fumecheng-583	108	49	gait	gait	ADJ
fumecheng-583	108	50	cycle	cycle	NOUN
fumecheng-583	108	51	based	base	VERB
fumecheng-583	108	52	on	on	ADP
fumecheng-583	108	53	the	the	DET
fumecheng-583	108	54	joint	joint	ADJ
fumecheng-583	108	55	angles	angle	NOUN
fumecheng-583	108	56	data	datum	NOUN
fumecheng-583	108	57	.	.	PUNCT
fumecheng-583	109	1	these	these	PRON
fumecheng-583	109	2	included	include	VERB
fumecheng-583	109	3	anns	ann	NOUN
fumecheng-583	109	4	,	,	PUNCT
fumecheng-583	109	5	naïve	naïve	ADJ
fumecheng-583	109	6	bayes	bayes	NOUN
fumecheng-583	109	7	,	,	PUNCT
fumecheng-583	109	8	svms	svms	VERB
fumecheng-583	109	9	as	as	ADV
fumecheng-583	109	10	well	well	ADV
fumecheng-583	109	11	as	as	ADP
fumecheng-583	109	12	unsupervised	unsupervised	ADJ
fumecheng-583	109	13	methods	method	NOUN
fumecheng-583	109	14	including	include	VERB
fumecheng-583	109	15	expectation	expectation	NOUN
fumecheng-583	109	16	maximisation	maximisation	NOUN
fumecheng-583	109	17	and	and	CCONJ
fumecheng-583	109	18	k	k	PROPN
fumecheng-583	109	19	means	mean	VERB
fumecheng-583	109	20	using	use	VERB
fumecheng-583	109	21	a	a	DET
fumecheng-583	109	22	joint	joint	ADJ
fumecheng-583	109	23	angles	angle	NOUN
fumecheng-583	109	24	dataset	dataset	NOUN
fumecheng-583	109	25	that	that	PRON
fumecheng-583	109	26	comprised	comprise	VERB
fumecheng-583	109	27	of	of	ADP
fumecheng-583	109	28	gait	gait	ADJ
fumecheng-583	109	29	trajectories	trajectory	NOUN
fumecheng-583	109	30	for	for	ADP
fumecheng-583	109	31	the	the	DET
fumecheng-583	109	32	hip	hip	NOUN
fumecheng-583	109	33	,	,	PUNCT
fumecheng-583	109	34	knee	knee	NOUN
fumecheng-583	109	35	and	and	CCONJ
fumecheng-583	109	36	ankle	ankle	NOUN
fumecheng-583	109	37	joints	joint	NOUN
fumecheng-583	109	38	of	of	ADP
fumecheng-583	109	39	both	both	DET
fumecheng-583	109	40	legs	leg	NOUN
fumecheng-583	109	41	.	.	PUNCT
fumecheng-583	110	1	trained	train	VERB
fumecheng-583	110	2	classifiers	classifier	NOUN
fumecheng-583	110	3	were	be	AUX
fumecheng-583	110	4	used	use	VERB
fumecheng-583	110	5	to	to	PART
fumecheng-583	110	6	determine	determine	VERB
fumecheng-583	110	7	the	the	DET
fumecheng-583	110	8	optimal	optimal	ADJ
fumecheng-583	110	9	gait	gait	NOUN
fumecheng-583	110	10	support	support	NOUN
fumecheng-583	110	11	that	that	PRON
fumecheng-583	110	12	had	have	VERB
fumecheng-583	110	13	to	to	PART
fumecheng-583	110	14	be	be	AUX
fumecheng-583	110	15	provided	provide	VERB
fumecheng-583	110	16	to	to	ADP
fumecheng-583	110	17	the	the	DET
fumecheng-583	110	18	patient	patient	NOUN
fumecheng-583	110	19	as	as	SCONJ
fumecheng-583	110	20	prescribed	prescribe	VERB
fumecheng-583	110	21	by	by	ADP
fumecheng-583	110	22	the	the	DET
fumecheng-583	110	23	gait	gait	PROPN
fumecheng-583	110	24	therapist	therapist	NOUN
fumecheng-583	110	25	based	base	VERB
fumecheng-583	110	26	on	on	ADP
fumecheng-583	110	27	clinical	clinical	ADJ
fumecheng-583	110	28	observation	observation	NOUN
fumecheng-583	110	29	of	of	ADP
fumecheng-583	110	30	the	the	DET
fumecheng-583	110	31	patients	patient	NOUN
fumecheng-583	110	32	’	'	PUNCT
fumecheng-583	110	33	pathological	pathological	ADJ
fumecheng-583	110	34	gait	gait	NOUN
fumecheng-583	110	35	.	.	PUNCT
fumecheng-583	111	1	we	we	PRON
fumecheng-583	111	2	also	also	ADV
fumecheng-583	111	3	undertook	undertake	VERB
fumecheng-583	111	4	phase	phase	NOUN
fumecheng-583	111	5	classification	classification	NOUN
fumecheng-583	111	6	(	(	PUNCT
fumecheng-583	111	7	i.e.	i.e.	X
fumecheng-583	111	8	the	the	DET
fumecheng-583	111	9	determination	determination	NOUN
fumecheng-583	111	10	of	of	ADP
fumecheng-583	111	11	the	the	DET
fumecheng-583	111	12	walk	walk	NOUN
fumecheng-583	111	13	cycle	cycle	NOUN
fumecheng-583	111	14	phase	phase	NOUN
fumecheng-583	111	15	transition	transition	NOUN
fumecheng-583	111	16	points	point	NOUN
fumecheng-583	111	17	)	)	PUNCT
fumecheng-583	111	18	based	base	VERB
fumecheng-583	111	19	on	on	ADP
fumecheng-583	111	20	time	time	NOUN
fumecheng-583	111	21	domain	domain	NOUN
fumecheng-583	111	22	processing	processing	NOUN
fumecheng-583	111	23	as	as	ADV
fumecheng-583	111	24	well	well	ADV
fumecheng-583	111	25	as	as	ADP
fumecheng-583	111	26	frequency	frequency	NOUN
fumecheng-583	111	27	domain	domain	NOUN
fumecheng-583	111	28	spectral	spectral	ADJ
fumecheng-583	111	29	analysis	analysis	NOUN
fumecheng-583	111	30	of	of	ADP
fumecheng-583	111	31	data	datum	NOUN
fumecheng-583	111	32	which	which	PRON
fumecheng-583	111	33	consisted	consist	VERB
fumecheng-583	111	34	of	of	ADP
fumecheng-583	111	35	a	a	DET
fumecheng-583	111	36	number	number	NOUN
fumecheng-583	111	37	of	of	ADP
fumecheng-583	111	38	statistical	statistical	ADJ
fumecheng-583	111	39	/	/	SYM
fumecheng-583	111	40	time	time	NOUN
fumecheng-583	111	41	-	-	PUNCT
fumecheng-583	111	42	domain	domain	NOUN
fumecheng-583	111	43	features	feature	NOUN
fumecheng-583	111	44	extracted	extract	VERB
fumecheng-583	111	45	from	from	ADP
fumecheng-583	111	46	joint	joint	ADJ
fumecheng-583	111	47	-	-	PUNCT
fumecheng-583	111	48	angular	angular	ADJ
fumecheng-583	111	49	motion	motion	NOUN
fumecheng-583	111	50	data	datum	NOUN
fumecheng-583	111	51	of	of	ADP
fumecheng-583	111	52	the	the	DET
fumecheng-583	111	53	gait	gait	ADJ
fumecheng-583	111	54	cycle	cycle	NOUN
fumecheng-583	111	55	.	.	PUNCT
fumecheng-583	112	1	phase	phase	NOUN
fumecheng-583	112	2	classification	classification	NOUN
fumecheng-583	112	3	enabled	enable	VERB
fumecheng-583	112	4	the	the	DET
fumecheng-583	112	5	determination	determination	NOUN
fumecheng-583	112	6	of	of	ADP
fumecheng-583	112	7	the	the	DET
fumecheng-583	112	8	deviation	deviation	NOUN
fumecheng-583	112	9	in	in	ADP
fumecheng-583	112	10	a	a	DET
fumecheng-583	112	11	patient	patient	NOUN
fumecheng-583	112	12	’s	’s	PART
fumecheng-583	112	13	gait	gait	NOUN
fumecheng-583	112	14	from	from	ADP
fumecheng-583	112	15	the	the	DET
fumecheng-583	112	16	optimal	optimal	ADJ
fumecheng-583	112	17	reference	reference	NOUN
fumecheng-583	112	18	gait	gait	NOUN
fumecheng-583	112	19	pattern	pattern	NOUN
fumecheng-583	112	20	at	at	ADP
fumecheng-583	112	21	the	the	DET
fumecheng-583	112	22	sub	sub	ADJ
fumecheng-583	112	23	-	-	ADJ
fumecheng-583	112	24	phase	phase	ADJ
fumecheng-583	112	25	level	level	NOUN
fumecheng-583	112	26	.	.	PUNCT
fumecheng-583	113	1	this	this	DET
fumecheng-583	113	2	approach	approach	NOUN
fumecheng-583	113	3	has	have	AUX
fumecheng-583	113	4	been	be	AUX
fumecheng-583	113	5	tested	test	VERB
fumecheng-583	113	6	with	with	ADP
fumecheng-583	113	7	normal	normal	ADJ
fumecheng-583	113	8	and	and	CCONJ
fumecheng-583	113	9	pathological	pathological	ADJ
fumecheng-583	113	10	data	datum	NOUN
fumecheng-583	113	11	demonstrating	demonstrate	VERB
fumecheng-583	113	12	its	its	PRON
fumecheng-583	113	13	suitability	suitability	NOUN
fumecheng-583	113	14	in	in	ADP
fumecheng-583	113	15	classifying	classify	VERB
fumecheng-583	113	16	the	the	DET
fumecheng-583	113	17	phases	phase	NOUN
fumecheng-583	113	18	of	of	ADP
fumecheng-583	113	19	the	the	DET
fumecheng-583	113	20	gait	gait	NOUN
fumecheng-583	113	21	regardless	regardless	ADV
fumecheng-583	113	22	of	of	ADP
fumecheng-583	113	23	type	type	NOUN
fumecheng-583	113	24	.	.	PUNCT
fumecheng-583	114	1	gait	gait	PROPN
fumecheng-583	114	2	analysis	analysis	NOUN
fumecheng-583	114	3	also	also	ADV
fumecheng-583	114	4	entails	entail	VERB
fumecheng-583	114	5	muscle	muscle	NOUN
fumecheng-583	114	6	activation	activation	NOUN
fumecheng-583	114	7	pattern	pattern	NOUN
fumecheng-583	114	8	detection	detection	NOUN
fumecheng-583	114	9	and	and	CCONJ
fumecheng-583	114	10	tracking	track	VERB
fumecheng-583	114	11	against	against	ADP
fumecheng-583	114	12	expected	expect	VERB
fumecheng-583	114	13	activation	activation	NOUN
fumecheng-583	114	14	per	per	ADP
fumecheng-583	114	15	previously	previously	ADV
fumecheng-583	114	16	reported	report	VERB
fumecheng-583	114	17	studies	study	NOUN
fumecheng-583	114	18	[	[	X
fumecheng-583	114	19	7	7	NUM
fumecheng-583	114	20	]	]	PUNCT
fumecheng-583	114	21	.	.	PUNCT
fumecheng-583	115	1	the	the	DET
fumecheng-583	115	2	emg	emg	NOUN
fumecheng-583	115	3	signal	signal	NOUN
fumecheng-583	115	4	enables	enable	VERB
fumecheng-583	115	5	the	the	DET
fumecheng-583	115	6	detection	detection	NOUN
fumecheng-583	115	7	of	of	ADP
fumecheng-583	115	8	muscle	muscle	NOUN
fumecheng-583	115	9	activity	activity	NOUN
fumecheng-583	115	10	orchestration	orchestration	NOUN
fumecheng-583	115	11	per	per	ADP
fumecheng-583	115	12	gait	gait	NOUN
fumecheng-583	115	13	cycle	cycle	NOUN
fumecheng-583	115	14	which	which	PRON
fumecheng-583	115	15	enables	enable	VERB
fumecheng-583	115	16	the	the	DET
fumecheng-583	115	17	determination	determination	NOUN
fumecheng-583	115	18	of	of	ADP
fumecheng-583	115	19	the	the	DET
fumecheng-583	115	20	expected	expect	VERB
fumecheng-583	115	21	muscle	muscle	NOUN
fumecheng-583	115	22	activation	activation	NOUN
fumecheng-583	115	23	pattern	pattern	NOUN
fumecheng-583	115	24	(	(	PUNCT
fumecheng-583	115	25	via	via	ADP
fumecheng-583	115	26	a	a	DET
fumecheng-583	115	27	confidence	confidence	NOUN
fumecheng-583	115	28	measure	measure	NOUN
fumecheng-583	115	29	)	)	PUNCT
fumecheng-583	115	30	as	as	SCONJ
fumecheng-583	115	31	exhibited	exhibit	VERB
fumecheng-583	115	32	in	in	ADP
fumecheng-583	115	33	normal	normal	ADJ
fumecheng-583	115	34	locomotion	locomotion	NOUN
fumecheng-583	115	35	.	.	PUNCT
fumecheng-583	116	1	the	the	DET
fumecheng-583	116	2	corbys	corbys	NOUN
fumecheng-583	116	3	system	system	NOUN
fumecheng-583	116	4	provides	provide	VERB
fumecheng-583	116	5	sensors	sensor	NOUN
fumecheng-583	116	6	for	for	ADP
fumecheng-583	116	7	four	four	NUM
fumecheng-583	116	8	muscles	muscle	NOUN
fumecheng-583	116	9	groups	group	NOUN
fumecheng-583	116	10	with	with	ADP
fumecheng-583	116	11	electrodes	electrode	NOUN
fumecheng-583	116	12	placed	place	VERB
fumecheng-583	116	13	on	on	ADP
fumecheng-583	116	14	the	the	DET
fumecheng-583	116	15	vastus	vastus	NOUN
fumecheng-583	116	16	medialis	medialis	PROPN
fumecheng-583	116	17	(	(	PUNCT
fumecheng-583	116	18	quadriceps	quadricep	NOUN
fumecheng-583	116	19	)	)	PUNCT
fumecheng-583	116	20	,	,	PUNCT
fumecheng-583	116	21	biceps	bicep	NOUN
fumecheng-583	116	22	femoris	femoris	NOUN
fumecheng-583	116	23	(	(	PUNCT
fumecheng-583	116	24	hamstrings	hamstring	NOUN
fumecheng-583	116	25	)	)	PUNCT
fumecheng-583	116	26	,	,	PUNCT
fumecheng-583	116	27	tibialis	tibialis	PROPN
fumecheng-583	116	28	anterior	anterior	NOUN
fumecheng-583	116	29	(	(	PUNCT
fumecheng-583	116	30	anterior	anterior	ADJ
fumecheng-583	116	31	shank	shank	NOUN
fumecheng-583	116	32	)	)	PUNCT
fumecheng-583	116	33	and	and	CCONJ
fumecheng-583	116	34	gastrocnemius	gastrocnemius	NOUN
fumecheng-583	116	35	(	(	PUNCT
fumecheng-583	116	36	calf	calf	NOUN
fumecheng-583	116	37	)	)	PUNCT
fumecheng-583	116	38	.	.	PUNCT
fumecheng-583	117	1	in	in	ADP
fumecheng-583	117	2	fig	fig	NOUN
fumecheng-583	117	3	.	.	PUNCT
fumecheng-583	118	1	4	4	NUM
fumecheng-583	118	2	,	,	PUNCT
fumecheng-583	118	3	the	the	DET
fumecheng-583	118	4	trough	trough	NOUN
fumecheng-583	118	5	(	(	PUNCT
fumecheng-583	118	6	global	global	ADJ
fumecheng-583	118	7	minimum	minimum	NOUN
fumecheng-583	118	8	in	in	ADP
fumecheng-583	118	9	this	this	DET
fumecheng-583	118	10	case	case	NOUN
fumecheng-583	118	11	)	)	PUNCT
fumecheng-583	118	12	in	in	ADP
fumecheng-583	118	13	sagittal	sagittal	ADJ
fumecheng-583	118	14	movement	movement	NOUN
fumecheng-583	118	15	(	(	PUNCT
fumecheng-583	118	16	along	along	ADP
fumecheng-583	118	17	the	the	DET
fumecheng-583	118	18	x	x	NOUN
fumecheng-583	118	19	-	-	NOUN
fumecheng-583	118	20	axis	axis	ADJ
fumecheng-583	118	21	)	)	PUNCT
fumecheng-583	118	22	of	of	ADP
fumecheng-583	118	23	the	the	DET
fumecheng-583	118	24	right	right	ADJ
fumecheng-583	118	25	hip	hip	NOUN
fumecheng-583	118	26	joint	joint	NOUN
fumecheng-583	118	27	represents	represent	VERB
fumecheng-583	118	28	the	the	DET
fumecheng-583	118	29	start	start	NOUN
fumecheng-583	118	30	of	of	ADP
fumecheng-583	118	31	the	the	DET
fumecheng-583	118	32	swing	swing	NOUN
fumecheng-583	118	33	phase	phase	NOUN
fumecheng-583	118	34	for	for	ADP
fumecheng-583	118	35	the	the	DET
fumecheng-583	118	36	right	right	ADJ
fumecheng-583	118	37	leg	leg	NOUN
fumecheng-583	118	38	.	.	PUNCT
fumecheng-583	119	1	at	at	ADP
fumecheng-583	119	2	this	this	DET
fumecheng-583	119	3	point	point	NOUN
fumecheng-583	119	4	,	,	PUNCT
fumecheng-583	119	5	the	the	DET
fumecheng-583	119	6	left	left	ADJ
fumecheng-583	119	7	leg	leg	NOUN
fumecheng-583	119	8	enters	enter	VERB
fumecheng-583	119	9	into	into	ADP
fumecheng-583	119	10	the	the	DET
fumecheng-583	119	11	stance	stance	NOUN
fumecheng-583	119	12	phase	phase	NOUN
fumecheng-583	119	13	providing	provide	VERB
fumecheng-583	119	14	support	support	NOUN
fumecheng-583	119	15	for	for	ADP
fumecheng-583	119	16	the	the	DET
fumecheng-583	119	17	right	right	ADJ
fumecheng-583	119	18	leg	leg	NOUN
fumecheng-583	119	19	swing	swing	NOUN
fumecheng-583	119	20	.	.	PUNCT
fumecheng-583	120	1	conversely	conversely	ADV
fumecheng-583	120	2	,	,	PUNCT
fumecheng-583	120	3	leading	lead	VERB
fumecheng-583	120	4	up	up	ADP
fumecheng-583	120	5	this	this	DET
fumecheng-583	120	6	trough	trough	NOUN
fumecheng-583	120	7	in	in	ADP
fumecheng-583	120	8	the	the	DET
fumecheng-583	120	9	right	right	ADJ
fumecheng-583	120	10	hip	hip	NOUN
fumecheng-583	120	11	x	x	ADJ
fumecheng-583	120	12	-	-	ADJ
fumecheng-583	120	13	axis	axis	ADJ
fumecheng-583	120	14	signal	signal	NOUN
fumecheng-583	120	15	,	,	PUNCT
fumecheng-583	120	16	the	the	DET
fumecheng-583	120	17	right	right	ADJ
fumecheng-583	120	18	leg	leg	NOUN
fumecheng-583	120	19	is	be	AUX
fumecheng-583	120	20	in	in	ADP
fumecheng-583	120	21	stance	stance	NOUN
fumecheng-583	120	22	phase	phase	NOUN
fumecheng-583	120	23	supporting	support	VERB
fumecheng-583	120	24	the	the	DET
fumecheng-583	120	25	swing	swing	NOUN
fumecheng-583	120	26	of	of	ADP
fumecheng-583	120	27	the	the	DET
fumecheng-583	120	28	left	left	ADJ
fumecheng-583	120	29	leg	leg	NOUN
fumecheng-583	120	30	.	.	PUNCT
fumecheng-583	121	1	the	the	DET
fumecheng-583	121	2	muscle	muscle	NOUN
fumecheng-583	121	3	activity	activity	NOUN
fumecheng-583	121	4	analysis	analysis	NOUN
fumecheng-583	121	5	verifies	verifie	NOUN
fumecheng-583	121	6	that	that	SCONJ
fumecheng-583	121	7	the	the	DET
fumecheng-583	121	8	muscle	muscle	NOUN
fumecheng-583	121	9	groups	group	NOUN
fumecheng-583	121	10	are	be	AUX
fumecheng-583	121	11	activated	activate	VERB
fumecheng-583	121	12	consistent	consistent	ADJ
fumecheng-583	121	13	with	with	ADP
fumecheng-583	121	14	gait	gait	ADJ
fumecheng-583	121	15	motion	motion	NOUN
fumecheng-583	121	16	;	;	PUNCT
fumecheng-583	121	17	this	this	PRON
fumecheng-583	121	18	is	be	AUX
fumecheng-583	121	19	of	of	ADP
fumecheng-583	121	20	interest	interest	NOUN
fumecheng-583	121	21	to	to	ADP
fumecheng-583	121	22	the	the	DET
fumecheng-583	121	23	therapist	therapist	NOUN
fumecheng-583	121	24	from	from	ADP
fumecheng-583	121	25	the	the	DET
fumecheng-583	121	26	rehabilitation	rehabilitation	NOUN
fumecheng-583	121	27	point	point	NOUN
fumecheng-583	121	28	of	of	ADP
fumecheng-583	121	29	view	view	NOUN
fumecheng-583	121	30	.	.	PUNCT
fumecheng-583	122	1	large	large	ADJ
fumecheng-583	122	2	-	-	PUNCT
fumecheng-583	122	3	scale	scale	NOUN
fumecheng-583	122	4	evaluation	evaluation	NOUN
fumecheng-583	122	5	of	of	ADP
fumecheng-583	122	6	gait	gait	ADJ
fumecheng-583	122	7	analysis	analysis	NOUN
fumecheng-583	122	8	and	and	CCONJ
fumecheng-583	122	9	muscle	muscle	NOUN
fumecheng-583	122	10	activity	activity	NOUN
fumecheng-583	122	11	analysis	analysis	NOUN
fumecheng-583	122	12	are	be	AUX
fumecheng-583	122	13	ongoing	ongoing	ADJ
fumecheng-583	122	14	with	with	ADP
fumecheng-583	122	15	a	a	DET
fumecheng-583	122	16	cohort	cohort	NOUN
fumecheng-583	122	17	of	of	ADP
fumecheng-583	122	18	user	user	NOUN
fumecheng-583	122	19	groups	group	NOUN
fumecheng-583	122	20	as	as	ADP
fumecheng-583	122	21	part	part	NOUN
fumecheng-583	122	22	of	of	ADP
fumecheng-583	122	23	the	the	DET
fumecheng-583	122	24	corbys	corbys	NOUN
fumecheng-583	122	25	project	project	NOUN
fumecheng-583	122	26	evaluation	evaluation	NOUN
fumecheng-583	122	27	activities	activity	NOUN
fumecheng-583	122	28	.	.	PUNCT
fumecheng-583	123	1	2.6	2.6	NUM
fumecheng-583	123	2	.	.	PUNCT
fumecheng-583	123	3	decision	decision	NOUN
fumecheng-583	123	4	making	make	VERB
fumecheng-583	123	5	the	the	DET
fumecheng-583	123	6	decision	decision	NOUN
fumecheng-583	123	7	engine	engine	NOUN
fumecheng-583	123	8	determines	determine	VERB
fumecheng-583	123	9	the	the	DET
fumecheng-583	123	10	best	well	ADV
fumecheng-583	123	11	suited	suited	ADJ
fumecheng-583	123	12	action	action	NOUN
fumecheng-583	123	13	at	at	ADP
fumecheng-583	123	14	each	each	DET
fumecheng-583	123	15	stage	stage	NOUN
fumecheng-583	123	16	in	in	ADP
fumecheng-583	123	17	each	each	DET
fumecheng-583	123	18	case	case	NOUN
fumecheng-583	123	19	based	base	VERB
fumecheng-583	123	20	on	on	ADP
fumecheng-583	123	21	reasoning	reasoning	NOUN
fumecheng-583	123	22	over	over	ADP
fumecheng-583	123	23	the	the	DET
fumecheng-583	123	24	situation	situation	NOUN
fumecheng-583	123	25	assessment	assessment	NOUN
fumecheng-583	123	26	in	in	ADP
fumecheng-583	123	27	given	give	VERB
fumecheng-583	123	28	context	context	NOUN
fumecheng-583	123	29	.	.	PUNCT
fumecheng-583	124	1	dempster	dempster	PROPN
fumecheng-583	124	2	-	-	PUNCT
fumecheng-583	124	3	shafer	shafer	PROPN
fumecheng-583	124	4	method	method	NOUN
fumecheng-583	124	5	for	for	ADP
fumecheng-583	124	6	evidence	evidence	NOUN
fumecheng-583	124	7	combination	combination	NOUN
fumecheng-583	124	8	[	[	X
fumecheng-583	124	9	8	8	NUM
fumecheng-583	124	10	,	,	PUNCT
fumecheng-583	124	11	9	9	NUM
fumecheng-583	124	12	]	]	PUNCT
fumecheng-583	124	13	is	be	AUX
fumecheng-583	124	14	used	use	VERB
fumecheng-583	124	15	to	to	PART
fumecheng-583	124	16	combine	combine	VERB
fumecheng-583	124	17	information	information	NOUN
fumecheng-583	124	18	from	from	ADP
fumecheng-583	124	19	several	several	ADJ
fumecheng-583	124	20	data	datum	NOUN
fumecheng-583	124	21	sources	source	NOUN
fumecheng-583	124	22	to	to	PART
fumecheng-583	124	23	give	give	VERB
fumecheng-583	124	24	a	a	DET
fumecheng-583	124	25	better	well	ADJ
fumecheng-583	124	26	overall	overall	ADJ
fumecheng-583	124	27	picture	picture	NOUN
fumecheng-583	124	28	of	of	ADP
fumecheng-583	124	29	a	a	DET
fumecheng-583	124	30	system	system	NOUN
fumecheng-583	124	31	.	.	PUNCT
fumecheng-583	125	1	this	this	PRON
fumecheng-583	125	2	is	be	AUX
fumecheng-583	125	3	done	do	VERB
fumecheng-583	125	4	by	by	ADP
fumecheng-583	125	5	combining	combine	VERB
fumecheng-583	125	6	beliefs	belief	NOUN
fumecheng-583	125	7	given	give	VERB
fumecheng-583	125	8	by	by	ADP
fumecheng-583	125	9	several	several	ADJ
fumecheng-583	125	10	sensors	sensor	NOUN
fumecheng-583	125	11	or	or	CCONJ
fumecheng-583	125	12	data	datum	NOUN
fumecheng-583	125	13	points	point	NOUN
fumecheng-583	125	14	into	into	ADP
fumecheng-583	125	15	a	a	DET
fumecheng-583	125	16	single	single	ADJ
fumecheng-583	125	17	set	set	NOUN
fumecheng-583	125	18	of	of	ADP
fumecheng-583	125	19	beliefs	belief	NOUN
fumecheng-583	125	20	.	.	PUNCT
fumecheng-583	126	1	traditional	traditional	ADJ
fumecheng-583	126	2	probabilities	probability	NOUN
fumecheng-583	126	3	are	be	AUX
fumecheng-583	126	4	replaced	replace	VERB
fumecheng-583	126	5	with	with	ADP
fumecheng-583	126	6	belief	belief	NOUN
fumecheng-583	126	7	functions	function	NOUN
fumecheng-583	126	8	that	that	PRON
fumecheng-583	126	9	provide	provide	VERB
fumecheng-583	126	10	a	a	DET
fumecheng-583	126	11	measure	measure	NOUN
fumecheng-583	126	12	of	of	ADP
fumecheng-583	126	13	certainty	certainty	NOUN
fumecheng-583	126	14	,	,	PUNCT
fumecheng-583	126	15	for	for	ADP
fumecheng-583	126	16	instance	instance	NOUN
fumecheng-583	126	17	,	,	PUNCT
fumecheng-583	126	18	regarding	regard	VERB
fumecheng-583	126	19	a	a	DET
fumecheng-583	126	20	classification	classification	NOUN
fumecheng-583	126	21	label	label	NOUN
fumecheng-583	126	22	given	give	VERB
fumecheng-583	126	23	to	to	ADP
fumecheng-583	126	24	a	a	DET
fumecheng-583	126	25	particular	particular	ADJ
fumecheng-583	126	26	instance	instance	NOUN
fumecheng-583	126	27	.	.	PUNCT
fumecheng-583	127	1	by	by	ADP
fumecheng-583	127	2	combining	combine	VERB
fumecheng-583	127	3	several	several	ADJ
fumecheng-583	127	4	of	of	ADP
fumecheng-583	127	5	these	these	DET
fumecheng-583	127	6	beliefs	belief	NOUN
fumecheng-583	127	7	from	from	ADP
fumecheng-583	127	8	different	different	ADJ
fumecheng-583	127	9	observers	observer	NOUN
fumecheng-583	127	10	or	or	CCONJ
fumecheng-583	127	11	sensors	sensor	NOUN
fumecheng-583	127	12	,	,	PUNCT
fumecheng-583	127	13	we	we	PRON
fumecheng-583	127	14	can	can	AUX
fumecheng-583	127	15	be	be	AUX
fumecheng-583	127	16	much	much	ADV
fumecheng-583	127	17	more	more	ADV
fumecheng-583	127	18	certain	certain	ADJ
fumecheng-583	127	19	of	of	ADP
fumecheng-583	127	20	the	the	DET
fumecheng-583	127	21	class	class	NOUN
fumecheng-583	127	22	label	label	NOUN
fumecheng-583	127	23	assigned	assign	VERB
fumecheng-583	127	24	.	.	PUNCT
fumecheng-583	128	1	dempster	dempster	PROPN
fumecheng-583	128	2	shafer	shafer	PROPN
fumecheng-583	128	3	theory	theory	NOUN
fumecheng-583	128	4	assigns	assign	VERB
fumecheng-583	128	5	a	a	DET
fumecheng-583	128	6	belief	belief	NOUN
fumecheng-583	128	7	to	to	ADP
fumecheng-583	128	8	each	each	DET
fumecheng-583	128	9	possible	possible	ADJ
fumecheng-583	128	10	combination	combination	NOUN
fumecheng-583	128	11	of	of	ADP
fumecheng-583	128	12	states	state	NOUN
fumecheng-583	128	13	in	in	ADP
fumecheng-583	128	14	a	a	DET
fumecheng-583	128	15	system	system	NOUN
fumecheng-583	128	16	.	.	PUNCT
fumecheng-583	129	1	so	so	ADV
fumecheng-583	129	2	a	a	DET
fumecheng-583	129	3	system	system	NOUN
fumecheng-583	129	4	with	with	ADP
fumecheng-583	129	5	two	two	NUM
fumecheng-583	129	6	states	state	NOUN
fumecheng-583	129	7	{	{	PUNCT
fumecheng-583	129	8	a	a	DET
fumecheng-583	129	9	,	,	PUNCT
fumecheng-583	129	10	b	b	NOUN
fumecheng-583	129	11	}	}	PUNCT
fumecheng-583	129	12	will	will	AUX
fumecheng-583	129	13	have	have	VERB
fumecheng-583	129	14	values	value	NOUN
fumecheng-583	129	15	for	for	ADP
fumecheng-583	129	16	{	{	PUNCT
fumecheng-583	129	17	a	a	NOUN
fumecheng-583	129	18	}	}	PUNCT
fumecheng-583	129	19	,	,	PUNCT
fumecheng-583	129	20	{	{	PUNCT
fumecheng-583	129	21	b	b	NOUN
fumecheng-583	129	22	]	]	X
fumecheng-583	129	23	,	,	PUNCT
fumecheng-583	129	24	{	{	PUNCT
fumecheng-583	129	25	a	a	PRON
fumecheng-583	129	26	and	and	CCONJ
fumecheng-583	129	27	b	b	NOUN
fumecheng-583	129	28	}	}	PUNCT
fumecheng-583	129	29	and	and	CCONJ
fumecheng-583	129	30	{	{	PUNCT
fumecheng-583	129	31	}	}	PUNCT
fumecheng-583	129	32	,	,	PUNCT
fumecheng-583	129	33	the	the	DET
fumecheng-583	129	34	empty	empty	ADJ
fumecheng-583	129	35	set	set	NOUN
fumecheng-583	129	36	.	.	PUNCT
fumecheng-583	130	1	this	this	PRON
fumecheng-583	130	2	is	be	AUX
fumecheng-583	130	3	known	know	VERB
fumecheng-583	130	4	as	as	ADP
fumecheng-583	130	5	the	the	DET
fumecheng-583	130	6	power	power	NOUN
fumecheng-583	130	7	set	set	NOUN
fumecheng-583	130	8	of	of	ADP
fumecheng-583	130	9	{	{	PUNCT
fumecheng-583	130	10	a	a	PROPN
fumecheng-583	130	11	,	,	PUNCT
fumecheng-583	130	12	b	b	NOUN
fumecheng-583	130	13	}	}	PUNCT
fumecheng-583	130	14	.	.	PUNCT
fumecheng-583	131	1	for	for	ADP
fumecheng-583	131	2	a	a	DET
fumecheng-583	131	3	system	system	NOUN
fumecheng-583	131	4	with	with	ADP
fumecheng-583	131	5	s	s	VERB
fumecheng-583	131	6	unique	unique	ADJ
fumecheng-583	131	7	states	state	NOUN
fumecheng-583	131	8	,	,	PUNCT
fumecheng-583	131	9	there	there	PRON
fumecheng-583	131	10	are	be	VERB
fumecheng-583	131	11	2	2	NUM
fumecheng-583	131	12	s	s	PART
fumecheng-583	131	13	belief	belief	NOUN
fumecheng-583	131	14	assignments	assignment	NOUN
fumecheng-583	131	15	made	make	VERB
fumecheng-583	131	16	by	by	ADP
fumecheng-583	131	17	the	the	DET
fumecheng-583	131	18	system	system	NOUN
fumecheng-583	131	19	.	.	PUNCT
fumecheng-583	132	1	if	if	SCONJ
fumecheng-583	132	2	a	a	DET
fumecheng-583	132	3	combination	combination	NOUN
fumecheng-583	132	4	of	of	ADP
fumecheng-583	132	5	states	state	NOUN
fumecheng-583	132	6	is	be	AUX
fumecheng-583	132	7	impossible	impossible	ADJ
fumecheng-583	132	8	,	,	PUNCT
fumecheng-583	132	9	it	it	PRON
fumecheng-583	132	10	is	be	AUX
fumecheng-583	132	11	assigned	assign	VERB
fumecheng-583	132	12	a	a	DET
fumecheng-583	132	13	belief	belief	NOUN
fumecheng-583	132	14	of	of	ADP
fumecheng-583	132	15	0	0	NUM
fumecheng-583	132	16	.	.	PUNCT
fumecheng-583	133	1	the	the	DET
fumecheng-583	133	2	empty	empty	ADJ
fumecheng-583	133	3	set	set	NOUN
fumecheng-583	133	4	is	be	AUX
fumecheng-583	133	5	also	also	ADV
fumecheng-583	133	6	usually	usually	ADV
fumecheng-583	133	7	assigned	assign	VERB
fumecheng-583	133	8	a	a	DET
fumecheng-583	133	9	belief	belief	NOUN
fumecheng-583	133	10	of	of	ADP
fumecheng-583	133	11	0	0	NUM
fumecheng-583	133	12	.	.	PUNCT
fumecheng-583	134	1	the	the	DET
fumecheng-583	134	2	dempster	dempster	PROPN
fumecheng-583	134	3	-	-	PUNCT
fumecheng-583	134	4	shafer	shafer	NOUN
fumecheng-583	134	5	rule	rule	NOUN
fumecheng-583	134	6	can	can	AUX
fumecheng-583	134	7	be	be	AUX
fumecheng-583	134	8	applied	apply	VERB
fumecheng-583	134	9	recursively	recursively	ADV
fumecheng-583	134	10	without	without	ADP
fumecheng-583	134	11	the	the	DET
fumecheng-583	134	12	combination	combination	NOUN
fumecheng-583	134	13	situation	situation	NOUN
fumecheng-583	134	14	assessment	assessment	NOUN
fumecheng-583	134	15	through	through	ADP
fumecheng-583	134	16	multi	multi	ADJ
fumecheng-583	134	17	-	-	ADJ
fumecheng-583	134	18	modal	modal	ADJ
fumecheng-583	134	19	sensing	sensing	NOUN
fumecheng-583	134	20	of	of	ADP
fumecheng-583	134	21	dynamic	dynamic	ADJ
fumecheng-583	134	22	environments	environment	NOUN
fumecheng-583	134	23	to	to	PART
fumecheng-583	134	24	support	support	VERB
fumecheng-583	134	25	cognitive	cognitive	ADJ
fumecheng-583	134	26	robot	robot	NOUN
fumecheng-583	134	27	259	259	NUM
fumecheng-583	134	28	order	order	NOUN
fumecheng-583	134	29	affecting	affect	VERB
fumecheng-583	134	30	the	the	DET
fumecheng-583	134	31	final	final	ADJ
fumecheng-583	134	32	results	result	NOUN
fumecheng-583	134	33	.	.	PUNCT
fumecheng-583	135	1	thus	thus	ADV
fumecheng-583	135	2	to	to	PART
fumecheng-583	135	3	combine	combine	VERB
fumecheng-583	135	4	,	,	PUNCT
fumecheng-583	135	5	for	for	ADP
fumecheng-583	135	6	instance	instance	NOUN
fumecheng-583	135	7	,	,	PUNCT
fumecheng-583	135	8	a	a	DET
fumecheng-583	135	9	,	,	PUNCT
fumecheng-583	135	10	b	b	NOUN
fumecheng-583	135	11	and	and	CCONJ
fumecheng-583	135	12	c	c	NOUN
fumecheng-583	135	13	,	,	PUNCT
fumecheng-583	135	14	we	we	PRON
fumecheng-583	135	15	could	could	AUX
fumecheng-583	135	16	first	first	ADV
fumecheng-583	135	17	apply	apply	VERB
fumecheng-583	135	18	the	the	DET
fumecheng-583	135	19	rule	rule	NOUN
fumecheng-583	135	20	to	to	ADP
fumecheng-583	135	21	the	the	DET
fumecheng-583	135	22	masses	masse	NOUN
fumecheng-583	135	23	of	of	ADP
fumecheng-583	135	24	a	a	PRON
fumecheng-583	135	25	and	and	CCONJ
fumecheng-583	135	26	b	b	NOUN
fumecheng-583	135	27	,	,	PUNCT
fumecheng-583	135	28	and	and	CCONJ
fumecheng-583	135	29	then	then	ADV
fumecheng-583	135	30	combine	combine	VERB
fumecheng-583	135	31	this	this	DET
fumecheng-583	135	32	result	result	NOUN
fumecheng-583	135	33	with	with	ADP
fumecheng-583	135	34	the	the	DET
fumecheng-583	135	35	mass	mass	NOUN
fumecheng-583	135	36	of	of	ADP
fumecheng-583	135	37	c.	c.	NOUN
fumecheng-583	135	38	we	we	PRON
fumecheng-583	135	39	implemented	implement	VERB
fumecheng-583	135	40	the	the	DET
fumecheng-583	135	41	dempster	dempster	PROPN
fumecheng-583	135	42	-	-	PUNCT
fumecheng-583	135	43	shafer	shafer	PROPN
fumecheng-583	135	44	theory	theory	NOUN
fumecheng-583	135	45	of	of	ADP
fumecheng-583	135	46	evidence	evidence	NOUN
fumecheng-583	135	47	combination	combination	NOUN
fumecheng-583	135	48	to	to	PART
fumecheng-583	135	49	fuse	fuse	VERB
fumecheng-583	135	50	the	the	DET
fumecheng-583	135	51	various	various	ADJ
fumecheng-583	135	52	states	state	NOUN
fumecheng-583	135	53	data	data	NOUN
fumecheng-583	135	54	inputs	input	NOUN
fumecheng-583	135	55	from	from	ADP
fumecheng-583	135	56	the	the	DET
fumecheng-583	135	57	pre	pre	ADJ
fumecheng-583	135	58	-	-	ADJ
fumecheng-583	135	59	processing	processing	ADJ
fumecheng-583	135	60	modules	module	NOUN
fumecheng-583	135	61	to	to	PART
fumecheng-583	135	62	determine	determine	VERB
fumecheng-583	135	63	a	a	DET
fumecheng-583	135	64	current	current	ADJ
fumecheng-583	135	65	context	context	NOUN
fumecheng-583	135	66	and	and	CCONJ
fumecheng-583	135	67	situation	situation	NOUN
fumecheng-583	135	68	classification	classification	NOUN
fumecheng-583	135	69	at	at	ADP
fumecheng-583	135	70	any	any	DET
fumecheng-583	135	71	point	point	NOUN
fumecheng-583	135	72	in	in	ADP
fumecheng-583	135	73	the	the	DET
fumecheng-583	135	74	gait	gait	ADJ
fumecheng-583	135	75	cycle	cycle	NOUN
fumecheng-583	135	76	as	as	SCONJ
fumecheng-583	135	77	is	be	AUX
fumecheng-583	135	78	required	require	VERB
fumecheng-583	135	79	for	for	ADP
fumecheng-583	135	80	corbys	corbys	PROPN
fumecheng-583	135	81	demonstrator	demonstrator	PROPN
fumecheng-583	135	82	i.	i.	PROPN
fumecheng-583	135	83	however	however	ADV
fumecheng-583	135	84	,	,	PUNCT
fumecheng-583	135	85	this	this	DET
fumecheng-583	135	86	implementation	implementation	NOUN
fumecheng-583	135	87	can	can	AUX
fumecheng-583	135	88	be	be	AUX
fumecheng-583	135	89	used	use	VERB
fumecheng-583	135	90	to	to	PART
fumecheng-583	135	91	fuse	fuse	VERB
fumecheng-583	135	92	any	any	DET
fumecheng-583	135	93	attributes	attribute	NOUN
fumecheng-583	135	94	or	or	CCONJ
fumecheng-583	135	95	properties	property	NOUN
fumecheng-583	135	96	.	.	PUNCT
fumecheng-583	136	1	2.7	2.7	NUM
fumecheng-583	136	2	.	.	PUNCT
fumecheng-583	136	3	hardware	hardware	NOUN
fumecheng-583	136	4	-	-	PUNCT
fumecheng-583	136	5	based	base	VERB
fumecheng-583	136	6	reflexive	reflexive	ADJ
fumecheng-583	136	7	behaviour	behaviour	NOUN
fumecheng-583	136	8	adaptation	adaptation	NOUN
fumecheng-583	136	9	an	an	DET
fumecheng-583	136	10	important	important	ADJ
fumecheng-583	136	11	capability	capability	NOUN
fumecheng-583	136	12	of	of	ADP
fumecheng-583	136	13	this	this	DET
fumecheng-583	136	14	architecture	architecture	NOUN
fumecheng-583	136	15	is	be	AUX
fumecheng-583	136	16	the	the	DET
fumecheng-583	136	17	hard	hard	ADJ
fumecheng-583	136	18	-	-	PUNCT
fumecheng-583	136	19	ware	ware	NOUN
fumecheng-583	136	20	-	-	PUNCT
fumecheng-583	136	21	based	base	VERB
fumecheng-583	136	22	reflexive	reflexive	ADJ
fumecheng-583	136	23	module	module	NOUN
fumecheng-583	136	24	(	(	PUNCT
fumecheng-583	136	25	rm	rm	NOUN
fumecheng-583	136	26	)	)	PUNCT
fumecheng-583	136	27	implemented	implement	VERB
fumecheng-583	136	28	with	with	ADP
fumecheng-583	136	29	field	field	NOUN
fumecheng-583	136	30	programmable	programmable	ADJ
fumecheng-583	136	31	gate	gate	NOUN
fumecheng-583	136	32	arrays	array	NOUN
fumecheng-583	136	33	(	(	PUNCT
fumecheng-583	136	34	fpga	fpga	PROPN
fumecheng-583	136	35	)	)	PUNCT
fumecheng-583	136	36	.	.	PUNCT
fumecheng-583	137	1	this	this	DET
fumecheng-583	137	2	module	module	NOUN
fumecheng-583	137	3	resides	reside	VERB
fumecheng-583	137	4	on	on	ADP
fumecheng-583	137	5	the	the	DET
fumecheng-583	137	6	control	control	NOUN
fumecheng-583	137	7	layer	layer	NOUN
fumecheng-583	137	8	of	of	ADP
fumecheng-583	137	9	the	the	DET
fumecheng-583	137	10	architecture	architecture	NOUN
fumecheng-583	137	11	and	and	CCONJ
fumecheng-583	137	12	monitors	monitor	VERB
fumecheng-583	137	13	sensory	sensory	ADJ
fumecheng-583	137	14	data	datum	NOUN
fumecheng-583	137	15	at	at	ADP
fumecheng-583	137	16	high	high	ADJ
fumecheng-583	137	17	speeds	speed	NOUN
fumecheng-583	137	18	to	to	PART
fumecheng-583	137	19	intervene	intervene	VERB
fumecheng-583	137	20	at	at	ADP
fumecheng-583	137	21	any	any	DET
fumecheng-583	137	22	point	point	NOUN
fumecheng-583	137	23	as	as	SCONJ
fumecheng-583	137	24	needed	need	VERB
fumecheng-583	137	25	to	to	PART
fumecheng-583	137	26	ensure	ensure	VERB
fumecheng-583	137	27	safety	safety	NOUN
fumecheng-583	137	28	protection	protection	NOUN
fumecheng-583	137	29	.	.	PUNCT
fumecheng-583	138	1	the	the	DET
fumecheng-583	138	2	situation	situation	NOUN
fumecheng-583	138	3	awareness	awareness	NOUN
fumecheng-583	138	4	module	module	NOUN
fumecheng-583	138	5	provides	provide	VERB
fumecheng-583	138	6	updates	update	NOUN
fumecheng-583	138	7	to	to	ADP
fumecheng-583	138	8	the	the	DET
fumecheng-583	138	9	reflexive	reflexive	ADJ
fumecheng-583	138	10	behaviour	behaviour	NOUN
fumecheng-583	138	11	adaptation	adaptation	NOUN
fumecheng-583	138	12	module	module	NOUN
fumecheng-583	138	13	and	and	CCONJ
fumecheng-583	138	14	thus	thus	ADV
fumecheng-583	138	15	to	to	ADP
fumecheng-583	138	16	the	the	DET
fumecheng-583	138	17	fpga	fpga	PROPN
fumecheng-583	138	18	reflexive	reflexive	ADJ
fumecheng-583	138	19	layer	layer	NOUN
fumecheng-583	138	20	to	to	PART
fumecheng-583	138	21	enable	enable	VERB
fumecheng-583	138	22	real	real	ADJ
fumecheng-583	138	23	-	-	PUNCT
fumecheng-583	138	24	time	time	NOUN
fumecheng-583	138	25	response	response	NOUN
fumecheng-583	138	26	to	to	ADP
fumecheng-583	138	27	emerging	emerge	VERB
fumecheng-583	138	28	safety	safety	NOUN
fumecheng-583	138	29	situations	situation	NOUN
fumecheng-583	138	30	.	.	PUNCT
fumecheng-583	139	1	in	in	ADP
fumecheng-583	139	2	demonstrator	demonstrator	PROPN
fumecheng-583	139	3	ii	ii	PROPN
fumecheng-583	139	4	,	,	PUNCT
fumecheng-583	139	5	the	the	DET
fumecheng-583	139	6	rm	rm	NOUN
fumecheng-583	139	7	realises	realise	VERB
fumecheng-583	139	8	the	the	DET
fumecheng-583	139	9	real	real	ADJ
fumecheng-583	139	10	-	-	PUNCT
fumecheng-583	139	11	time	time	NOUN
fumecheng-583	139	12	reflexive	reflexive	ADJ
fumecheng-583	139	13	responses	response	NOUN
fumecheng-583	139	14	of	of	ADP
fumecheng-583	139	15	the	the	DET
fumecheng-583	139	16	robotic	robotic	ADJ
fumecheng-583	139	17	follower	follower	NOUN
fumecheng-583	139	18	by	by	ADP
fumecheng-583	139	19	implementing	implement	VERB
fumecheng-583	139	20	low	low	ADJ
fumecheng-583	139	21	level	level	NOUN
fumecheng-583	139	22	reactive	reactive	ADJ
fumecheng-583	139	23	algorithms	algorithm	NOUN
fumecheng-583	139	24	in	in	ADP
fumecheng-583	139	25	the	the	DET
fumecheng-583	139	26	core	core	NOUN
fumecheng-583	139	27	module	module	NOUN
fumecheng-583	139	28	(	(	PUNCT
fumecheng-583	139	29	e.g.	e.g.	ADV
fumecheng-583	139	30	obstacle	obstacle	NOUN
fumecheng-583	139	31	detection	detection	NOUN
fumecheng-583	139	32	)	)	PUNCT
fumecheng-583	139	33	.	.	PUNCT
fumecheng-583	140	1	laser	laser	NOUN
fumecheng-583	140	2	scanner	scanner	NOUN
fumecheng-583	140	3	data	datum	NOUN
fumecheng-583	140	4	from	from	ADP
fumecheng-583	140	5	an	an	DET
fumecheng-583	140	6	artificial	artificial	ADJ
fumecheng-583	140	7	rectangular	rectangular	ADJ
fumecheng-583	140	8	area	area	NOUN
fumecheng-583	140	9	in	in	ADP
fumecheng-583	140	10	front	front	NOUN
fumecheng-583	140	11	of	of	ADP
fumecheng-583	140	12	the	the	DET
fumecheng-583	140	13	robot	robot	NOUN
fumecheng-583	140	14	is	be	AUX
fumecheng-583	140	15	processed	process	VERB
fumecheng-583	140	16	by	by	ADP
fumecheng-583	140	17	the	the	DET
fumecheng-583	140	18	rm	rm	NOUN
fumecheng-583	140	19	module	module	NOUN
fumecheng-583	140	20	to	to	PART
fumecheng-583	140	21	detect	detect	VERB
fumecheng-583	140	22	obstacles	obstacle	NOUN
fumecheng-583	140	23	in	in	ADP
fumecheng-583	140	24	the	the	DET
fumecheng-583	140	25	path	path	NOUN
fumecheng-583	140	26	of	of	ADP
fumecheng-583	140	27	the	the	DET
fumecheng-583	140	28	robotic	robotic	ADJ
fumecheng-583	140	29	follower	follower	NOUN
fumecheng-583	140	30	and	and	CCONJ
fumecheng-583	140	31	to	to	PART
fumecheng-583	140	32	ensure	ensure	VERB
fumecheng-583	140	33	the	the	DET
fumecheng-583	140	34	safety	safety	NOUN
fumecheng-583	140	35	of	of	ADP
fumecheng-583	140	36	the	the	DET
fumecheng-583	140	37	robot	robot	NOUN
fumecheng-583	140	38	by	by	ADP
fumecheng-583	140	39	stopping	stop	VERB
fumecheng-583	140	40	immediately	immediately	ADV
fumecheng-583	140	41	before	before	ADP
fumecheng-583	140	42	hitting	hit	VERB
fumecheng-583	140	43	the	the	DET
fumecheng-583	140	44	obstacle	obstacle	NOUN
fumecheng-583	140	45	.	.	PUNCT
fumecheng-583	141	1	this	this	PRON
fumecheng-583	141	2	is	be	AUX
fumecheng-583	141	3	also	also	ADV
fumecheng-583	141	4	applicable	applicable	ADJ
fumecheng-583	141	5	in	in	ADP
fumecheng-583	141	6	other	other	ADJ
fumecheng-583	141	7	real	real	ADJ
fumecheng-583	141	8	-	-	PUNCT
fumecheng-583	141	9	time	time	NOUN
fumecheng-583	141	10	safety	safety	NOUN
fumecheng-583	141	11	protection	protection	NOUN
fumecheng-583	141	12	contexts	contexts	NOUN
fumecheng-583	141	13	.	.	PUNCT
fumecheng-583	142	1	for	for	ADP
fumecheng-583	142	2	gait	gait	NOUN
fumecheng-583	142	3	rehabilitation	rehabilitation	NOUN
fumecheng-583	142	4	support	support	NOUN
fumecheng-583	142	5	(	(	PUNCT
fumecheng-583	142	6	in	in	ADP
fumecheng-583	142	7	demonstrator	demonstrator	PROPN
fumecheng-583	142	8	i	i	PROPN
fumecheng-583	142	9	)	)	PUNCT
fumecheng-583	142	10	,	,	PUNCT
fumecheng-583	142	11	rm	rm	PROPN
fumecheng-583	142	12	realises	realise	VERB
fumecheng-583	142	13	the	the	DET
fumecheng-583	142	14	real	real	ADJ
fumecheng-583	142	15	-	-	PUNCT
fumecheng-583	142	16	time	time	NOUN
fumecheng-583	142	17	reflexive	reflexive	ADJ
fumecheng-583	142	18	responses	response	NOUN
fumecheng-583	142	19	by	by	ADP
fumecheng-583	142	20	monitoring	monitor	VERB
fumecheng-583	142	21	sensors	sensor	NOUN
fumecheng-583	142	22	and	and	CCONJ
fumecheng-583	142	23	actuators	actuator	NOUN
fumecheng-583	142	24	in	in	ADP
fumecheng-583	142	25	real	real	ADJ
fumecheng-583	142	26	-	-	PUNCT
fumecheng-583	142	27	time	time	NOUN
fumecheng-583	142	28	at	at	ADP
fumecheng-583	142	29	high	high	ADJ
fumecheng-583	142	30	-	-	PUNCT
fumecheng-583	142	31	speed	speed	NOUN
fumecheng-583	142	32	in	in	ADP
fumecheng-583	142	33	fpga	fpga	PROPN
fumecheng-583	142	34	.	.	PUNCT
fumecheng-583	143	1	it	it	PRON
fumecheng-583	143	2	detects	detect	VERB
fumecheng-583	143	3	(	(	PUNCT
fumecheng-583	143	4	emerging	emerge	VERB
fumecheng-583	143	5	)	)	PUNCT
fumecheng-583	143	6	unsafe	unsafe	ADJ
fumecheng-583	143	7	situations	situation	NOUN
fumecheng-583	143	8	that	that	PRON
fumecheng-583	143	9	could	could	AUX
fumecheng-583	143	10	potentially	potentially	ADV
fumecheng-583	143	11	harm	harm	VERB
fumecheng-583	143	12	the	the	DET
fumecheng-583	143	13	patient	patient	NOUN
fumecheng-583	143	14	/	/	SYM
fumecheng-583	143	15	demonstrator	demonstrator	NOUN
fumecheng-583	143	16	.	.	PUNCT
fumecheng-583	144	1	upon	upon	SCONJ
fumecheng-583	144	2	detecting	detect	VERB
fumecheng-583	144	3	such	such	DET
fumecheng-583	144	4	a	a	DET
fumecheng-583	144	5	situation	situation	NOUN
fumecheng-583	144	6	,	,	PUNCT
fumecheng-583	144	7	the	the	DET
fumecheng-583	144	8	rm	rm	NOUN
fumecheng-583	144	9	module	module	NOUN
fumecheng-583	144	10	cuts	cut	VERB
fumecheng-583	144	11	the	the	DET
fumecheng-583	144	12	power	power	NOUN
fumecheng-583	144	13	supply	supply	NOUN
fumecheng-583	144	14	to	to	ADP
fumecheng-583	144	15	the	the	DET
fumecheng-583	144	16	gait	gait	ADJ
fumecheng-583	144	17	rehabilitator	rehabilitator	NOUN
fumecheng-583	144	18	.	.	PUNCT
fumecheng-583	145	1	the	the	DET
fumecheng-583	145	2	rm	rm	NOUN
fumecheng-583	145	3	carries	carry	VERB
fumecheng-583	145	4	out	out	ADP
fumecheng-583	145	5	detection	detection	NOUN
fumecheng-583	145	6	of	of	ADP
fumecheng-583	145	7	unsafe	unsafe	ADJ
fumecheng-583	145	8	situations	situation	NOUN
fumecheng-583	145	9	using	use	VERB
fumecheng-583	145	10	complex	complex	ADJ
fumecheng-583	145	11	event	event	NOUN
fumecheng-583	145	12	processing	processing	NOUN
fumecheng-583	145	13	(	(	PUNCT
fumecheng-583	145	14	cep	cep	NOUN
fumecheng-583	145	15	)	)	PUNCT
fumecheng-583	145	16	.	.	PUNCT
fumecheng-583	146	1	3	3	X
fumecheng-583	146	2	.	.	X
fumecheng-583	146	3	conclusion	conclusion	NOUN
fumecheng-583	146	4	in	in	ADP
fumecheng-583	146	5	this	this	DET
fumecheng-583	146	6	paper	paper	NOUN
fumecheng-583	146	7	,	,	PUNCT
fumecheng-583	146	8	we	we	PRON
fumecheng-583	146	9	have	have	AUX
fumecheng-583	146	10	described	describe	VERB
fumecheng-583	146	11	the	the	DET
fumecheng-583	146	12	design	design	NOUN
fumecheng-583	146	13	and	and	CCONJ
fumecheng-583	146	14	implementation	implementation	NOUN
fumecheng-583	146	15	of	of	ADP
fumecheng-583	146	16	the	the	DET
fumecheng-583	146	17	corbys	corbys	NOUN
fumecheng-583	146	18	situation	situation	NOUN
fumecheng-583	146	19	assessment	assessment	NOUN
fumecheng-583	146	20	architecture	architecture	NOUN
fumecheng-583	146	21	.	.	PUNCT
fumecheng-583	147	1	this	this	PRON
fumecheng-583	147	2	has	have	AUX
fumecheng-583	147	3	included	include	VERB
fumecheng-583	147	4	the	the	DET
fumecheng-583	147	5	various	various	ADJ
fumecheng-583	147	6	processing	processing	NOUN
fumecheng-583	147	7	modules	module	NOUN
fumecheng-583	147	8	such	such	ADJ
fumecheng-583	147	9	as	as	ADP
fumecheng-583	147	10	activity	activity	NOUN
fumecheng-583	147	11	recognition	recognition	NOUN
fumecheng-583	147	12	,	,	PUNCT
fumecheng-583	147	13	person	person	NOUN
fumecheng-583	147	14	states	state	VERB
fumecheng-583	147	15	integration	integration	NOUN
fumecheng-583	147	16	,	,	PUNCT
fumecheng-583	147	17	gait	gait	VERB
fumecheng-583	147	18	analysis	analysis	NOUN
fumecheng-583	147	19	including	include	VERB
fumecheng-583	147	20	sub	sub	ADJ
fumecheng-583	147	21	-	-	ADJ
fumecheng-583	147	22	phase	phase	NOUN
fumecheng-583	147	23	classification	classification	NOUN
fumecheng-583	147	24	and	and	CCONJ
fumecheng-583	147	25	deviation	deviation	NOUN
fumecheng-583	147	26	calculation	calculation	NOUN
fumecheng-583	147	27	,	,	PUNCT
fumecheng-583	147	28	muscle	muscle	NOUN
fumecheng-583	147	29	activation	activation	NOUN
fumecheng-583	147	30	analysis	analysis	NOUN
fumecheng-583	147	31	,	,	PUNCT
fumecheng-583	147	32	overall	overall	ADJ
fumecheng-583	147	33	context	context	NOUN
fumecheng-583	147	34	building	building	NOUN
fumecheng-583	147	35	and	and	CCONJ
fumecheng-583	147	36	decision	decision	NOUN
fumecheng-583	147	37	making	making	NOUN
fumecheng-583	147	38	regarding	regard	VERB
fumecheng-583	147	39	the	the	DET
fumecheng-583	147	40	assistive	assistive	ADJ
fumecheng-583	147	41	-	-	PUNCT
fumecheng-583	147	42	remedial	remedial	ADJ
fumecheng-583	147	43	actuation	actuation	NOUN
fumecheng-583	147	44	that	that	PRON
fumecheng-583	147	45	needs	need	VERB
fumecheng-583	147	46	to	to	PART
fumecheng-583	147	47	be	be	AUX
fumecheng-583	147	48	applied	apply	VERB
fumecheng-583	147	49	.	.	PUNCT
fumecheng-583	148	1	all	all	PRON
fumecheng-583	148	2	of	of	ADP
fumecheng-583	148	3	the	the	DET
fumecheng-583	148	4	above	above	ADJ
fumecheng-583	148	5	modules	module	NOUN
fumecheng-583	148	6	have	have	AUX
fumecheng-583	148	7	been	be	AUX
fumecheng-583	148	8	implemented	implement	VERB
fumecheng-583	148	9	and	and	CCONJ
fumecheng-583	148	10	tested	test	VERB
fumecheng-583	148	11	individually	individually	ADV
fumecheng-583	148	12	with	with	ADP
fumecheng-583	148	13	datasets	dataset	NOUN
fumecheng-583	148	14	made	make	VERB
fumecheng-583	148	15	available	available	ADJ
fumecheng-583	148	16	over	over	ADP
fumecheng-583	148	17	the	the	DET
fumecheng-583	148	18	course	course	NOUN
fumecheng-583	148	19	of	of	ADP
fumecheng-583	148	20	the	the	DET
fumecheng-583	148	21	project	project	NOUN
fumecheng-583	148	22	.	.	PUNCT
fumecheng-583	149	1	beyond	beyond	ADP
fumecheng-583	149	2	the	the	DET
fumecheng-583	149	3	integrated	integrate	VERB
fumecheng-583	149	4	conformance	conformance	NOUN
fumecheng-583	149	5	testing	testing	NOUN
fumecheng-583	149	6	and	and	CCONJ
fumecheng-583	149	7	performance	performance	NOUN
fumecheng-583	149	8	evaluation	evaluation	NOUN
fumecheng-583	149	9	of	of	ADP
fumecheng-583	149	10	the	the	DET
fumecheng-583	149	11	modules	module	NOUN
fumecheng-583	149	12	of	of	ADP
fumecheng-583	149	13	the	the	DET
fumecheng-583	149	14	situation	situation	NOUN
fumecheng-583	149	15	assessment	assessment	NOUN
fumecheng-583	149	16	architecture	architecture	NOUN
fumecheng-583	149	17	,	,	PUNCT
fumecheng-583	149	18	the	the	DET
fumecheng-583	149	19	larger	large	ADJ
fumecheng-583	149	20	scale	scale	NOUN
fumecheng-583	149	21	evaluations	evaluation	NOUN
fumecheng-583	149	22	are	be	AUX
fumecheng-583	149	23	on	on	ADP
fumecheng-583	149	24	-	-	PUNCT
fumecheng-583	149	25	going	going	NOUN
fumecheng-583	149	26	.	.	PUNCT
fumecheng-583	150	1	this	this	PRON
fumecheng-583	150	2	includes	include	VERB
fumecheng-583	150	3	decision	decision	NOUN
fumecheng-583	150	4	engine	engine	NOUN
fumecheng-583	150	5	performance	performance	NOUN
fumecheng-583	150	6	evaluation	evaluation	NOUN
fumecheng-583	150	7	with	with	ADP
fumecheng-583	150	8	all	all	DET
fumecheng-583	150	9	semantic	semantic	ADJ
fumecheng-583	150	10	information	information	NOUN
fumecheng-583	150	11	available	available	ADJ
fumecheng-583	150	12	from	from	ADP
fumecheng-583	150	13	the	the	DET
fumecheng-583	150	14	preprocessing	preprocessing	NOUN
fumecheng-583	150	15	modules	module	NOUN
fumecheng-583	150	16	determining	determine	VERB
fumecheng-583	150	17	the	the	DET
fumecheng-583	150	18	next	next	ADJ
fumecheng-583	150	19	best	good	ADJ
fumecheng-583	150	20	assistive	assistive	ADJ
fumecheng-583	150	21	-	-	PUNCT
fumecheng-583	150	22	remedial	remedial	ADJ
fumecheng-583	150	23	actions	action	NOUN
fumecheng-583	150	24	for	for	ADP
fumecheng-583	150	25	gait	gait	ADJ
fumecheng-583	150	26	support	support	NOUN
fumecheng-583	150	27	.	.	PUNCT
fumecheng-583	151	1	acknowledgement	acknowledgement	NOUN
fumecheng-583	151	2	:	:	PUNCT
fumecheng-583	151	3	this	this	DET
fumecheng-583	151	4	research	research	NOUN
fumecheng-583	151	5	was	be	AUX
fumecheng-583	151	6	supported	support	VERB
fumecheng-583	151	7	by	by	ADP
fumecheng-583	151	8	the	the	DET
fumecheng-583	151	9	european	european	PROPN
fumecheng-583	151	10	commission	commission	PROPN
fumecheng-583	151	11	as	as	ADP
fumecheng-583	151	12	part	part	NOUN
fumecheng-583	151	13	of	of	ADP
fumecheng-583	151	14	the	the	DET
fumecheng-583	151	15	corbys	corbys	NOUN
fumecheng-583	151	16	(	(	PUNCT
fumecheng-583	151	17	cognitive	cognitive	ADJ
fumecheng-583	151	18	control	control	NOUN
fumecheng-583	151	19	framework	framework	NOUN
fumecheng-583	151	20	for	for	ADP
fumecheng-583	151	21	robotic	robotic	ADJ
fumecheng-583	151	22	systems	system	NOUN
fumecheng-583	151	23	)	)	PUNCT
fumecheng-583	151	24	project	project	NOUN
fumecheng-583	151	25	under	under	ADP
fumecheng-583	151	26	contract	contract	NOUN
fumecheng-583	151	27	fp7	fp7	PROPN
fumecheng-583	151	28	ict-270219	ict-270219	NOUN
fumecheng-583	151	29	.	.	PUNCT
fumecheng-583	152	1	260	260	NUM
fumecheng-583	152	2	a.	a.	NOUN
fumecheng-583	152	3	badii	badii	NOUN
fumecheng-583	152	4	,	,	PUNCT
fumecheng-583	152	5	a.	a.	PROPN
fumecheng-583	152	6	khan	khan	PROPN
fumecheng-583	152	7	,	,	PUNCT
fumecheng-583	152	8	r.	r.	PROPN
fumecheng-583	152	9	raval	raval	PROPN
fumecheng-583	152	10	,	,	PUNCT
fumecheng-583	152	11	h.	h.	PROPN
fumecheng-583	152	12	oudi	oudi	PROPN
fumecheng-583	152	13	,	,	PUNCT
fumecheng-583	152	14	r.	r.	PROPN
fumecheng-583	152	15	ayora	ayora	PROPN
fumecheng-583	152	16	,	,	PUNCT
fumecheng-583	152	17	w.	w.	PROPN
fumecheng-583	152	18	khan	khan	PROPN
fumecheng-583	152	19	,	,	PUNCT
fumecheng-583	152	20	a.	a.	NOUN
fumecheng-583	152	21	jaidi	jaidi	PROPN
fumecheng-583	152	22	,	,	PUNCT
fumecheng-583	152	23	n.	n.	PROPN
fumecheng-583	152	24	viswanathan	viswanathan	PROPN
fumecheng-583	152	25	references	reference	NOUN
fumecheng-583	152	26	1	1	NUM
fumecheng-583	152	27	.	.	PUNCT
fumecheng-583	152	28	m.	m.	NOUN
fumecheng-583	152	29	endsley	endsley	PROPN
fumecheng-583	152	30	,	,	PUNCT
fumecheng-583	152	31	2000	2000	NUM
fumecheng-583	152	32	,	,	PUNCT
fumecheng-583	152	33	theoretical	theoretical	ADJ
fumecheng-583	152	34	underpinnings	underpinning	NOUN
fumecheng-583	152	35	of	of	ADP
fumecheng-583	152	36	situation	situation	NOUN
fumecheng-583	152	37	awareness	awareness	NOUN
fumecheng-583	152	38	:	:	PUNCT
fumecheng-583	152	39	a	a	DET
fumecheng-583	152	40	critical	critical	ADJ
fumecheng-583	152	41	review	review	NOUN
fumecheng-583	152	42	,	,	PUNCT
fumecheng-583	152	43	situation	situation	NOUN
fumecheng-583	152	44	awareness	awareness	NOUN
fumecheng-583	152	45	analysis	analysis	NOUN
fumecheng-583	152	46	and	and	CCONJ
fumecheng-583	152	47	measurement	measurement	NOUN
fumecheng-583	152	48	,	,	PUNCT
fumecheng-583	152	49	mahwah	mahwah	PROPN
fumecheng-583	152	50	,	,	PUNCT
fumecheng-583	152	51	nj	nj	PROPN
fumecheng-583	152	52	.	.	PROPN
fumecheng-583	153	1	2	2	NUM
fumecheng-583	153	2	.	.	X
fumecheng-583	153	3	blasch	blasch	VERB
fumecheng-583	153	4	,	,	PUNCT
fumecheng-583	153	5	e	e	PROPN
fumecheng-583	153	6	&	&	CCONJ
fumecheng-583	153	7	s.	s.	PROPN
fumecheng-583	153	8	plano	plano	PROPN
fumecheng-583	153	9	,	,	PUNCT
fumecheng-583	153	10	2002	2002	NUM
fumecheng-583	153	11	,	,	PUNCT
fumecheng-583	153	12	jdl	jdl	PROPN
fumecheng-583	153	13	level	level	NOUN
fumecheng-583	153	14	5	5	NUM
fumecheng-583	153	15	fusion	fusion	NOUN
fumecheng-583	153	16	model	model	NOUN
fumecheng-583	153	17	:	:	PUNCT
fumecheng-583	153	18	user	user	NOUN
fumecheng-583	153	19	refinement	refinement	NOUN
fumecheng-583	153	20	issues	issue	NOUN
fumecheng-583	153	21	and	and	CCONJ
fumecheng-583	153	22	applications	application	NOUN
fumecheng-583	153	23	in	in	ADP
fumecheng-583	153	24	group	group	NOUN
fumecheng-583	153	25	tracking	tracking	NOUN
fumecheng-583	153	26	,	,	PUNCT
fumecheng-583	153	27	spie	spie	ADJ
fumecheng-583	153	28	vol	vol	NOUN
fumecheng-583	153	29	.	.	PROPN
fumecheng-583	153	30	4729	4729	NUM
fumecheng-583	153	31	,	,	PUNCT
fumecheng-583	153	32	aerosense	aerosense	NOUN
fumecheng-583	153	33	,	,	PUNCT
fumecheng-583	153	34	pp	pp	ADJ
fumecheng-583	153	35	.	.	PUNCT
fumecheng-583	154	1	270	270	NUM
fumecheng-583	154	2	–	–	PUNCT
fumecheng-583	154	3	279	279	NUM
fumecheng-583	154	4	.	.	X
fumecheng-583	155	1	3	3	X
fumecheng-583	155	2	.	.	X
fumecheng-583	155	3	wahde	wahde	PROPN
fumecheng-583	155	4	,	,	PUNCT
fumecheng-583	155	5	m.	m.	NOUN
fumecheng-583	155	6	,	,	PUNCT
fumecheng-583	155	7	2009	2009	NUM
fumecheng-583	155	8	,	,	PUNCT
fumecheng-583	155	9	a	a	DET
fumecheng-583	155	10	general	general	ADJ
fumecheng-583	155	11	-	-	PUNCT
fumecheng-583	155	12	purpose	purpose	NOUN
fumecheng-583	155	13	method	method	NOUN
fumecheng-583	155	14	for	for	ADP
fumecheng-583	155	15	decision	decision	NOUN
fumecheng-583	155	16	-	-	PUNCT
fumecheng-583	155	17	making	making	NOUN
fumecheng-583	155	18	in	in	ADP
fumecheng-583	155	19	autonomous	autonomous	ADJ
fumecheng-583	155	20	robots	robot	NOUN
fumecheng-583	155	21	.	.	PUNCT
fumecheng-583	156	1	iea	iea	NOUN
fumecheng-583	156	2	/	/	SYM
fumecheng-583	156	3	aie	aie	PROPN
fumecheng-583	156	4	,	,	PUNCT
fumecheng-583	156	5	vol	vol	NOUN
fumecheng-583	156	6	.	.	PROPN
fumecheng-583	156	7	5579	5579	NUM
fumecheng-583	156	8	of	of	ADP
fumecheng-583	156	9	lecture	lecture	NOUN
fumecheng-583	156	10	notes	note	NOUN
fumecheng-583	156	11	in	in	ADP
fumecheng-583	156	12	computer	computer	NOUN
fumecheng-583	156	13	science	science	NOUN
fumecheng-583	156	14	.	.	PUNCT
fumecheng-583	157	1	4	4	X
fumecheng-583	157	2	.	.	X
fumecheng-583	157	3	ye	ye	PROPN
fumecheng-583	157	4	,	,	PUNCT
fumecheng-583	157	5	j.	j.	PROPN
fumecheng-583	157	6	,	,	PUNCT
fumecheng-583	157	7	dobson	dobson	PROPN
fumecheng-583	157	8	,	,	PUNCT
fumecheng-583	157	9	s.	s.	PROPN
fumecheng-583	157	10	,	,	PUNCT
fumecheng-583	157	11	mckeever	mckeever	PROPN
fumecheng-583	157	12	,	,	PUNCT
fumecheng-583	157	13	s.	s.	PROPN
fumecheng-583	157	14	,	,	PUNCT
fumecheng-583	157	15	2011	2011	NUM
fumecheng-583	157	16	,	,	PUNCT
fumecheng-583	157	17	situation	situation	NOUN
fumecheng-583	157	18	identification	identification	NOUN
fumecheng-583	157	19	techniques	technique	NOUN
fumecheng-583	157	20	in	in	ADP
fumecheng-583	157	21	pervasive	pervasive	ADJ
fumecheng-583	157	22	computing	computing	NOUN
fumecheng-583	157	23	,	,	PUNCT
fumecheng-583	157	24	pervasive	pervasive	ADJ
fumecheng-583	157	25	&	&	CCONJ
fumecheng-583	157	26	mobile	mobile	ADJ
fumecheng-583	157	27	computing	computing	NOUN
fumecheng-583	157	28	.	.	PUNCT
fumecheng-583	158	1	5	5	X
fumecheng-583	158	2	.	.	X
fumecheng-583	158	3	boytsov	boytsov	PROPN
fumecheng-583	158	4	,	,	PUNCT
fumecheng-583	158	5	a.	a.	NOUN
fumecheng-583	158	6	&	&	CCONJ
fumecheng-583	158	7	zaslavsky	zaslavsky	PROPN
fumecheng-583	158	8	,	,	PUNCT
fumecheng-583	158	9	a.	a.	NOUN
fumecheng-583	158	10	,	,	PUNCT
fumecheng-583	158	11	2011	2011	NUM
fumecheng-583	158	12	,	,	PUNCT
fumecheng-583	158	13	from	from	ADP
fumecheng-583	158	14	sensory	sensory	ADJ
fumecheng-583	158	15	data	datum	NOUN
fumecheng-583	158	16	to	to	ADP
fumecheng-583	158	17	situation	situation	NOUN
fumecheng-583	158	18	awareness	awareness	NOUN
fumecheng-583	158	19	–	–	PUNCT
fumecheng-583	158	20	enhanced	enhance	VERB
fumecheng-583	158	21	context	context	NOUN
fumecheng-583	158	22	spaces	space	NOUN
fumecheng-583	158	23	theory	theory	NOUN
fumecheng-583	158	24	approach	approach	NOUN
fumecheng-583	158	25	.	.	PUNCT
fumecheng-583	159	1	9th	9th	ADJ
fumecheng-583	159	2	ieee	ieee	PROPN
fumecheng-583	159	3	int	int	NOUN
fumecheng-583	159	4	.	.	PUNCT
fumecheng-583	160	1	conf	conf	PROPN
fumecheng-583	160	2	.	.	PUNCT
fumecheng-583	161	1	dependable	dependable	ADJ
fumecheng-583	161	2	,	,	PUNCT
fumecheng-583	161	3	autonomic	autonomic	ADJ
fumecheng-583	161	4	and	and	CCONJ
fumecheng-583	161	5	secure	secure	ADJ
fumecheng-583	161	6	computing	computing	NOUN
fumecheng-583	161	7	.	.	PUNCT
fumecheng-583	162	1	6	6	NUM
fumecheng-583	162	2	.	.	X
fumecheng-583	162	3	zhang	zhang	PROPN
fumecheng-583	162	4	,	,	PUNCT
fumecheng-583	162	5	m.	m.	PROPN
fumecheng-583	162	6	&	&	CCONJ
fumecheng-583	162	7	sawchuk	sawchuk	PROPN
fumecheng-583	162	8	,	,	PUNCT
fumecheng-583	162	9	a.a	a.a	PROPN
fumecheng-583	162	10	.	.	PROPN
fumecheng-583	162	11	,	,	PUNCT
fumecheng-583	162	12	2011	2011	NUM
fumecheng-583	162	13	,	,	PUNCT
fumecheng-583	162	14	a	a	DET
fumecheng-583	162	15	feature	feature	NOUN
fumecheng-583	162	16	selection	selection	NOUN
fumecheng-583	162	17	-	-	PUNCT
fumecheng-583	162	18	based	base	VERB
fumecheng-583	162	19	frame	frame	NOUN
fumecheng-583	162	20	-	-	PUNCT
fumecheng-583	162	21	work	work	NOUN
fumecheng-583	162	22	for	for	ADP
fumecheng-583	162	23	human	human	ADJ
fumecheng-583	162	24	activity	activity	NOUN
fumecheng-583	162	25	recognition	recognition	NOUN
fumecheng-583	162	26	using	use	VERB
fumecheng-583	162	27	wearable	wearable	ADJ
fumecheng-583	162	28	multimodal	multimodal	NOUN
fumecheng-583	162	29	sensors	sensor	NOUN
fumecheng-583	162	30	,	,	PUNCT
fumecheng-583	162	31	proc	proc	NOUN
fumecheng-583	162	32	.	.	PUNCT
fumecheng-583	163	1	int	int	NOUN
fumecheng-583	163	2	.	.	PUNCT
fumecheng-583	163	3	conf	conf	PROPN
fumecheng-583	163	4	.	.	PUNCT
fumecheng-583	164	1	body	body	NOUN
fumecheng-583	164	2	area	area	NOUN
fumecheng-583	164	3	networks	network	NOUN
fumecheng-583	164	4	,	,	PUNCT
fumecheng-583	164	5	beijing	beijing	PROPN
fumecheng-583	164	6	.	.	PUNCT
fumecheng-583	165	1	7	7	X
fumecheng-583	165	2	.	.	X
fumecheng-583	165	3	vaughan	vaughan	PROPN
fumecheng-583	165	4	,	,	PUNCT
fumecheng-583	165	5	c.l	c.l	PROPN
fumecheng-583	165	6	.	.	PROPN
fumecheng-583	165	7	,	,	PUNCT
fumecheng-583	165	8	davis	davis	PROPN
fumecheng-583	165	9	,	,	PUNCT
fumecheng-583	165	10	b.l	b.l	PROPN
fumecheng-583	165	11	.	.	PROPN
fumecheng-583	165	12	,	,	PUNCT
fumecheng-583	165	13	o’connor	o’connor	ADV
fumecheng-583	165	14	,	,	PUNCT
fumecheng-583	165	15	j.c	j.c	PROPN
fumecheng-583	165	16	.	.	PROPN
fumecheng-583	165	17	,	,	PUNCT
fumecheng-583	165	18	1992	1992	NUM
fumecheng-583	165	19	,	,	PUNCT
fumecheng-583	165	20	dynamics	dynamic	NOUN
fumecheng-583	165	21	of	of	ADP
fumecheng-583	165	22	human	human	ADJ
fumecheng-583	165	23	gait	gait	NOUN
fumecheng-583	165	24	,	,	PUNCT
fumecheng-583	165	25	2nd	2nd	PROPN
fumecheng-583	165	26	ed	ed	NOUN
fumecheng-583	165	27	.	.	PROPN
fumecheng-583	165	28	,	,	PUNCT
fumecheng-583	165	29	kiboho	kiboho	PROPN
fumecheng-583	165	30	publishers	publisher	NOUN
fumecheng-583	165	31	south	south	PROPN
fumecheng-583	165	32	africa	africa	PROPN
fumecheng-583	165	33	.	.	PUNCT
fumecheng-583	166	1	8	8	NUM
fumecheng-583	166	2	.	.	X
fumecheng-583	166	3	shafer	shafer	PROPN
fumecheng-583	166	4	,	,	PUNCT
fumecheng-583	166	5	g.	g.	PROPN
fumecheng-583	166	6	,	,	PUNCT
fumecheng-583	166	7	1976	1976	NUM
fumecheng-583	166	8	,	,	PUNCT
fumecheng-583	166	9	a	a	DET
fumecheng-583	166	10	mathematical	mathematical	ADJ
fumecheng-583	166	11	theory	theory	NOUN
fumecheng-583	166	12	of	of	ADP
fumecheng-583	166	13	evidence	evidence	NOUN
fumecheng-583	166	14	,	,	PUNCT
fumecheng-583	166	15	princeton	princeton	PROPN
fumecheng-583	166	16	university	university	PROPN
fumecheng-583	166	17	press	press	NOUN
fumecheng-583	166	18	.	.	PUNCT
fumecheng-583	167	1	9	9	X
fumecheng-583	167	2	.	.	X
fumecheng-583	167	3	dempster	dempster	PROPN
fumecheng-583	167	4	,	,	PUNCT
fumecheng-583	167	5	a.	a.	NOUN
fumecheng-583	167	6	p.	p.	PROPN
fumecheng-583	167	7	,	,	PUNCT
fumecheng-583	167	8	1967	1967	NUM
fumecheng-583	167	9	,	,	PUNCT
fumecheng-583	167	10	upper	upper	ADJ
fumecheng-583	167	11	and	and	CCONJ
fumecheng-583	167	12	lower	low	ADJ
fumecheng-583	167	13	probabilities	probability	NOUN
fumecheng-583	167	14	induced	induce	VERB
fumecheng-583	167	15	by	by	ADP
fumecheng-583	167	16	a	a	DET
fumecheng-583	167	17	multivalued	multivalue	VERB
fumecheng-583	167	18	mapping	mapping	NOUN
fumecheng-583	167	19	,	,	PUNCT
fumecheng-583	167	20	the	the	DET
fumecheng-583	167	21	annals	annal	NOUN
fumecheng-583	167	22	of	of	ADP
fumecheng-583	167	23	mathematical	mathematical	ADJ
fumecheng-583	167	24	statistics	statistic	NOUN
fumecheng-583	167	25	38	38	NUM
fumecheng-583	167	26	(	(	PUNCT
fumecheng-583	167	27	2	2	NUM
fumecheng-583	167	28	)	)	PUNCT
fumecheng-583	167	29	,	,	PUNCT
fumecheng-583	167	30	pp	pp	ADP
fumecheng-583	167	31	.	.	PUNCT
fumecheng-583	168	1	325–339	325–339	NUM
fumecheng-583	168	2	.	.	PUNCT
fumecheng-583	169	1	10	10	NUM
fumecheng-583	169	2	.	.	PUNCT
fumecheng-583	170	1	corbys	corbys	PROPN
fumecheng-583	170	2	project	project	PROPN
fumecheng-583	170	3	,	,	PUNCT
fumecheng-583	170	4	2014	2014	NUM
fumecheng-583	170	5	.	.	PUNCT
fumecheng-583	171	1	corbys	corbys	NOUN
fumecheng-583	171	2	.	.	PUNCT
fumecheng-583	172	1	[	[	X
fumecheng-583	172	2	online	online	X
fumecheng-583	172	3	]	]	X
fumecheng-583	172	4	available	available	ADJ
fumecheng-583	172	5	at	at	ADP
fumecheng-583	172	6	:	:	PUNCT
fumecheng-583	172	7	http://www.corbys.eu	http://www.corbys.eu	NOUN
fumecheng-583	172	8	(	(	PUNCT
fumecheng-583	172	9	accessed	access	VERB
fumecheng-583	172	10	10	10	NUM
fumecheng-583	172	11	.	.	PUNCT
fumecheng-583	173	1	nov	nov	PROPN
fumecheng-583	173	2	.	.	PROPN
fumecheng-583	173	3	2014	2014	NUM
fumecheng-583	173	4	)	)	PUNCT
fumecheng-583	173	5	.	.	PUNCT
fumecheng-583	174	1	procena	procena	PROPN
fumecheng-583	174	2	situacije	situacije	PROPN
fumecheng-583	174	3	kroz	kroz	PROPN
fumecheng-583	174	4	multimodalnu	multimodalnu	PROPN
fumecheng-583	174	5	detekciju	detekciju	PROPN
fumecheng-583	174	6	dinamičkih	dinamičkih	PROPN
fumecheng-583	174	7	okruženja	okruženja	PROPN
fumecheng-583	174	8	za	za	PROPN
fumecheng-583	174	9	podršku	podršku	PROPN
fumecheng-583	174	10	kognitivnog	kognitivnog	PROPN
fumecheng-583	174	11	upravljanja	upravljanja	PROPN
fumecheng-583	174	12	robotom	robotom	PROPN
fumecheng-583	174	13	svest	svest	NOUN
fumecheng-583	174	14	o	o	PROPN
fumecheng-583	174	15	nastalim	nastalim	PROPN
fumecheng-583	174	16	situacijama	situacijama	NOUN
fumecheng-583	174	17	u	u	PROPN
fumecheng-583	174	18	dinamičkom	dinamičkom	NOUN
fumecheng-583	174	19	operativnom	operativnom	NOUN
fumecheng-583	174	20	okruženju	okruženju	NOUN
fumecheng-583	174	21	robotskog	robotskog	PROPN
fumecheng-583	174	22	sistema	sistema	PROPN
fumecheng-583	174	23	za	za	PROPN
fumecheng-583	174	24	podršku	podršku	PROPN
fumecheng-583	174	25	je	je	PROPN
fumecheng-583	174	26	ključna	ključna	PROPN
fumecheng-583	174	27	osobina	osobina	PROPN
fumecheng-583	174	28	takvog	takvog	PROPN
fumecheng-583	174	29	kognitivnog	kognitivnog	PROPN
fumecheng-583	174	30	sistema	sistema	NOUN
fumecheng-583	174	31	bazirana	bazirana	PROPN
fumecheng-583	174	32	na	na	PART
fumecheng-583	174	33	njegovoj	njegovoj	VERB
fumecheng-583	174	34	efektivnoj	efektivnoj	NOUN
fumecheng-583	174	35	i	i	PRON
fumecheng-583	174	36	efikasnoj	efikasnoj	VERB
fumecheng-583	174	37	proceni	proceni	NOUN
fumecheng-583	174	38	preovlađujuće	preovlađujuće	ADJ
fumecheng-583	174	39	situacije	situacije	NOUN
fumecheng-583	174	40	.	.	PUNCT
fumecheng-583	175	1	ovo	ovo	PROPN
fumecheng-583	175	2	omogućava	omogućava	PROPN
fumecheng-583	175	3	sistemu	sistemu	VERB
fumecheng-583	175	4	da	da	PROPN
fumecheng-583	175	5	ostvari	ostvari	PROPN
fumecheng-583	175	6	interakciju	interakciju	PROPN
fumecheng-583	175	7	sa	sa	PROPN
fumecheng-583	175	8	okolinom	okolinom	PROPN
fumecheng-583	175	9	na	na	ADP
fumecheng-583	175	10	razuman	razuman	NOUN
fumecheng-583	175	11	/	/	SYM
fumecheng-583	175	12	semiautonoman	semiautonoman	NOUN
fumecheng-583	175	13	/	/	SYM
fumecheng-583	175	14	proaktivan	proaktivan	PROPN
fumecheng-583	175	15	način	način	PROPN
fumecheng-583	175	16	bez	bez	PROPN
fumecheng-583	175	17	potrebe	potrebe	PROPN
fumecheng-583	175	18	za	za	PROPN
fumecheng-583	175	19	čestom	čestom	PROPN
fumecheng-583	175	20	intervencijom	intervencijom	PROPN
fumecheng-583	175	21	od	od	PROPN
fumecheng-583	175	22	strane	strane	PROPN
fumecheng-583	175	23	supervizora	supervizora	PROPN
fumecheng-583	175	24	.	.	PUNCT
fumecheng-583	176	1	u	u	PROPN
fumecheng-583	176	2	ovom	ovom	PROPN
fumecheng-583	176	3	radu	radu	PROPN
fumecheng-583	176	4	je	je	PROPN
fumecheng-583	176	5	prikazana	prikazana	PROPN
fumecheng-583	176	6	nova	nova	PROPN
fumecheng-583	176	7	generalna	generalna	PROPN
fumecheng-583	176	8	arhitektura	arhitektura	PROPN
fumecheng-583	176	9	za	za	PROPN
fumecheng-583	176	10	procenu	procenu	PROPN
fumecheng-583	176	11	situacije	situacije	PROPN
fumecheng-583	176	12	za	za	PROPN
fumecheng-583	176	13	robotske	robotske	PROPN
fumecheng-583	176	14	sisteme	sisteme	PROPN
fumecheng-583	176	15	koji	koji	PROPN
fumecheng-583	176	16	direktno	direktno	PROPN
fumecheng-583	176	17	podržavaju	podržavaju	PROPN
fumecheng-583	176	18	ljude	ljude	NOUN
fumecheng-583	176	19	,	,	PUNCT
fumecheng-583	176	20	kao	kao	PROPN
fumecheng-583	176	21	što	što	PROPN
fumecheng-583	176	22	je	je	PROPN
fumecheng-583	176	23	sistem	sistem	PROPN
fumecheng-583	176	24	razvijen	razvijen	PROPN
fumecheng-583	176	25	u	u	PROPN
fumecheng-583	176	26	okviru	okviru	PROPN
fumecheng-583	176	27	projekta	projekta	VERB
fumecheng-583	176	28	corbys	corby	NOUN
fumecheng-583	176	29	.	.	PUNCT
fumecheng-583	177	1	ovaj	ovaj	PROPN
fumecheng-583	177	2	rad	rad	PROPN
fumecheng-583	177	3	predstavlja	predstavlja	PROPN
fumecheng-583	177	4	celokupnu	celokupnu	VERB
fumecheng-583	177	5	arhitekturu	arhitekturu	ADV
fumecheng-583	177	6	za	za	PROPN
fumecheng-583	177	7	procenu	procenu	PROPN
fumecheng-583	177	8	situacije	situacije	PROPN
fumecheng-583	177	9	razvijenu	razvijenu	NOUN
fumecheng-583	177	10	u	u	NOUN
fumecheng-583	177	11	okviru	okviru	PROPN
fumecheng-583	177	12	corbys	corbys	PROPN
fumecheng-583	177	13	projekta	projekta	PROPN
fumecheng-583	178	1	kao	kao	PROPN
fumecheng-583	178	2	i	i	PRON
fumecheng-583	178	3	njenu	njenu	VERB
fumecheng-583	178	4	primenu	primenu	NOUN
fumecheng-583	178	5	na	na	ADP
fumecheng-583	178	6	“	"	PUNCT
fumecheng-583	178	7	proof	proof	NOUN
fumecheng-583	178	8	-	-	PUNCT
fumecheng-583	178	9	of	of	ADP
fumecheng-583	178	10	-	-	PUNCT
fumecheng-583	178	11	concept	concept	NOUN
fumecheng-583	178	12	”	"	PUNCT
fumecheng-583	178	13	demonstratorima	demonstratorima	PROPN
fumecheng-583	178	14	.	.	PUNCT
fumecheng-583	179	1	razmatrani	razmatrani	PROPN
fumecheng-583	179	2	demonstratori	demonstratori	PROPN
fumecheng-583	179	3	su	su	PROPN
fumecheng-583	179	4	mobilni	mobilni	PROPN
fumecheng-583	179	5	robot	robot	NOUN
fumecheng-583	179	6	za	za	PROPN
fumecheng-583	179	7	praćenje	praćenje	PROPN
fumecheng-583	179	8	ljudi	ljudi	PROPN
fumecheng-583	179	9	i	i	PRON
fumecheng-583	179	10	mobilni	mobilni	VERB
fumecheng-583	179	11	robotski	robotski	NOUN
fumecheng-583	179	12	sistem	sistem	PROPN
fumecheng-583	179	13	za	za	PROPN
fumecheng-583	179	14	rehabilitaciju	rehabilitaciju	PROPN
fumecheng-583	179	15	hoda	hoda	PROPN
fumecheng-583	179	16	.	.	PUNCT
fumecheng-583	180	1	rad	rad	PROPN
fumecheng-583	180	2	predstavlja	predstavlja	PROPN
fumecheng-583	180	3	pregled	pregle	VERB
fumecheng-583	180	4	strukture	strukture	NOUN
fumecheng-583	180	5	i	i	PRON
fumecheng-583	180	6	funkcionalnosti	funkcionalnosti	PROPN
fumecheng-583	180	7	arhitekture	arhitekture	PROPN
fumecheng-583	180	8	za	za	PROPN
fumecheng-583	180	9	procenu	procenu	PROPN
fumecheng-583	181	1	situacije	situacije	PROPN
fumecheng-583	181	2	kao	kao	PROPN
fumecheng-583	181	3	i	i	PROPN
fumecheng-583	181	4	dobijene	dobijene	PROPN
fumecheng-583	181	5	rezultate	rezultate	VERB
fumecheng-583	181	6	i	i	PRON
fumecheng-583	181	7	sakupljene	sakupljene	VERB
fumecheng-583	181	8	observacije	observacije	PROPN
fumecheng-583	181	9	tokom	tokom	PROPN
fumecheng-583	181	10	inicijalne	inicijalne	PROPN
fumecheng-583	182	1	validacije	validacije	PROPN
fumecheng-583	182	2	dva	dva	PROPN
fumecheng-583	182	3	corbys	corbys	PROPN
fumecheng-583	182	4	demonstratora	demonstratora	PROPN
fumecheng-583	182	5	.	.	PUNCT
fumecheng-583	183	1	ključne	ključne	PROPN
fumecheng-583	183	2	reči	reči	NOUN
fumecheng-583	183	3	:	:	PUNCT
fumecheng-583	183	4	procena	procena	PROPN
fumecheng-583	183	5	situacije	situacije	PROPN
fumecheng-583	183	6	,	,	PUNCT
fumecheng-583	183	7	kognitivno	kognitivno	PROPN
fumecheng-583	183	8	upravljanje	upravljanje	PROPN
fumecheng-583	183	9	,	,	PUNCT
fumecheng-583	183	10	dinamičko	dinamičko	ADJ
fumecheng-583	183	11	okruženje	okruženje	PROPN
fumecheng-583	183	12	,	,	PUNCT
fumecheng-583	183	13	interakcija	interakcija	PROPN
fumecheng-583	183	14	robota	robota	PROPN
fumecheng-583	183	15	i	i	PRON
fumecheng-583	183	16	čoveka	čoveka	VERB
fumecheng-583	183	17	,	,	PUNCT
fumecheng-583	183	18	zajednički	zajednički	PROPN
fumecheng-583	183	19	rad	rad	PROPN
fumecheng-583	183	20	robota	robota	PROPN
fumecheng-583	184	1	i	i	PRON
fumecheng-583	184	2	čoveka	čoveka	VERB
fumecheng-583	184	3	i	i	PRON
fumecheng-583	184	4	uzajamno	uzajamno	VERB
fumecheng-583	184	5	preuzimanje	preuzimanje	NOUN
fumecheng-583	184	6	inicijative	inicijative	ADJ