id	sid	tid	token	lemma	pos
fumecheng-6852	1	1	plane	plane	NOUN
fumecheng-6852	1	2	thermoelastic	thermoelastic	ADJ
fumecheng-6852	1	3	waves	wave	NOUN
fumecheng-6852	1	4	in	in	ADP
fumecheng-6852	1	5	infinite	infinite	ADJ
fumecheng-6852	1	6	half	half	ADJ
fumecheng-6852	1	7	-	-	PUNCT
fumecheng-6852	1	8	space	space	NOUN
fumecheng-6852	1	9	caused	cause	VERB
fumecheng-6852	1	10	facta	facta	PROPN
fumecheng-6852	1	11	universitatis	universitatis	PROPN
fumecheng-6852	1	12	series	series	NOUN
fumecheng-6852	1	13	:	:	PUNCT
fumecheng-6852	1	14	mechanical	mechanical	ADJ
fumecheng-6852	1	15	engineering	engineering	NOUN
fumecheng-6852	1	16	vol	vol	NOUN
fumecheng-6852	1	17	.	.	PROPN
fumecheng-6852	2	1	21	21	NUM
fumecheng-6852	2	2	,	,	PUNCT
fumecheng-6852	2	3	no	no	DET
fumecheng-6852	2	4	1	1	NUM
fumecheng-6852	2	5	,	,	PUNCT
fumecheng-6852	2	6	2023	2023	NUM
fumecheng-6852	2	7	,	,	PUNCT
fumecheng-6852	2	8	pp	pp	ADV
fumecheng-6852	2	9	.	.	PUNCT
fumecheng-6852	3	1	101	101	NUM
fumecheng-6852	3	2	120	120	NUM
fumecheng-6852	3	3	https://doi.org/10.22190/fume210412055k	https://doi.org/10.22190/fume210412055k	NOUN
fumecheng-6852	3	4	©	©	PROPN
fumecheng-6852	3	5	2023	2023	NUM
fumecheng-6852	3	6	by	by	ADP
fumecheng-6852	3	7	university	university	PROPN
fumecheng-6852	3	8	of	of	ADP
fumecheng-6852	3	9	niš	niš	PROPN
fumecheng-6852	3	10	,	,	PUNCT
fumecheng-6852	3	11	serbia	serbia	PROPN
fumecheng-6852	3	12	|	|	ADV
fumecheng-6852	3	13	creative	creative	ADJ
fumecheng-6852	3	14	commons	common	NOUN
fumecheng-6852	3	15	license	license	NOUN
fumecheng-6852	3	16	:	:	PUNCT
fumecheng-6852	3	17	cc	cc	VERB
fumecheng-6852	3	18	by	by	ADP
fumecheng-6852	3	19	-	-	PUNCT
fumecheng-6852	3	20	nc	nc	VERB
fumecheng-6852	3	21	-	-	PUNCT
fumecheng-6852	3	22	nd	nd	ADV
fumecheng-6852	3	23	original	original	ADJ
fumecheng-6852	3	24	scientific	scientific	ADJ
fumecheng-6852	3	25	paper	paper	NUM
fumecheng-6852	3	26	spring	spring	NOUN
fumecheng-6852	3	27	based	base	VERB
fumecheng-6852	3	28	on	on	ADP
fumecheng-6852	3	29	flat	flat	ADJ
fumecheng-6852	3	30	permanent	permanent	ADJ
fumecheng-6852	3	31	magnets	magnet	NOUN
fumecheng-6852	3	32	:	:	PUNCT
fumecheng-6852	3	33	design	design	NOUN
fumecheng-6852	3	34	,	,	PUNCT
fumecheng-6852	3	35	analysis	analysis	NOUN
fumecheng-6852	3	36	and	and	CCONJ
fumecheng-6852	3	37	use	use	NOUN
fumecheng-6852	3	38	in	in	ADP
fumecheng-6852	3	39	variable	variable	ADJ
fumecheng-6852	3	40	stiffness	stiffness	ADJ
fumecheng-6852	3	41	actuator	actuator	NOUN
fumecheng-6852	3	42	bartłomiej	bartłomiej	NOUN
fumecheng-6852	3	43	kozakiewicz	kozakiewicz	NOUN
fumecheng-6852	3	44	,	,	PUNCT
fumecheng-6852	3	45	tomasz	tomasz	PROPN
fumecheng-6852	3	46	winiarski	winiarski	PROPN
fumecheng-6852	3	47	warsaw	warsaw	PROPN
fumecheng-6852	3	48	university	university	PROPN
fumecheng-6852	3	49	of	of	ADP
fumecheng-6852	3	50	technology	technology	PROPN
fumecheng-6852	3	51	,	,	PUNCT
fumecheng-6852	3	52	institute	institute	NOUN
fumecheng-6852	3	53	of	of	ADP
fumecheng-6852	3	54	control	control	PROPN
fumecheng-6852	3	55	and	and	CCONJ
fumecheng-6852	3	56	computation	computation	NOUN
fumecheng-6852	3	57	engineering	engineering	NOUN
fumecheng-6852	3	58	,	,	PUNCT
fumecheng-6852	3	59	poland	poland	PROPN
fumecheng-6852	3	60	abstract	abstract	NOUN
fumecheng-6852	3	61	.	.	PUNCT
fumecheng-6852	4	1	modern	modern	ADJ
fumecheng-6852	4	2	robot	robot	NOUN
fumecheng-6852	4	3	applications	application	NOUN
fumecheng-6852	4	4	benefit	benefit	VERB
fumecheng-6852	4	5	from	from	ADP
fumecheng-6852	4	6	including	include	VERB
fumecheng-6852	4	7	variable	variable	ADJ
fumecheng-6852	4	8	stiffness	stiffness	NOUN
fumecheng-6852	4	9	actuators	actuator	NOUN
fumecheng-6852	4	10	(	(	PUNCT
fumecheng-6852	4	11	vsa	vsa	NOUN
fumecheng-6852	4	12	)	)	PUNCT
fumecheng-6852	4	13	in	in	ADP
fumecheng-6852	4	14	the	the	DET
fumecheng-6852	4	15	kinematic	kinematic	ADJ
fumecheng-6852	4	16	chain	chain	NOUN
fumecheng-6852	4	17	.	.	PUNCT
fumecheng-6852	5	1	in	in	ADP
fumecheng-6852	5	2	this	this	DET
fumecheng-6852	5	3	paper	paper	NOUN
fumecheng-6852	5	4	,	,	PUNCT
fumecheng-6852	5	5	we	we	PRON
fumecheng-6852	5	6	focus	focus	VERB
fumecheng-6852	5	7	on	on	ADP
fumecheng-6852	5	8	vsa	vsa	NOUN
fumecheng-6852	5	9	utilizing	utilize	VERB
fumecheng-6852	5	10	a	a	DET
fumecheng-6852	5	11	magnetic	magnetic	ADJ
fumecheng-6852	5	12	spring	spring	NOUN
fumecheng-6852	5	13	made	make	VERB
fumecheng-6852	5	14	of	of	ADP
fumecheng-6852	5	15	two	two	NUM
fumecheng-6852	5	16	coaxial	coaxial	ADJ
fumecheng-6852	5	17	rings	ring	NOUN
fumecheng-6852	5	18	divided	divide	VERB
fumecheng-6852	5	19	into	into	ADP
fumecheng-6852	5	20	alternately	alternately	ADV
fumecheng-6852	5	21	magnetized	magnetize	VERB
fumecheng-6852	5	22	sections	section	NOUN
fumecheng-6852	5	23	.	.	PUNCT
fumecheng-6852	6	1	the	the	DET
fumecheng-6852	6	2	torque	torque	NOUN
fumecheng-6852	6	3	generated	generate	VERB
fumecheng-6852	6	4	between	between	ADP
fumecheng-6852	6	5	the	the	DET
fumecheng-6852	6	6	rings	ring	NOUN
fumecheng-6852	6	7	is	be	AUX
fumecheng-6852	6	8	opposite	opposite	ADJ
fumecheng-6852	6	9	to	to	ADP
fumecheng-6852	6	10	the	the	DET
fumecheng-6852	6	11	angular	angular	ADJ
fumecheng-6852	6	12	deflection	deflection	NOUN
fumecheng-6852	6	13	from	from	ADP
fumecheng-6852	6	14	equilibrium	equilibrium	NOUN
fumecheng-6852	6	15	and	and	CCONJ
fumecheng-6852	6	16	its	its	PRON
fumecheng-6852	6	17	value	value	NOUN
fumecheng-6852	6	18	increases	increase	NOUN
fumecheng-6852	6	19	as	as	SCONJ
fumecheng-6852	6	20	the	the	DET
fumecheng-6852	6	21	deflection	deflection	NOUN
fumecheng-6852	6	22	grows	grow	VERB
fumecheng-6852	6	23	–	–	PUNCT
fumecheng-6852	6	24	within	within	ADP
fumecheng-6852	6	25	a	a	DET
fumecheng-6852	6	26	specific	specific	ADJ
fumecheng-6852	6	27	range	range	NOUN
fumecheng-6852	6	28	of	of	ADP
fumecheng-6852	6	29	angles	angle	NOUN
fumecheng-6852	6	30	that	that	PRON
fumecheng-6852	6	31	we	we	PRON
fumecheng-6852	6	32	call	call	VERB
fumecheng-6852	6	33	a	a	DET
fumecheng-6852	6	34	stable	stable	ADJ
fumecheng-6852	6	35	range	range	NOUN
fumecheng-6852	6	36	.	.	PUNCT
fumecheng-6852	7	1	beyond	beyond	ADP
fumecheng-6852	7	2	the	the	DET
fumecheng-6852	7	3	stable	stable	ADJ
fumecheng-6852	7	4	range	range	NOUN
fumecheng-6852	7	5	,	,	PUNCT
fumecheng-6852	7	6	the	the	DET
fumecheng-6852	7	7	spring	spring	NOUN
fumecheng-6852	7	8	exhibits	exhibit	VERB
fumecheng-6852	7	9	negative	negative	ADJ
fumecheng-6852	7	10	stiffness	stiffness	NOUN
fumecheng-6852	7	11	what	what	PRON
fumecheng-6852	7	12	causes	cause	VERB
fumecheng-6852	7	13	problems	problem	NOUN
fumecheng-6852	7	14	with	with	ADP
fumecheng-6852	7	15	prediction	prediction	NOUN
fumecheng-6852	7	16	and	and	CCONJ
fumecheng-6852	7	17	control	control	NOUN
fumecheng-6852	7	18	.	.	PUNCT
fumecheng-6852	8	1	in	in	ADP
fumecheng-6852	8	2	order	order	NOUN
fumecheng-6852	8	3	to	to	PART
fumecheng-6852	8	4	avoid	avoid	VERB
fumecheng-6852	8	5	it	it	PRON
fumecheng-6852	8	6	,	,	PUNCT
fumecheng-6852	8	7	it	it	PRON
fumecheng-6852	8	8	is	be	AUX
fumecheng-6852	8	9	convenient	convenient	ADJ
fumecheng-6852	8	10	to	to	PART
fumecheng-6852	8	11	operate	operate	VERB
fumecheng-6852	8	12	within	within	ADP
fumecheng-6852	8	13	a	a	DET
fumecheng-6852	8	14	narrower	narrow	ADJ
fumecheng-6852	8	15	range	range	NOUN
fumecheng-6852	8	16	of	of	ADP
fumecheng-6852	8	17	angles	angle	NOUN
fumecheng-6852	8	18	that	that	PRON
fumecheng-6852	8	19	we	we	PRON
fumecheng-6852	8	20	call	call	VERB
fumecheng-6852	8	21	a	a	DET
fumecheng-6852	8	22	safe	safe	ADJ
fumecheng-6852	8	23	range	range	NOUN
fumecheng-6852	8	24	.	.	PUNCT
fumecheng-6852	9	1	the	the	DET
fumecheng-6852	9	2	magnetic	magnetic	ADJ
fumecheng-6852	9	3	springs	spring	NOUN
fumecheng-6852	9	4	proposed	propose	VERB
fumecheng-6852	9	5	so	so	ADV
fumecheng-6852	9	6	far	far	ADV
fumecheng-6852	9	7	utilize	utilize	VERB
fumecheng-6852	9	8	few	few	ADJ
fumecheng-6852	9	9	pairs	pair	NOUN
fumecheng-6852	9	10	of	of	ADP
fumecheng-6852	9	11	arc	arc	NOUN
fumecheng-6852	9	12	magnets	magnet	NOUN
fumecheng-6852	9	13	,	,	PUNCT
fumecheng-6852	9	14	and	and	CCONJ
fumecheng-6852	9	15	their	their	PRON
fumecheng-6852	9	16	safe	safe	ADJ
fumecheng-6852	9	17	ranges	range	NOUN
fumecheng-6852	9	18	are	be	AUX
fumecheng-6852	9	19	significantly	significantly	ADV
fumecheng-6852	9	20	smaller	small	ADJ
fumecheng-6852	9	21	than	than	ADP
fumecheng-6852	9	22	the	the	DET
fumecheng-6852	9	23	stable	stable	ADJ
fumecheng-6852	9	24	ones	one	NOUN
fumecheng-6852	9	25	.	.	PUNCT
fumecheng-6852	10	1	in	in	ADP
fumecheng-6852	10	2	order	order	NOUN
fumecheng-6852	10	3	to	to	PART
fumecheng-6852	10	4	broaden	broaden	VERB
fumecheng-6852	10	5	the	the	DET
fumecheng-6852	10	6	safe	safe	ADJ
fumecheng-6852	10	7	range	range	NOUN
fumecheng-6852	10	8	,	,	PUNCT
fumecheng-6852	10	9	we	we	PRON
fumecheng-6852	10	10	propose	propose	VERB
fumecheng-6852	10	11	a	a	DET
fumecheng-6852	10	12	different	different	ADJ
fumecheng-6852	10	13	design	design	NOUN
fumecheng-6852	10	14	of	of	ADP
fumecheng-6852	10	15	the	the	DET
fumecheng-6852	10	16	magnetic	magnetic	ADJ
fumecheng-6852	10	17	spring	spring	NOUN
fumecheng-6852	10	18	,	,	PUNCT
fumecheng-6852	10	19	which	which	PRON
fumecheng-6852	10	20	is	be	AUX
fumecheng-6852	10	21	composed	compose	VERB
fumecheng-6852	10	22	of	of	ADP
fumecheng-6852	10	23	flat	flat	ADJ
fumecheng-6852	10	24	magnets	magnet	NOUN
fumecheng-6852	10	25	,	,	PUNCT
fumecheng-6852	10	26	as	as	ADV
fumecheng-6852	10	27	well	well	ADV
fumecheng-6852	10	28	as	as	ADP
fumecheng-6852	10	29	a	a	DET
fumecheng-6852	10	30	new	new	ADJ
fumecheng-6852	10	31	arrangement	arrangement	NOUN
fumecheng-6852	10	32	of	of	ADP
fumecheng-6852	10	33	vsa	vsa	NOUN
fumecheng-6852	10	34	(	(	PUNCT
fumecheng-6852	10	35	called	call	VERB
fumecheng-6852	10	36	attractor	attractor	NOUN
fumecheng-6852	10	37	)	)	PUNCT
fumecheng-6852	10	38	utilizing	utilize	VERB
fumecheng-6852	10	39	the	the	DET
fumecheng-6852	10	40	proposed	propose	VERB
fumecheng-6852	10	41	spring	spring	NOUN
fumecheng-6852	10	42	.	.	PUNCT
fumecheng-6852	11	1	correctness	correctness	NOUN
fumecheng-6852	11	2	and	and	CCONJ
fumecheng-6852	11	3	usability	usability	NOUN
fumecheng-6852	11	4	of	of	ADP
fumecheng-6852	11	5	the	the	DET
fumecheng-6852	11	6	concept	concept	NOUN
fumecheng-6852	11	7	are	be	AUX
fumecheng-6852	11	8	verified	verify	VERB
fumecheng-6852	11	9	in	in	ADP
fumecheng-6852	11	10	fem	fem	NOUN
fumecheng-6852	11	11	analyses	analysis	NOUN
fumecheng-6852	11	12	and	and	CCONJ
fumecheng-6852	11	13	experiments	experiment	NOUN
fumecheng-6852	11	14	performed	perform	VERB
fumecheng-6852	11	15	on	on	ADP
fumecheng-6852	11	16	constructed	construct	VERB
fumecheng-6852	11	17	vsa	vsa	NOUN
fumecheng-6852	11	18	,	,	PUNCT
fumecheng-6852	11	19	which	which	PRON
fumecheng-6852	11	20	led	lead	VERB
fumecheng-6852	11	21	to	to	ADP
fumecheng-6852	11	22	formulating	formulate	VERB
fumecheng-6852	11	23	models	model	NOUN
fumecheng-6852	11	24	of	of	ADP
fumecheng-6852	11	25	the	the	DET
fumecheng-6852	11	26	magnetic	magnetic	ADJ
fumecheng-6852	11	27	spring	spring	NOUN
fumecheng-6852	11	28	.	.	PUNCT
fumecheng-6852	12	1	the	the	DET
fumecheng-6852	12	2	results	result	NOUN
fumecheng-6852	12	3	show	show	VERB
fumecheng-6852	12	4	that	that	SCONJ
fumecheng-6852	12	5	choosing	choose	VERB
fumecheng-6852	12	6	flat	flat	ADJ
fumecheng-6852	12	7	magnets	magnet	NOUN
fumecheng-6852	12	8	over	over	ADP
fumecheng-6852	12	9	arc	arc	NOUN
fumecheng-6852	12	10	ones	one	NOUN
fumecheng-6852	12	11	enables	enable	VERB
fumecheng-6852	12	12	shaping	shape	VERB
fumecheng-6852	12	13	spring	spring	NOUN
fumecheng-6852	12	14	characteristics	characteristic	NOUN
fumecheng-6852	12	15	in	in	ADP
fumecheng-6852	12	16	a	a	DET
fumecheng-6852	12	17	way	way	NOUN
fumecheng-6852	12	18	that	that	PRON
fumecheng-6852	12	19	broadens	broaden	VERB
fumecheng-6852	12	20	the	the	DET
fumecheng-6852	12	21	safe	safe	ADJ
fumecheng-6852	12	22	range	range	NOUN
fumecheng-6852	12	23	.	.	PUNCT
fumecheng-6852	13	1	an	an	DET
fumecheng-6852	13	2	additional	additional	ADJ
fumecheng-6852	13	3	benefit	benefit	NOUN
fumecheng-6852	13	4	is	be	AUX
fumecheng-6852	13	5	lowered	lower	VERB
fumecheng-6852	13	6	cost	cost	NOUN
fumecheng-6852	13	7	,	,	PUNCT
fumecheng-6852	13	8	and	and	CCONJ
fumecheng-6852	13	9	the	the	DET
fumecheng-6852	13	10	main	main	ADJ
fumecheng-6852	13	11	disadvantage	disadvantage	NOUN
fumecheng-6852	13	12	is	be	AUX
fumecheng-6852	13	13	a	a	DET
fumecheng-6852	13	14	reduced	reduce	VERB
fumecheng-6852	13	15	maximal	maximal	ADJ
fumecheng-6852	13	16	torque	torque	NOUN
fumecheng-6852	13	17	that	that	PRON
fumecheng-6852	13	18	the	the	DET
fumecheng-6852	13	19	spring	spring	NOUN
fumecheng-6852	13	20	is	be	AUX
fumecheng-6852	13	21	capable	capable	ADJ
fumecheng-6852	13	22	of	of	ADP
fumecheng-6852	13	23	transmitting	transmit	VERB
fumecheng-6852	13	24	.	.	PUNCT
fumecheng-6852	14	1	the	the	DET
fumecheng-6852	14	2	whole	whole	ADJ
fumecheng-6852	14	3	vsa	vsa	NOUN
fumecheng-6852	14	4	can	can	AUX
fumecheng-6852	14	5	be	be	AUX
fumecheng-6852	14	6	perceived	perceive	VERB
fumecheng-6852	14	7	as	as	ADP
fumecheng-6852	14	8	promising	promise	VERB
fumecheng-6852	14	9	construction	construction	NOUN
fumecheng-6852	14	10	for	for	ADP
fumecheng-6852	14	11	further	further	ADJ
fumecheng-6852	14	12	development	development	NOUN
fumecheng-6852	14	13	,	,	PUNCT
fumecheng-6852	14	14	miniaturization	miniaturization	NOUN
fumecheng-6852	14	15	and	and	CCONJ
fumecheng-6852	14	16	possible	possible	ADJ
fumecheng-6852	14	17	application	application	NOUN
fumecheng-6852	14	18	in	in	ADP
fumecheng-6852	14	19	modern	modern	ADJ
fumecheng-6852	14	20	robotic	robotic	ADJ
fumecheng-6852	14	21	mechanisms	mechanism	NOUN
fumecheng-6852	14	22	.	.	PUNCT
fumecheng-6852	15	1	key	key	ADJ
fumecheng-6852	15	2	words	word	NOUN
fumecheng-6852	15	3	:	:	PUNCT
fumecheng-6852	15	4	variable	variable	ADJ
fumecheng-6852	15	5	stiffness	stiffness	NOUN
fumecheng-6852	15	6	actuator	actuator	NOUN
fumecheng-6852	15	7	,	,	PUNCT
fumecheng-6852	15	8	elastic	elastic	ADJ
fumecheng-6852	15	9	joint	joint	NOUN
fumecheng-6852	15	10	,	,	PUNCT
fumecheng-6852	15	11	magnetic	magnetic	ADJ
fumecheng-6852	15	12	spring	spring	NOUN
fumecheng-6852	15	13	,	,	PUNCT
fumecheng-6852	15	14	magnetic	magnetic	ADJ
fumecheng-6852	15	15	clutch	clutch	NOUN
fumecheng-6852	15	16	,	,	PUNCT
fumecheng-6852	15	17	soft	soft	ADJ
fumecheng-6852	15	18	robotics	robotic	NOUN
fumecheng-6852	15	19	1	1	NUM
fumecheng-6852	15	20	.	.	PUNCT
fumecheng-6852	16	1	introduction	introduction	NOUN
fumecheng-6852	16	2	construction	construction	NOUN
fumecheng-6852	16	3	of	of	ADP
fumecheng-6852	16	4	most	most	ADJ
fumecheng-6852	16	5	of	of	ADP
fumecheng-6852	16	6	kinematic	kinematic	ADJ
fumecheng-6852	16	7	chains	chain	NOUN
fumecheng-6852	16	8	of	of	ADP
fumecheng-6852	16	9	robots	robot	NOUN
fumecheng-6852	16	10	,	,	PUNCT
fumecheng-6852	16	11	which	which	PRON
fumecheng-6852	16	12	are	be	AUX
fumecheng-6852	16	13	currently	currently	ADV
fumecheng-6852	16	14	produced	produce	VERB
fumecheng-6852	16	15	,	,	PUNCT
fumecheng-6852	16	16	is	be	AUX
fumecheng-6852	16	17	optimized	optimize	VERB
fumecheng-6852	16	18	to	to	PART
fumecheng-6852	16	19	maximize	maximize	VERB
fumecheng-6852	16	20	their	their	PRON
fumecheng-6852	16	21	stiffness	stiffness	NOUN
fumecheng-6852	16	22	.	.	PUNCT
fumecheng-6852	17	1	low	low	ADJ
fumecheng-6852	17	2	compliance	compliance	NOUN
fumecheng-6852	17	3	of	of	ADP
fumecheng-6852	17	4	robot	robot	NOUN
fumecheng-6852	17	5	links	link	NOUN
fumecheng-6852	17	6	and	and	CCONJ
fumecheng-6852	17	7	joints	joint	NOUN
fumecheng-6852	17	8	is	be	AUX
fumecheng-6852	17	9	especially	especially	ADV
fumecheng-6852	17	10	vital	vital	ADJ
fumecheng-6852	17	11	in	in	ADP
fumecheng-6852	17	12	typical	typical	ADJ
fumecheng-6852	17	13	industrial	industrial	ADJ
fumecheng-6852	17	14	applications	application	NOUN
fumecheng-6852	17	15	like	like	ADP
fumecheng-6852	17	16	welding	welding	NOUN
fumecheng-6852	17	17	,	,	PUNCT
fumecheng-6852	17	18	gluing	gluing	NOUN
fumecheng-6852	17	19	,	,	PUNCT
fumecheng-6852	17	20	dispensing	dispensing	NOUN
fumecheng-6852	17	21	,	,	PUNCT
fumecheng-6852	17	22	picking	picking	NOUN
fumecheng-6852	17	23	and	and	CCONJ
fumecheng-6852	17	24	placing	placing	NOUN
fumecheng-6852	17	25	received	receive	VERB
fumecheng-6852	17	26	april	april	PROPN
fumecheng-6852	17	27	12	12	NUM
fumecheng-6852	17	28	,	,	PUNCT
fumecheng-6852	17	29	2021	2021	NUM
fumecheng-6852	17	30	/	/	SYM
fumecheng-6852	17	31	accepted	accept	VERB
fumecheng-6852	17	32	july	july	PROPN
fumecheng-6852	17	33	16	16	NUM
fumecheng-6852	17	34	,	,	PUNCT
fumecheng-6852	17	35	2021	2021	NUM
fumecheng-6852	17	36	corresponding	correspond	VERB
fumecheng-6852	17	37	author	author	NOUN
fumecheng-6852	17	38	:	:	PUNCT
fumecheng-6852	17	39	tomasz	tomasz	PROPN
fumecheng-6852	17	40	winiarski	winiarski	PROPN
fumecheng-6852	17	41	warsaw	warsaw	PROPN
fumecheng-6852	17	42	university	university	PROPN
fumecheng-6852	17	43	of	of	ADP
fumecheng-6852	17	44	technology	technology	PROPN
fumecheng-6852	17	45	,	,	PUNCT
fumecheng-6852	17	46	institute	institute	NOUN
fumecheng-6852	17	47	of	of	ADP
fumecheng-6852	17	48	control	control	PROPN
fumecheng-6852	17	49	and	and	CCONJ
fumecheng-6852	17	50	computation	computation	NOUN
fumecheng-6852	17	51	engineering	engineering	NOUN
fumecheng-6852	17	52	,	,	PUNCT
fumecheng-6852	17	53	nowowiejska	nowowiejska	NOUN
fumecheng-6852	17	54	15/19	15/19	NUM
fumecheng-6852	17	55	,	,	PUNCT
fumecheng-6852	17	56	00	00	NUM
fumecheng-6852	17	57	-	-	SYM
fumecheng-6852	17	58	665	665	NUM
fumecheng-6852	17	59	warsaw	warsaw	NOUN
fumecheng-6852	17	60	,	,	PUNCT
fumecheng-6852	17	61	poland	poland	PROPN
fumecheng-6852	17	62	e	e	PROPN
fumecheng-6852	17	63	-	-	NOUN
fumecheng-6852	17	64	mail	mail	NOUN
fumecheng-6852	17	65	:	:	PUNCT
fumecheng-6852	17	66	tomasz.winiarski@pw.edu.pl	tomasz.winiarski@pw.edu.pl	PROPN
fumecheng-6852	17	67	102	102	NUM
fumecheng-6852	17	68	b.	b.	PROPN
fumecheng-6852	17	69	kozakiewicz	kozakiewicz	PROPN
fumecheng-6852	17	70	,	,	PUNCT
fumecheng-6852	17	71	t.	t.	PROPN
fumecheng-6852	17	72	winiarski	winiarski	PROPN
fumecheng-6852	17	73	because	because	SCONJ
fumecheng-6852	17	74	it	it	PRON
fumecheng-6852	17	75	plays	play	VERB
fumecheng-6852	17	76	a	a	DET
fumecheng-6852	17	77	crucial	crucial	ADJ
fumecheng-6852	17	78	role	role	NOUN
fumecheng-6852	17	79	in	in	ADP
fumecheng-6852	17	80	providing	provide	VERB
fumecheng-6852	17	81	high	high	ADJ
fumecheng-6852	17	82	accuracy	accuracy	NOUN
fumecheng-6852	17	83	of	of	ADP
fumecheng-6852	17	84	the	the	DET
fumecheng-6852	17	85	end	end	NOUN
fumecheng-6852	17	86	effector	effector	NOUN
fumecheng-6852	17	87	positioning	positioning	NOUN
fumecheng-6852	17	88	and	and	CCONJ
fumecheng-6852	17	89	avoiding	avoid	VERB
fumecheng-6852	17	90	undesired	undesired	ADJ
fumecheng-6852	17	91	oscillations	oscillation	NOUN
fumecheng-6852	17	92	[	[	X
fumecheng-6852	17	93	1	1	NUM
fumecheng-6852	17	94	]	]	PUNCT
fumecheng-6852	17	95	.	.	PUNCT
fumecheng-6852	18	1	however	however	ADV
fumecheng-6852	18	2	,	,	PUNCT
fumecheng-6852	18	3	there	there	PRON
fumecheng-6852	18	4	is	be	VERB
fumecheng-6852	18	5	a	a	DET
fumecheng-6852	18	6	significant	significant	ADJ
fumecheng-6852	18	7	downside	downside	NOUN
fumecheng-6852	18	8	to	to	ADP
fumecheng-6852	18	9	this	this	DET
fumecheng-6852	18	10	approach	approach	NOUN
fumecheng-6852	18	11	–	–	PUNCT
fumecheng-6852	18	12	increasing	increase	VERB
fumecheng-6852	18	13	rigidity	rigidity	NOUN
fumecheng-6852	18	14	of	of	ADP
fumecheng-6852	18	15	kinematic	kinematic	ADJ
fumecheng-6852	18	16	chain	chain	NOUN
fumecheng-6852	18	17	results	result	NOUN
fumecheng-6852	18	18	in	in	ADP
fumecheng-6852	18	19	reducing	reduce	VERB
fumecheng-6852	18	20	its	its	PRON
fumecheng-6852	18	21	potential	potential	NOUN
fumecheng-6852	18	22	for	for	ADP
fumecheng-6852	18	23	safe	safe	ADJ
fumecheng-6852	18	24	energy	energy	NOUN
fumecheng-6852	18	25	absorption	absorption	NOUN
fumecheng-6852	18	26	.	.	PUNCT
fumecheng-6852	19	1	consequently	consequently	ADV
fumecheng-6852	19	2	,	,	PUNCT
fumecheng-6852	19	3	due	due	ADP
fumecheng-6852	19	4	to	to	ADP
fumecheng-6852	19	5	safety	safety	NOUN
fumecheng-6852	19	6	standards	standard	NOUN
fumecheng-6852	19	7	,	,	PUNCT
fumecheng-6852	19	8	such	such	ADJ
fumecheng-6852	19	9	robots	robot	NOUN
fumecheng-6852	19	10	should	should	AUX
fumecheng-6852	19	11	either	either	CCONJ
fumecheng-6852	19	12	have	have	VERB
fumecheng-6852	19	13	their	their	PRON
fumecheng-6852	19	14	performance	performance	NOUN
fumecheng-6852	19	15	limited	limit	VERB
fumecheng-6852	19	16	or	or	CCONJ
fumecheng-6852	19	17	work	work	NOUN
fumecheng-6852	19	18	in	in	ADP
fumecheng-6852	19	19	safety	safety	NOUN
fumecheng-6852	19	20	zones	zone	NOUN
fumecheng-6852	19	21	to	to	PART
fumecheng-6852	19	22	minimize	minimize	VERB
fumecheng-6852	19	23	the	the	DET
fumecheng-6852	19	24	risk	risk	NOUN
fumecheng-6852	19	25	of	of	ADP
fumecheng-6852	19	26	collisions	collision	NOUN
fumecheng-6852	19	27	.	.	PUNCT
fumecheng-6852	20	1	in	in	ADP
fumecheng-6852	20	2	a	a	DET
fumecheng-6852	20	3	context	context	NOUN
fumecheng-6852	20	4	of	of	ADP
fumecheng-6852	20	5	growing	grow	VERB
fumecheng-6852	20	6	interest	interest	NOUN
fumecheng-6852	20	7	in	in	ADP
fumecheng-6852	20	8	utilizing	utilize	VERB
fumecheng-6852	20	9	robots	robot	NOUN
fumecheng-6852	20	10	that	that	PRON
fumecheng-6852	20	11	would	would	AUX
fumecheng-6852	20	12	be	be	AUX
fumecheng-6852	20	13	capable	capable	ADJ
fumecheng-6852	20	14	of	of	ADP
fumecheng-6852	20	15	direct	direct	ADJ
fumecheng-6852	20	16	cooperation	cooperation	NOUN
fumecheng-6852	20	17	with	with	ADP
fumecheng-6852	20	18	humans	human	NOUN
fumecheng-6852	20	19	(	(	PUNCT
fumecheng-6852	20	20	also	also	ADV
fumecheng-6852	20	21	in	in	ADP
fumecheng-6852	20	22	industrial	industrial	ADJ
fumecheng-6852	20	23	applications	application	NOUN
fumecheng-6852	20	24	)	)	PUNCT
fumecheng-6852	21	1	[	[	X
fumecheng-6852	21	2	2	2	NUM
fumecheng-6852	21	3	]	]	PUNCT
fumecheng-6852	21	4	,	,	PUNCT
fumecheng-6852	21	5	it	it	PRON
fumecheng-6852	21	6	seems	seem	VERB
fumecheng-6852	21	7	reasonable	reasonable	ADJ
fumecheng-6852	21	8	to	to	PART
fumecheng-6852	21	9	intentionally	intentionally	ADV
fumecheng-6852	21	10	include	include	VERB
fumecheng-6852	21	11	compliance	compliance	NOUN
fumecheng-6852	21	12	in	in	ADP
fumecheng-6852	21	13	the	the	DET
fumecheng-6852	21	14	kinematic	kinematic	ADJ
fumecheng-6852	21	15	chain	chain	NOUN
fumecheng-6852	21	16	as	as	ADP
fumecheng-6852	21	17	a	a	DET
fumecheng-6852	21	18	means	mean	NOUN
fumecheng-6852	21	19	which	which	PRON
fumecheng-6852	21	20	potentially	potentially	ADV
fumecheng-6852	21	21	reduces	reduce	VERB
fumecheng-6852	21	22	negative	negative	ADJ
fumecheng-6852	21	23	consequences	consequence	NOUN
fumecheng-6852	21	24	of	of	ADP
fumecheng-6852	21	25	collision	collision	NOUN
fumecheng-6852	22	1	[	[	X
fumecheng-6852	22	2	3–6	3–6	NUM
fumecheng-6852	22	3	]	]	X
fumecheng-6852	22	4	.	.	PUNCT
fumecheng-6852	23	1	as	as	SCONJ
fumecheng-6852	23	2	stated	state	VERB
fumecheng-6852	23	3	before	before	ADV
fumecheng-6852	23	4	,	,	PUNCT
fumecheng-6852	23	5	the	the	DET
fumecheng-6852	23	6	price	price	NOUN
fumecheng-6852	23	7	for	for	ADP
fumecheng-6852	23	8	that	that	PRON
fumecheng-6852	23	9	is	be	AUX
fumecheng-6852	23	10	positioning	positioning	NOUN
fumecheng-6852	23	11	accuracy	accuracy	NOUN
fumecheng-6852	23	12	.	.	PUNCT
fumecheng-6852	24	1	a	a	DET
fumecheng-6852	24	2	practical	practical	ADJ
fumecheng-6852	24	3	compromise	compromise	NOUN
fumecheng-6852	24	4	is	be	AUX
fumecheng-6852	24	5	to	to	PART
fumecheng-6852	24	6	make	make	VERB
fumecheng-6852	24	7	compliance	compliance	NOUN
fumecheng-6852	24	8	controllable	controllable	ADJ
fumecheng-6852	24	9	by	by	ADP
fumecheng-6852	24	10	using	use	VERB
fumecheng-6852	24	11	variable	variable	ADJ
fumecheng-6852	24	12	stiffness	stiffness	NOUN
fumecheng-6852	24	13	actuators	actuator	NOUN
fumecheng-6852	24	14	(	(	PUNCT
fumecheng-6852	24	15	vsa	vsa	NOUN
fumecheng-6852	24	16	)	)	PUNCT
fumecheng-6852	24	17	and	and	CCONJ
fumecheng-6852	24	18	to	to	PART
fumecheng-6852	24	19	implement	implement	VERB
fumecheng-6852	24	20	a	a	DET
fumecheng-6852	24	21	soft	soft	ADJ
fumecheng-6852	24	22	-	-	PUNCT
fumecheng-6852	24	23	arm	arm	NOUN
fumecheng-6852	24	24	tactics	tactic	NOUN
fumecheng-6852	24	25	[	[	X
fumecheng-6852	24	26	7	7	NUM
fumecheng-6852	24	27	]	]	PUNCT
fumecheng-6852	24	28	,	,	PUNCT
fumecheng-6852	24	29	which	which	PRON
fumecheng-6852	24	30	is	be	AUX
fumecheng-6852	24	31	to	to	PART
fumecheng-6852	24	32	perform	perform	VERB
fumecheng-6852	24	33	fast	fast	ADJ
fumecheng-6852	24	34	rough	rough	ADJ
fumecheng-6852	24	35	movements	movement	NOUN
fumecheng-6852	24	36	in	in	ADP
fumecheng-6852	24	37	safe	safe	ADJ
fumecheng-6852	24	38	compliant	compliant	ADJ
fumecheng-6852	24	39	state	state	NOUN
fumecheng-6852	24	40	and	and	CCONJ
fumecheng-6852	24	41	slow	slow	ADJ
fumecheng-6852	24	42	precise	precise	ADJ
fumecheng-6852	24	43	ones	one	NOUN
fumecheng-6852	24	44	in	in	ADP
fumecheng-6852	24	45	the	the	DET
fumecheng-6852	24	46	more	more	ADV
fumecheng-6852	24	47	accurate	accurate	ADJ
fumecheng-6852	24	48	stiff	stiff	ADJ
fumecheng-6852	24	49	configuration	configuration	NOUN
fumecheng-6852	24	50	.	.	PUNCT
fumecheng-6852	25	1	including	include	VERB
fumecheng-6852	25	2	compliance	compliance	NOUN
fumecheng-6852	25	3	in	in	ADP
fumecheng-6852	25	4	a	a	DET
fumecheng-6852	25	5	mechanism	mechanism	NOUN
fumecheng-6852	25	6	–	–	PUNCT
fumecheng-6852	25	7	especially	especially	ADV
fumecheng-6852	25	8	when	when	SCONJ
fumecheng-6852	25	9	it	it	PRON
fumecheng-6852	25	10	is	be	AUX
fumecheng-6852	25	11	variable	variable	ADJ
fumecheng-6852	25	12	and	and	CCONJ
fumecheng-6852	25	13	controllable	controllable	ADJ
fumecheng-6852	25	14	–	–	PUNCT
fumecheng-6852	25	15	may	may	AUX
fumecheng-6852	25	16	have	have	VERB
fumecheng-6852	25	17	some	some	DET
fumecheng-6852	25	18	other	other	ADJ
fumecheng-6852	25	19	beneficial	beneficial	ADJ
fumecheng-6852	25	20	consequences	consequence	NOUN
fumecheng-6852	25	21	[	[	X
fumecheng-6852	25	22	8	8	NUM
fumecheng-6852	25	23	]	]	PUNCT
fumecheng-6852	25	24	.	.	PUNCT
fumecheng-6852	26	1	first	first	ADV
fumecheng-6852	26	2	of	of	ADP
fumecheng-6852	26	3	all	all	PRON
fumecheng-6852	26	4	,	,	PUNCT
fumecheng-6852	26	5	the	the	DET
fumecheng-6852	26	6	capability	capability	NOUN
fumecheng-6852	26	7	of	of	ADP
fumecheng-6852	26	8	energy	energy	NOUN
fumecheng-6852	26	9	absorption	absorption	NOUN
fumecheng-6852	26	10	makes	make	VERB
fumecheng-6852	26	11	a	a	DET
fumecheng-6852	26	12	new	new	ADJ
fumecheng-6852	26	13	class	class	NOUN
fumecheng-6852	26	14	of	of	ADP
fumecheng-6852	26	15	advanced	advanced	ADJ
fumecheng-6852	26	16	movements	movement	NOUN
fumecheng-6852	26	17	possible	possible	ADJ
fumecheng-6852	26	18	,	,	PUNCT
fumecheng-6852	26	19	e.g.	e.g.	ADV
fumecheng-6852	26	20	effective	effective	ADJ
fumecheng-6852	26	21	throwing	throwing	NOUN
fumecheng-6852	26	22	and	and	CCONJ
fumecheng-6852	26	23	catching	catch	VERB
fumecheng-6852	26	24	,	,	PUNCT
fumecheng-6852	26	25	walking	walk	VERB
fumecheng-6852	26	26	and	and	CCONJ
fumecheng-6852	26	27	jumping	jump	VERB
fumecheng-6852	26	28	[	[	X
fumecheng-6852	26	29	9	9	NUM
fumecheng-6852	26	30	]	]	PUNCT
fumecheng-6852	26	31	.	.	PUNCT
fumecheng-6852	27	1	some	some	PRON
fumecheng-6852	27	2	of	of	ADP
fumecheng-6852	27	3	them	they	PRON
fumecheng-6852	27	4	like	like	ADP
fumecheng-6852	27	5	ball	ball	NOUN
fumecheng-6852	27	6	kicking	kicking	NOUN
fumecheng-6852	27	7	and	and	CCONJ
fumecheng-6852	27	8	running	run	VERB
fumecheng-6852	27	9	require	require	NOUN
fumecheng-6852	27	10	adjusting	adjust	VERB
fumecheng-6852	27	11	stiffness	stiffness	NOUN
fumecheng-6852	27	12	between	between	ADP
fumecheng-6852	27	13	consecutive	consecutive	ADJ
fumecheng-6852	27	14	phases	phase	NOUN
fumecheng-6852	27	15	of	of	ADP
fumecheng-6852	27	16	movement	movement	NOUN
fumecheng-6852	27	17	[	[	X
fumecheng-6852	27	18	10–12	10–12	NUM
fumecheng-6852	27	19	]	]	PUNCT
fumecheng-6852	27	20	.	.	PUNCT
fumecheng-6852	28	1	moreover	moreover	ADV
fumecheng-6852	28	2	,	,	PUNCT
fumecheng-6852	28	3	achievable	achievable	ADJ
fumecheng-6852	28	4	forces	force	NOUN
fumecheng-6852	28	5	[	[	X
fumecheng-6852	28	6	4	4	NUM
fumecheng-6852	28	7	]	]	PUNCT
fumecheng-6852	28	8	and	and	CCONJ
fumecheng-6852	28	9	velocities	velocity	NOUN
fumecheng-6852	28	10	[	[	X
fumecheng-6852	28	11	3	3	NUM
fumecheng-6852	28	12	,	,	PUNCT
fumecheng-6852	28	13	13	13	NUM
fumecheng-6852	28	14	]	]	PUNCT
fumecheng-6852	28	15	are	be	AUX
fumecheng-6852	28	16	greater	great	ADJ
fumecheng-6852	28	17	in	in	ADP
fumecheng-6852	28	18	the	the	DET
fumecheng-6852	28	19	case	case	NOUN
fumecheng-6852	28	20	of	of	ADP
fumecheng-6852	28	21	compliant	compliant	ADJ
fumecheng-6852	28	22	mechanisms	mechanism	NOUN
fumecheng-6852	28	23	than	than	ADP
fumecheng-6852	28	24	in	in	ADP
fumecheng-6852	28	25	the	the	DET
fumecheng-6852	28	26	stiff	stiff	ADJ
fumecheng-6852	28	27	ones	one	NOUN
fumecheng-6852	28	28	.	.	PUNCT
fumecheng-6852	29	1	last	last	ADJ
fumecheng-6852	29	2	but	but	CCONJ
fumecheng-6852	29	3	not	not	PART
fumecheng-6852	29	4	least	least	ADJ
fumecheng-6852	29	5	,	,	PUNCT
fumecheng-6852	29	6	the	the	DET
fumecheng-6852	29	7	resonance	resonance	NOUN
fumecheng-6852	29	8	frequency	frequency	NOUN
fumecheng-6852	29	9	of	of	ADP
fumecheng-6852	29	10	the	the	DET
fumecheng-6852	29	11	elastic	elastic	ADJ
fumecheng-6852	29	12	kinematic	kinematic	NOUN
fumecheng-6852	29	13	chain	chain	NOUN
fumecheng-6852	29	14	can	can	AUX
fumecheng-6852	29	15	be	be	AUX
fumecheng-6852	29	16	adjusted	adjust	VERB
fumecheng-6852	29	17	to	to	ADP
fumecheng-6852	29	18	its	its	PRON
fumecheng-6852	29	19	working	work	VERB
fumecheng-6852	29	20	cycle	cycle	NOUN
fumecheng-6852	29	21	resulting	result	VERB
fumecheng-6852	29	22	in	in	ADP
fumecheng-6852	29	23	reduced	reduce	VERB
fumecheng-6852	29	24	energy	energy	NOUN
fumecheng-6852	29	25	consumption	consumption	NOUN
fumecheng-6852	29	26	[	[	X
fumecheng-6852	29	27	14–16	14–16	NUM
fumecheng-6852	29	28	]	]	PUNCT
fumecheng-6852	29	29	.	.	PUNCT
fumecheng-6852	30	1	all	all	DET
fumecheng-6852	30	2	these	these	DET
fumecheng-6852	30	3	factors	factor	NOUN
fumecheng-6852	30	4	explain	explain	VERB
fumecheng-6852	30	5	why	why	SCONJ
fumecheng-6852	30	6	human	human	ADJ
fumecheng-6852	30	7	body	body	NOUN
fumecheng-6852	30	8	actuators	actuator	NOUN
fumecheng-6852	30	9	,	,	PUNCT
fumecheng-6852	30	10	which	which	PRON
fumecheng-6852	30	11	are	be	AUX
fumecheng-6852	30	12	antagonistic	antagonistic	ADJ
fumecheng-6852	30	13	pairs	pair	NOUN
fumecheng-6852	30	14	of	of	ADP
fumecheng-6852	30	15	muscles	muscle	NOUN
fumecheng-6852	30	16	,	,	PUNCT
fumecheng-6852	30	17	are	be	AUX
fumecheng-6852	30	18	also	also	ADV
fumecheng-6852	30	19	capable	capable	ADJ
fumecheng-6852	30	20	of	of	ADP
fumecheng-6852	30	21	in	in	ADP
fumecheng-6852	30	22	-	-	PUNCT
fumecheng-6852	30	23	fly	fly	NOUN
fumecheng-6852	30	24	stiffness	stiffness	NOUN
fumecheng-6852	30	25	adjustment	adjustment	NOUN
fumecheng-6852	30	26	[	[	X
fumecheng-6852	30	27	17	17	NUM
fumecheng-6852	30	28	]	]	PUNCT
fumecheng-6852	30	29	.	.	PUNCT
fumecheng-6852	31	1	most	most	ADJ
fumecheng-6852	31	2	vsa	vsa	ADJ
fumecheng-6852	31	3	designs	design	NOUN
fumecheng-6852	31	4	can	can	AUX
fumecheng-6852	31	5	be	be	AUX
fumecheng-6852	31	6	assigned	assign	VERB
fumecheng-6852	31	7	to	to	ADP
fumecheng-6852	31	8	one	one	NUM
fumecheng-6852	31	9	of	of	ADP
fumecheng-6852	31	10	three	three	NUM
fumecheng-6852	31	11	categories	category	NOUN
fumecheng-6852	31	12	[	[	X
fumecheng-6852	31	13	18	18	NUM
fumecheng-6852	31	14	]	]	X
fumecheng-6852	31	15	:	:	PUNCT
fumecheng-6852	31	16	a.	a.	NOUN
fumecheng-6852	31	17	stiff	stiff	PROPN
fumecheng-6852	31	18	constructions	construction	NOUN
fumecheng-6852	31	19	controlled	control	VERB
fumecheng-6852	31	20	in	in	ADP
fumecheng-6852	31	21	a	a	DET
fumecheng-6852	31	22	way	way	NOUN
fumecheng-6852	31	23	that	that	PRON
fumecheng-6852	31	24	enforces	enforce	VERB
fumecheng-6852	31	25	compliant	compliant	ADJ
fumecheng-6852	31	26	behavior	behavior	NOUN
fumecheng-6852	31	27	,	,	PUNCT
fumecheng-6852	31	28	b.	b.	PROPN
fumecheng-6852	31	29	compliant	compliant	PROPN
fumecheng-6852	31	30	construction	construction	PROPN
fumecheng-6852	31	31	controlled	control	VERB
fumecheng-6852	31	32	in	in	ADP
fumecheng-6852	31	33	a	a	DET
fumecheng-6852	31	34	way	way	NOUN
fumecheng-6852	31	35	that	that	PRON
fumecheng-6852	31	36	enforces	enforce	VERB
fumecheng-6852	31	37	stiffness	stiffness	ADJ
fumecheng-6852	31	38	variability	variability	NOUN
fumecheng-6852	31	39	,	,	PUNCT
fumecheng-6852	31	40	c.	c.	PROPN
fumecheng-6852	31	41	compliant	compliant	ADJ
fumecheng-6852	31	42	constructions	construction	NOUN
fumecheng-6852	31	43	which	which	DET
fumecheng-6852	31	44	stiffness	stiffness	NOUN
fumecheng-6852	31	45	is	be	AUX
fumecheng-6852	31	46	adjusted	adjust	VERB
fumecheng-6852	31	47	mechanically	mechanically	ADV
fumecheng-6852	31	48	.	.	PUNCT
fumecheng-6852	32	1	actuators	actuator	NOUN
fumecheng-6852	32	2	from	from	ADP
fumecheng-6852	32	3	the	the	DET
fumecheng-6852	32	4	first	first	ADJ
fumecheng-6852	32	5	group	group	NOUN
fumecheng-6852	32	6	are	be	AUX
fumecheng-6852	32	7	the	the	DET
fumecheng-6852	32	8	most	most	ADV
fumecheng-6852	32	9	popular	popular	ADJ
fumecheng-6852	32	10	,	,	PUNCT
fumecheng-6852	32	11	especially	especially	ADV
fumecheng-6852	32	12	in	in	ADP
fumecheng-6852	32	13	a	a	DET
fumecheng-6852	32	14	field	field	NOUN
fumecheng-6852	32	15	of	of	ADP
fumecheng-6852	32	16	service	service	NOUN
fumecheng-6852	32	17	and	and	CCONJ
fumecheng-6852	32	18	assisting	assist	VERB
fumecheng-6852	32	19	robots	robot	NOUN
fumecheng-6852	32	20	–	–	PUNCT
fumecheng-6852	32	21	where	where	SCONJ
fumecheng-6852	32	22	the	the	DET
fumecheng-6852	32	23	safety	safety	NOUN
fumecheng-6852	32	24	issues	issue	NOUN
fumecheng-6852	32	25	are	be	AUX
fumecheng-6852	32	26	particularly	particularly	ADV
fumecheng-6852	32	27	important	important	ADJ
fumecheng-6852	32	28	[	[	X
fumecheng-6852	32	29	19–21	19–21	NUM
fumecheng-6852	32	30	]	]	PUNCT
fumecheng-6852	32	31	.	.	PUNCT
fumecheng-6852	33	1	this	this	PRON
fumecheng-6852	33	2	is	be	AUX
fumecheng-6852	33	3	one	one	NUM
fumecheng-6852	33	4	of	of	ADP
fumecheng-6852	33	5	the	the	DET
fumecheng-6852	33	6	reasons	reason	NOUN
fumecheng-6852	33	7	for	for	ADP
fumecheng-6852	33	8	the	the	DET
fumecheng-6852	33	9	active	active	ADJ
fumecheng-6852	33	10	development	development	NOUN
fumecheng-6852	33	11	of	of	ADP
fumecheng-6852	33	12	suitable	suitable	ADJ
fumecheng-6852	33	13	arm	arm	NOUN
fumecheng-6852	33	14	control	control	NOUN
fumecheng-6852	33	15	algorithms	algorithm	NOUN
fumecheng-6852	33	16	,	,	PUNCT
fumecheng-6852	33	17	which	which	PRON
fumecheng-6852	33	18	include	include	VERB
fumecheng-6852	33	19	mechanical	mechanical	ADJ
fumecheng-6852	33	20	interactions	interaction	NOUN
fumecheng-6852	33	21	with	with	ADP
fumecheng-6852	33	22	the	the	DET
fumecheng-6852	33	23	environment	environment	NOUN
fumecheng-6852	33	24	–	–	PUNCT
fumecheng-6852	33	25	especially	especially	ADV
fumecheng-6852	33	26	humans	human	NOUN
fumecheng-6852	33	27	.	.	PUNCT
fumecheng-6852	34	1	some	some	DET
fumecheng-6852	34	2	significant	significant	ADJ
fumecheng-6852	34	3	achievements	achievement	NOUN
fumecheng-6852	34	4	are	be	AUX
fumecheng-6852	34	5	based	base	VERB
fumecheng-6852	34	6	on	on	ADP
fumecheng-6852	34	7	either	either	DET
fumecheng-6852	34	8	impedance	impedance	NOUN
fumecheng-6852	34	9	control	control	NOUN
fumecheng-6852	35	1	[	[	X
fumecheng-6852	35	2	22–24	22–24	NUM
fumecheng-6852	35	3	]	]	PUNCT
fumecheng-6852	35	4	or	or	CCONJ
fumecheng-6852	35	5	force	force	NOUN
fumecheng-6852	35	6	control	control	NOUN
fumecheng-6852	36	1	[	[	X
fumecheng-6852	36	2	25–29	25–29	NOUN
fumecheng-6852	36	3	]	]	PUNCT
fumecheng-6852	36	4	.	.	PUNCT
fumecheng-6852	37	1	it	it	PRON
fumecheng-6852	37	2	is	be	AUX
fumecheng-6852	37	3	worth	worth	ADJ
fumecheng-6852	37	4	noting	note	VERB
fumecheng-6852	37	5	that	that	SCONJ
fumecheng-6852	37	6	there	there	PRON
fumecheng-6852	37	7	are	be	VERB
fumecheng-6852	37	8	also	also	ADV
fumecheng-6852	37	9	some	some	DET
fumecheng-6852	37	10	commercially	commercially	ADV
fumecheng-6852	37	11	available	available	ADJ
fumecheng-6852	37	12	robots	robot	NOUN
fumecheng-6852	37	13	for	for	ADP
fumecheng-6852	37	14	professional	professional	ADJ
fumecheng-6852	37	15	industrial	industrial	ADJ
fumecheng-6852	37	16	use	use	NOUN
fumecheng-6852	37	17	equipped	equip	VERB
fumecheng-6852	37	18	with	with	ADP
fumecheng-6852	37	19	vsas	vsa	NOUN
fumecheng-6852	37	20	belonging	belong	VERB
fumecheng-6852	37	21	to	to	ADP
fumecheng-6852	37	22	this	this	DET
fumecheng-6852	37	23	category	category	NOUN
fumecheng-6852	37	24	[	[	X
fumecheng-6852	37	25	30	30	NUM
fumecheng-6852	37	26	]	]	PUNCT
fumecheng-6852	37	27	.	.	PUNCT
fumecheng-6852	38	1	there	there	PRON
fumecheng-6852	38	2	are	be	VERB
fumecheng-6852	38	3	not	not	PART
fumecheng-6852	38	4	so	so	ADV
fumecheng-6852	38	5	many	many	ADJ
fumecheng-6852	38	6	constructions	construction	NOUN
fumecheng-6852	38	7	belonging	belong	VERB
fumecheng-6852	38	8	to	to	ADP
fumecheng-6852	38	9	the	the	DET
fumecheng-6852	38	10	second	second	ADJ
fumecheng-6852	38	11	group	group	NOUN
fumecheng-6852	38	12	(	(	PUNCT
fumecheng-6852	38	13	b	b	NOUN
fumecheng-6852	38	14	)	)	PUNCT
fumecheng-6852	38	15	because	because	SCONJ
fumecheng-6852	38	16	they	they	PRON
fumecheng-6852	38	17	are	be	AUX
fumecheng-6852	38	18	mechanically	mechanically	ADV
fumecheng-6852	38	19	more	more	ADV
fumecheng-6852	38	20	complicated	complicated	ADJ
fumecheng-6852	38	21	than	than	ADP
fumecheng-6852	38	22	those	those	PRON
fumecheng-6852	38	23	from	from	ADP
fumecheng-6852	38	24	the	the	DET
fumecheng-6852	38	25	first	first	ADJ
fumecheng-6852	38	26	group	group	NOUN
fumecheng-6852	38	27	,	,	PUNCT
fumecheng-6852	38	28	and	and	CCONJ
fumecheng-6852	38	29	provide	provide	VERB
fumecheng-6852	38	30	not	not	PART
fumecheng-6852	38	31	so	so	ADV
fumecheng-6852	38	32	many	many	ADJ
fumecheng-6852	38	33	benefits	benefit	NOUN
fumecheng-6852	38	34	as	as	ADP
fumecheng-6852	38	35	those	those	PRON
fumecheng-6852	38	36	from	from	ADP
fumecheng-6852	38	37	the	the	DET
fumecheng-6852	38	38	third	third	ADJ
fumecheng-6852	38	39	group	group	NOUN
fumecheng-6852	38	40	.	.	PUNCT
fumecheng-6852	39	1	some	some	DET
fumecheng-6852	39	2	notable	notable	ADJ
fumecheng-6852	39	3	examples	example	NOUN
fumecheng-6852	39	4	are	be	AUX
fumecheng-6852	39	5	[	[	X
fumecheng-6852	39	6	31	31	NUM
fumecheng-6852	39	7	,	,	PUNCT
fumecheng-6852	39	8	32	32	NUM
fumecheng-6852	39	9	]	]	PUNCT
fumecheng-6852	39	10	.	.	PUNCT
fumecheng-6852	40	1	it	it	PRON
fumecheng-6852	40	2	is	be	AUX
fumecheng-6852	40	3	only	only	ADV
fumecheng-6852	40	4	possible	possible	ADJ
fumecheng-6852	40	5	for	for	ADP
fumecheng-6852	40	6	the	the	DET
fumecheng-6852	40	7	constructions	construction	NOUN
fumecheng-6852	40	8	belonging	belong	VERB
fumecheng-6852	40	9	to	to	ADP
fumecheng-6852	40	10	category	category	NOUN
fumecheng-6852	40	11	c	c	NOUN
fumecheng-6852	40	12	to	to	PART
fumecheng-6852	40	13	fully	fully	ADV
fumecheng-6852	40	14	utilize	utilize	VERB
fumecheng-6852	40	15	compliant	compliant	ADJ
fumecheng-6852	40	16	parts	part	NOUN
fumecheng-6852	40	17	capability	capability	NOUN
fumecheng-6852	40	18	of	of	ADP
fumecheng-6852	40	19	energy	energy	NOUN
fumecheng-6852	40	20	storage	storage	NOUN
fumecheng-6852	40	21	,	,	PUNCT
fumecheng-6852	40	22	what	what	PRON
fumecheng-6852	40	23	makes	make	VERB
fumecheng-6852	40	24	this	this	DET
fumecheng-6852	40	25	specific	specific	ADJ
fumecheng-6852	40	26	group	group	NOUN
fumecheng-6852	40	27	peculiarly	peculiarly	ADV
fumecheng-6852	40	28	attractive	attractive	ADJ
fumecheng-6852	40	29	in	in	ADP
fumecheng-6852	40	30	the	the	DET
fumecheng-6852	40	31	context	context	NOUN
fumecheng-6852	40	32	of	of	ADP
fumecheng-6852	40	33	the	the	DET
fumecheng-6852	40	34	previously	previously	ADV
fumecheng-6852	40	35	mentioned	mention	VERB
fumecheng-6852	40	36	benefits	benefit	NOUN
fumecheng-6852	40	37	.	.	PUNCT
fumecheng-6852	41	1	there	there	PRON
fumecheng-6852	41	2	are	be	VERB
fumecheng-6852	41	3	three	three	NUM
fumecheng-6852	41	4	main	main	ADJ
fumecheng-6852	41	5	methods	method	NOUN
fumecheng-6852	41	6	of	of	ADP
fumecheng-6852	41	7	achieving	achieve	VERB
fumecheng-6852	41	8	stiffness	stiffness	ADJ
fumecheng-6852	41	9	variability	variability	NOUN
fumecheng-6852	41	10	by	by	ADP
fumecheng-6852	41	11	mechanical	mechanical	ADJ
fumecheng-6852	41	12	means	mean	NOUN
fumecheng-6852	41	13	[	[	X
fumecheng-6852	41	14	18	18	NUM
fumecheng-6852	41	15	,	,	PUNCT
fumecheng-6852	41	16	33	33	NUM
fumecheng-6852	41	17	]	]	PUNCT
fumecheng-6852	41	18	:	:	PUNCT
fumecheng-6852	41	19	c1	c1	NOUN
fumecheng-6852	41	20	.	.	PUNCT
fumecheng-6852	42	1	changing	change	VERB
fumecheng-6852	42	2	pretension	pretension	NOUN
fumecheng-6852	42	3	of	of	ADP
fumecheng-6852	42	4	non	non	ADJ
fumecheng-6852	42	5	-	-	ADJ
fumecheng-6852	42	6	linear	linear	ADJ
fumecheng-6852	42	7	compliant	compliant	ADJ
fumecheng-6852	42	8	components	component	NOUN
fumecheng-6852	42	9	(	(	PUNCT
fumecheng-6852	42	10	often	often	ADV
fumecheng-6852	42	11	arranged	arrange	VERB
fumecheng-6852	42	12	in	in	ADP
fumecheng-6852	42	13	an	an	DET
fumecheng-6852	42	14	antagonistic	antagonistic	ADJ
fumecheng-6852	42	15	way	way	NOUN
fumecheng-6852	43	1	[	[	X
fumecheng-6852	43	2	34	34	NUM
fumecheng-6852	43	3	]	]	SYM
fumecheng-6852	43	4	)	)	PUNCT
fumecheng-6852	43	5	–	–	PUNCT
fumecheng-6852	43	6	e.g.	e.g.	ADV
fumecheng-6852	43	7	varying	vary	VERB
fumecheng-6852	43	8	air	air	NOUN
fumecheng-6852	43	9	pressure	pressure	NOUN
fumecheng-6852	43	10	in	in	ADP
fumecheng-6852	43	11	a	a	DET
fumecheng-6852	43	12	pair	pair	NOUN
fumecheng-6852	43	13	of	of	ADP
fumecheng-6852	43	14	pneumatic	pneumatic	ADJ
fumecheng-6852	43	15	muscles	muscle	NOUN
fumecheng-6852	43	16	,	,	PUNCT
fumecheng-6852	43	17	c2	c2	PROPN
fumecheng-6852	43	18	.	.	PUNCT
fumecheng-6852	44	1	changing	change	VERB
fumecheng-6852	44	2	transmission	transmission	NOUN
fumecheng-6852	44	3	between	between	ADP
fumecheng-6852	44	4	the	the	DET
fumecheng-6852	44	5	compliant	compliant	ADJ
fumecheng-6852	44	6	component	component	NOUN
fumecheng-6852	44	7	and	and	CCONJ
fumecheng-6852	44	8	output	output	NOUN
fumecheng-6852	44	9	link	link	NOUN
fumecheng-6852	44	10	–	–	PUNCT
fumecheng-6852	44	11	e.g.	e.g.	ADV
fumecheng-6852	44	12	moving	move	VERB
fumecheng-6852	44	13	pivot	pivot	NOUN
fumecheng-6852	44	14	point	point	NOUN
fumecheng-6852	44	15	of	of	ADP
fumecheng-6852	44	16	a	a	DET
fumecheng-6852	44	17	lever	lever	NOUN
fumecheng-6852	44	18	connecting	connect	VERB
fumecheng-6852	44	19	spring	spring	NOUN
fumecheng-6852	44	20	with	with	ADP
fumecheng-6852	44	21	output	output	NOUN
fumecheng-6852	44	22	arm	arm	NOUN
fumecheng-6852	44	23	,	,	PUNCT
fumecheng-6852	44	24	c3	c3	PROPN
fumecheng-6852	44	25	.	.	PUNCT
fumecheng-6852	45	1	changing	change	VERB
fumecheng-6852	45	2	parameters	parameter	NOUN
fumecheng-6852	45	3	of	of	ADP
fumecheng-6852	45	4	compliant	compliant	ADJ
fumecheng-6852	45	5	component	component	NOUN
fumecheng-6852	45	6	–	–	PUNCT
fumecheng-6852	45	7	e.g.	e.g.	ADV
fumecheng-6852	45	8	adjusting	adjust	VERB
fumecheng-6852	45	9	the	the	DET
fumecheng-6852	45	10	active	active	ADJ
fumecheng-6852	45	11	length	length	NOUN
fumecheng-6852	45	12	of	of	ADP
fumecheng-6852	45	13	a	a	DET
fumecheng-6852	45	14	leaf	leaf	NOUN
fumecheng-6852	45	15	spring	spring	NOUN
fumecheng-6852	45	16	or	or	CCONJ
fumecheng-6852	45	17	its	its	PRON
fumecheng-6852	45	18	second	second	ADJ
fumecheng-6852	45	19	moment	moment	NOUN
fumecheng-6852	45	20	of	of	ADP
fumecheng-6852	45	21	area	area	NOUN
fumecheng-6852	45	22	.	.	PUNCT
fumecheng-6852	46	1	spring	spring	NOUN
fumecheng-6852	46	2	based	base	VERB
fumecheng-6852	46	3	on	on	ADP
fumecheng-6852	46	4	flat	flat	ADJ
fumecheng-6852	46	5	permanent	permanent	ADJ
fumecheng-6852	46	6	magnets	magnet	NOUN
fumecheng-6852	46	7	:	:	PUNCT
fumecheng-6852	46	8	design	design	NOUN
fumecheng-6852	46	9	,	,	PUNCT
fumecheng-6852	46	10	analysis	analysis	NOUN
fumecheng-6852	46	11	and	and	CCONJ
fumecheng-6852	46	12	use	use	NOUN
fumecheng-6852	46	13	in	in	ADP
fumecheng-6852	46	14	variable	variable	ADJ
fumecheng-6852	46	15	stiffness	stiffness	NOUN
fumecheng-6852	46	16	actuator	actuator	NOUN
fumecheng-6852	46	17	103	103	NUM
fumecheng-6852	46	18	in	in	ADP
fumecheng-6852	46	19	all	all	DET
fumecheng-6852	46	20	these	these	DET
fumecheng-6852	46	21	categories	category	NOUN
fumecheng-6852	46	22	,	,	PUNCT
fumecheng-6852	46	23	the	the	DET
fumecheng-6852	46	24	most	most	ADV
fumecheng-6852	46	25	frequently	frequently	ADV
fumecheng-6852	46	26	used	use	VERB
fumecheng-6852	46	27	compliant	compliant	ADJ
fumecheng-6852	46	28	components	component	NOUN
fumecheng-6852	46	29	are	be	AUX
fumecheng-6852	46	30	leaf	leaf	NOUN
fumecheng-6852	46	31	springs	spring	NOUN
fumecheng-6852	46	32	,	,	PUNCT
fumecheng-6852	46	33	helix	helix	ADJ
fumecheng-6852	46	34	springs	spring	NOUN
fumecheng-6852	46	35	and	and	CCONJ
fumecheng-6852	46	36	elastic	elastic	ADJ
fumecheng-6852	46	37	rods	rod	NOUN
fumecheng-6852	46	38	[	[	X
fumecheng-6852	46	39	18	18	NUM
fumecheng-6852	46	40	]	]	PUNCT
fumecheng-6852	46	41	.	.	PUNCT
fumecheng-6852	47	1	an	an	DET
fumecheng-6852	47	2	interesting	interesting	ADJ
fumecheng-6852	47	3	alternative	alternative	NOUN
fumecheng-6852	47	4	is	be	AUX
fumecheng-6852	47	5	to	to	PART
fumecheng-6852	47	6	use	use	VERB
fumecheng-6852	47	7	magnetic	magnetic	ADJ
fumecheng-6852	47	8	parts	part	NOUN
fumecheng-6852	47	9	.	.	PUNCT
fumecheng-6852	48	1	the	the	DET
fumecheng-6852	48	2	concept	concept	NOUN
fumecheng-6852	48	3	of	of	ADP
fumecheng-6852	48	4	replacing	replace	VERB
fumecheng-6852	48	5	mechanical	mechanical	ADJ
fumecheng-6852	48	6	components	component	NOUN
fumecheng-6852	48	7	with	with	ADP
fumecheng-6852	48	8	their	their	PRON
fumecheng-6852	48	9	magnetic	magnetic	ADJ
fumecheng-6852	48	10	equivalents	equivalent	NOUN
fumecheng-6852	48	11	is	be	AUX
fumecheng-6852	48	12	already	already	ADV
fumecheng-6852	48	13	present	present	ADJ
fumecheng-6852	48	14	in	in	ADP
fumecheng-6852	48	15	different	different	ADJ
fumecheng-6852	48	16	branches	branch	NOUN
fumecheng-6852	48	17	of	of	ADP
fumecheng-6852	48	18	engineering	engineering	NOUN
fumecheng-6852	48	19	.	.	PUNCT
fumecheng-6852	49	1	some	some	DET
fumecheng-6852	49	2	notable	notable	ADJ
fumecheng-6852	49	3	examples	example	NOUN
fumecheng-6852	49	4	are	be	AUX
fumecheng-6852	49	5	magnetic	magnetic	ADJ
fumecheng-6852	49	6	bearings	bearing	NOUN
fumecheng-6852	49	7	[	[	X
fumecheng-6852	49	8	35	35	NUM
fumecheng-6852	49	9	]	]	PUNCT
fumecheng-6852	49	10	,	,	PUNCT
fumecheng-6852	49	11	magnetic	magnetic	ADJ
fumecheng-6852	49	12	clutches	clutch	NOUN
fumecheng-6852	49	13	and	and	CCONJ
fumecheng-6852	49	14	magnetic	magnetic	ADJ
fumecheng-6852	49	15	transmissions	transmission	NOUN
fumecheng-6852	49	16	[	[	X
fumecheng-6852	49	17	36	36	NUM
fumecheng-6852	49	18	]	]	PUNCT
fumecheng-6852	49	19	.	.	PUNCT
fumecheng-6852	50	1	a	a	DET
fumecheng-6852	50	2	summary	summary	NOUN
fumecheng-6852	50	3	of	of	ADP
fumecheng-6852	50	4	previous	previous	ADJ
fumecheng-6852	50	5	achievements	achievement	NOUN
fumecheng-6852	50	6	in	in	ADP
fumecheng-6852	50	7	constructing	construct	VERB
fumecheng-6852	50	8	magnetic	magnetic	ADJ
fumecheng-6852	50	9	springs	spring	NOUN
fumecheng-6852	50	10	is	be	AUX
fumecheng-6852	50	11	presented	present	VERB
fumecheng-6852	50	12	in	in	ADP
fumecheng-6852	50	13	section	section	NOUN
fumecheng-6852	50	14	2	2	NUM
fumecheng-6852	50	15	.	.	PUNCT
fumecheng-6852	51	1	in	in	ADP
fumecheng-6852	51	2	this	this	DET
fumecheng-6852	51	3	paper	paper	NOUN
fumecheng-6852	51	4	,	,	PUNCT
fumecheng-6852	51	5	we	we	PRON
fumecheng-6852	51	6	propose	propose	VERB
fumecheng-6852	51	7	a	a	DET
fumecheng-6852	51	8	design	design	NOUN
fumecheng-6852	51	9	of	of	ADP
fumecheng-6852	51	10	magnetic	magnetic	ADJ
fumecheng-6852	51	11	torsional	torsional	ADJ
fumecheng-6852	51	12	spring	spring	NOUN
fumecheng-6852	51	13	composed	compose	VERB
fumecheng-6852	51	14	of	of	ADP
fumecheng-6852	51	15	flat	flat	ADJ
fumecheng-6852	51	16	magnets	magnet	NOUN
fumecheng-6852	51	17	and	and	CCONJ
fumecheng-6852	51	18	also	also	ADV
fumecheng-6852	51	19	a	a	DET
fumecheng-6852	51	20	conception	conception	NOUN
fumecheng-6852	51	21	of	of	ADP
fumecheng-6852	51	22	its	its	PRON
fumecheng-6852	51	23	application	application	NOUN
fumecheng-6852	51	24	in	in	ADP
fumecheng-6852	51	25	variable	variable	ADJ
fumecheng-6852	51	26	stiffness	stiffness	ADJ
fumecheng-6852	51	27	actuator	actuator	NOUN
fumecheng-6852	51	28	.	.	PUNCT
fumecheng-6852	52	1	the	the	DET
fumecheng-6852	52	2	proposed	propose	VERB
fumecheng-6852	52	3	solution	solution	NOUN
fumecheng-6852	52	4	increases	increase	VERB
fumecheng-6852	52	5	the	the	DET
fumecheng-6852	52	6	scope	scope	NOUN
fumecheng-6852	52	7	of	of	ADP
fumecheng-6852	52	8	magnetic	magnetic	ADJ
fumecheng-6852	52	9	springs	spring	NOUN
fumecheng-6852	52	10	applicability	applicability	NOUN
fumecheng-6852	52	11	in	in	ADP
fumecheng-6852	52	12	a	a	DET
fumecheng-6852	52	13	context	context	NOUN
fumecheng-6852	52	14	of	of	ADP
fumecheng-6852	52	15	vsas	vsa	NOUN
fumecheng-6852	52	16	development	development	NOUN
fumecheng-6852	52	17	by	by	ADP
fumecheng-6852	52	18	increasing	increase	VERB
fumecheng-6852	52	19	ranges	range	NOUN
fumecheng-6852	52	20	of	of	ADP
fumecheng-6852	52	21	angles	angle	NOUN
fumecheng-6852	52	22	for	for	ADP
fumecheng-6852	52	23	which	which	PRON
fumecheng-6852	52	24	spring	spring	NOUN
fumecheng-6852	52	25	torque	torque	NOUN
fumecheng-6852	52	26	-	-	PUNCT
fumecheng-6852	52	27	angle	angle	NOUN
fumecheng-6852	52	28	characteristics	characteristic	NOUN
fumecheng-6852	52	29	are	be	AUX
fumecheng-6852	52	30	stable	stable	ADJ
fumecheng-6852	52	31	and	and	CCONJ
fumecheng-6852	52	32	close	close	ADJ
fumecheng-6852	52	33	to	to	AUX
fumecheng-6852	52	34	linear	linear	VERB
fumecheng-6852	52	35	.	.	PUNCT
fumecheng-6852	53	1	the	the	DET
fumecheng-6852	53	2	idea	idea	NOUN
fumecheng-6852	53	3	is	be	AUX
fumecheng-6852	53	4	supported	support	VERB
fumecheng-6852	53	5	by	by	ADP
fumecheng-6852	53	6	an	an	DET
fumecheng-6852	53	7	analysis	analysis	NOUN
fumecheng-6852	53	8	of	of	ADP
fumecheng-6852	53	9	magnetic	magnetic	ADJ
fumecheng-6852	53	10	spring	spring	NOUN
fumecheng-6852	53	11	dynamic	dynamic	ADJ
fumecheng-6852	53	12	behavior	behavior	NOUN
fumecheng-6852	53	13	and	and	CCONJ
fumecheng-6852	53	14	its	its	PRON
fumecheng-6852	53	15	dependency	dependency	NOUN
fumecheng-6852	53	16	on	on	ADP
fumecheng-6852	53	17	torque	torque	NOUN
fumecheng-6852	53	18	-	-	PUNCT
fumecheng-6852	53	19	angle	angle	NOUN
fumecheng-6852	53	20	characteristics	characteristic	NOUN
fumecheng-6852	53	21	(	(	PUNCT
fumecheng-6852	53	22	section	section	NOUN
fumecheng-6852	53	23	3	3	NUM
fumecheng-6852	53	24	)	)	PUNCT
fumecheng-6852	53	25	.	.	PUNCT
fumecheng-6852	54	1	the	the	DET
fumecheng-6852	54	2	effect	effect	NOUN
fumecheng-6852	54	3	of	of	ADP
fumecheng-6852	54	4	the	the	DET
fumecheng-6852	54	5	proposed	propose	VERB
fumecheng-6852	54	6	solution	solution	NOUN
fumecheng-6852	54	7	(	(	PUNCT
fumecheng-6852	54	8	section	section	NOUN
fumecheng-6852	54	9	4	4	NUM
fumecheng-6852	54	10	)	)	PUNCT
fumecheng-6852	54	11	is	be	AUX
fumecheng-6852	54	12	verified	verify	VERB
fumecheng-6852	54	13	in	in	ADP
fumecheng-6852	54	14	fem	fem	NOUN
fumecheng-6852	54	15	analysis	analysis	NOUN
fumecheng-6852	54	16	(	(	PUNCT
fumecheng-6852	54	17	section	section	NOUN
fumecheng-6852	54	18	5	5	NUM
fumecheng-6852	54	19	)	)	PUNCT
fumecheng-6852	54	20	and	and	CCONJ
fumecheng-6852	54	21	multiple	multiple	ADJ
fumecheng-6852	54	22	experiments	experiment	NOUN
fumecheng-6852	54	23	conducted	conduct	VERB
fumecheng-6852	54	24	on	on	ADP
fumecheng-6852	54	25	constructed	construct	VERB
fumecheng-6852	54	26	vsa	vsa	NOUN
fumecheng-6852	54	27	(	(	PUNCT
fumecheng-6852	54	28	section	section	NOUN
fumecheng-6852	54	29	6	6	NUM
fumecheng-6852	54	30	)	)	PUNCT
fumecheng-6852	54	31	.	.	PUNCT
fumecheng-6852	55	1	their	their	PRON
fumecheng-6852	55	2	results	result	NOUN
fumecheng-6852	55	3	were	be	AUX
fumecheng-6852	55	4	used	use	VERB
fumecheng-6852	55	5	to	to	PART
fumecheng-6852	55	6	develop	develop	VERB
fumecheng-6852	55	7	mathematical	mathematical	ADJ
fumecheng-6852	55	8	models	model	NOUN
fumecheng-6852	55	9	of	of	ADP
fumecheng-6852	55	10	magnetic	magnetic	ADJ
fumecheng-6852	55	11	spring	spring	NOUN
fumecheng-6852	55	12	discussed	discuss	VERB
fumecheng-6852	55	13	in	in	ADP
fumecheng-6852	55	14	section	section	NOUN
fumecheng-6852	55	15	7	7	NUM
fumecheng-6852	55	16	.	.	PUNCT
fumecheng-6852	55	17	section	section	NOUN
fumecheng-6852	55	18	8	8	NUM
fumecheng-6852	55	19	summarizes	summarize	VERB
fumecheng-6852	55	20	the	the	DET
fumecheng-6852	55	21	work	work	NOUN
fumecheng-6852	55	22	.	.	PUNCT
fumecheng-6852	56	1	2	2	X
fumecheng-6852	56	2	.	.	X
fumecheng-6852	56	3	related	relate	VERB
fumecheng-6852	56	4	work	work	NOUN
fumecheng-6852	56	5	numerous	numerous	ADJ
fumecheng-6852	56	6	conceptions	conception	NOUN
fumecheng-6852	56	7	of	of	ADP
fumecheng-6852	56	8	compliant	compliant	ADJ
fumecheng-6852	56	9	mechanisms	mechanism	NOUN
fumecheng-6852	56	10	based	base	VERB
fumecheng-6852	56	11	on	on	ADP
fumecheng-6852	56	12	magnetic	magnetic	ADJ
fumecheng-6852	56	13	components	component	NOUN
fumecheng-6852	56	14	have	have	AUX
fumecheng-6852	56	15	been	be	AUX
fumecheng-6852	56	16	developed	develop	VERB
fumecheng-6852	56	17	so	so	ADV
fumecheng-6852	56	18	far	far	ADV
fumecheng-6852	56	19	.	.	PUNCT
fumecheng-6852	57	1	some	some	PRON
fumecheng-6852	57	2	of	of	ADP
fumecheng-6852	57	3	them	they	PRON
fumecheng-6852	57	4	refer	refer	VERB
fumecheng-6852	57	5	to	to	ADP
fumecheng-6852	57	6	non	non	ADJ
fumecheng-6852	57	7	-	-	ADJ
fumecheng-6852	57	8	linear	linear	ADJ
fumecheng-6852	57	9	springs	spring	NOUN
fumecheng-6852	57	10	consisting	consist	VERB
fumecheng-6852	57	11	of	of	ADP
fumecheng-6852	57	12	magnets	magnet	NOUN
fumecheng-6852	57	13	in	in	ADP
fumecheng-6852	57	14	various	various	ADJ
fumecheng-6852	57	15	arrangements	arrangement	NOUN
fumecheng-6852	57	16	which	which	PRON
fumecheng-6852	57	17	potentially	potentially	ADV
fumecheng-6852	57	18	can	can	AUX
fumecheng-6852	57	19	be	be	AUX
fumecheng-6852	57	20	used	use	VERB
fumecheng-6852	57	21	in	in	ADP
fumecheng-6852	57	22	antagonistic	antagonistic	ADJ
fumecheng-6852	57	23	vsas	vsa	NOUN
fumecheng-6852	57	24	classified	classify	VERB
fumecheng-6852	57	25	in	in	ADP
fumecheng-6852	57	26	c1	c1	PROPN
fumecheng-6852	57	27	group	group	NOUN
fumecheng-6852	57	28	[	[	X
fumecheng-6852	57	29	37	37	NUM
fumecheng-6852	57	30	,	,	PUNCT
fumecheng-6852	57	31	38	38	NUM
fumecheng-6852	57	32	]	]	PUNCT
fumecheng-6852	57	33	.	.	PUNCT
fumecheng-6852	58	1	at	at	ADV
fumecheng-6852	58	2	least	least	ADV
fumecheng-6852	58	3	one	one	NUM
fumecheng-6852	58	4	conception	conception	NOUN
fumecheng-6852	58	5	was	be	AUX
fumecheng-6852	58	6	successfully	successfully	ADV
fumecheng-6852	58	7	implemented	implement	VERB
fumecheng-6852	58	8	in	in	ADP
fumecheng-6852	58	9	such	such	DET
fumecheng-6852	58	10	a	a	DET
fumecheng-6852	58	11	setup	setup	NOUN
fumecheng-6852	58	12	[	[	X
fumecheng-6852	58	13	39	39	NUM
fumecheng-6852	58	14	]	]	PUNCT
fumecheng-6852	58	15	.	.	PUNCT
fumecheng-6852	59	1	a	a	DET
fumecheng-6852	59	2	different	different	ADJ
fumecheng-6852	59	3	approach	approach	NOUN
fumecheng-6852	59	4	is	be	AUX
fumecheng-6852	59	5	to	to	PART
fumecheng-6852	59	6	use	use	VERB
fumecheng-6852	59	7	electromagnets	electromagnet	NOUN
fumecheng-6852	59	8	and	and	CCONJ
fumecheng-6852	59	9	adjust	adjust	VERB
fumecheng-6852	59	10	system	system	NOUN
fumecheng-6852	59	11	stiffness	stiffness	NOUN
fumecheng-6852	59	12	by	by	ADP
fumecheng-6852	59	13	changing	change	VERB
fumecheng-6852	59	14	current	current	ADJ
fumecheng-6852	59	15	applied	apply	VERB
fumecheng-6852	59	16	to	to	ADP
fumecheng-6852	59	17	them	they	PRON
fumecheng-6852	59	18	[	[	X
fumecheng-6852	59	19	40	40	NUM
fumecheng-6852	59	20	,	,	PUNCT
fumecheng-6852	59	21	41	41	NUM
fumecheng-6852	59	22	]	]	PUNCT
fumecheng-6852	59	23	.	.	PUNCT
fumecheng-6852	60	1	such	such	ADJ
fumecheng-6852	60	2	construction	construction	NOUN
fumecheng-6852	60	3	belongs	belong	VERB
fumecheng-6852	60	4	to	to	ADP
fumecheng-6852	60	5	c3	c3	PROPN
fumecheng-6852	60	6	group	group	NOUN
fumecheng-6852	60	7	,	,	PUNCT
fumecheng-6852	60	8	but	but	CCONJ
fumecheng-6852	60	9	it	it	PRON
fumecheng-6852	60	10	has	have	VERB
fumecheng-6852	60	11	one	one	NUM
fumecheng-6852	60	12	major	major	ADJ
fumecheng-6852	60	13	drawback	drawback	NOUN
fumecheng-6852	60	14	–	–	PUNCT
fumecheng-6852	60	15	high	high	ADJ
fumecheng-6852	60	16	energy	energy	NOUN
fumecheng-6852	60	17	consumption	consumption	NOUN
fumecheng-6852	60	18	also	also	ADV
fumecheng-6852	60	19	in	in	ADP
fumecheng-6852	60	20	steady	steady	ADJ
fumecheng-6852	60	21	state	state	NOUN
fumecheng-6852	60	22	.	.	PUNCT
fumecheng-6852	61	1	fig	fig	NOUN
fumecheng-6852	61	2	.	.	PUNCT
fumecheng-6852	62	1	1	1	NUM
fumecheng-6852	62	2	variable	variable	ADJ
fumecheng-6852	62	3	stiffness	stiffness	NOUN
fumecheng-6852	62	4	torsional	torsional	ADJ
fumecheng-6852	62	5	spring	spring	NOUN
fumecheng-6852	62	6	based	base	VERB
fumecheng-6852	62	7	on	on	ADP
fumecheng-6852	62	8	arc	arc	NOUN
fumecheng-6852	62	9	magnets	magnet	NOUN
fumecheng-6852	62	10	–	–	PUNCT
fumecheng-6852	62	11	ams	am	VERB
fumecheng-6852	62	12	another	another	DET
fumecheng-6852	62	13	interesting	interesting	ADJ
fumecheng-6852	62	14	solution	solution	NOUN
fumecheng-6852	62	15	belonging	belong	VERB
fumecheng-6852	62	16	to	to	ADP
fumecheng-6852	62	17	c3	c3	PROPN
fumecheng-6852	62	18	category	category	NOUN
fumecheng-6852	62	19	is	be	AUX
fumecheng-6852	62	20	shown	show	VERB
fumecheng-6852	62	21	in	in	ADP
fumecheng-6852	62	22	fig	fig	NOUN
fumecheng-6852	62	23	.	.	PUNCT
fumecheng-6852	63	1	1	1	X
fumecheng-6852	63	2	.	.	X
fumecheng-6852	63	3	it	it	PRON
fumecheng-6852	63	4	presents	present	VERB
fumecheng-6852	63	5	a	a	DET
fumecheng-6852	63	6	variable	variable	ADJ
fumecheng-6852	63	7	stiffness	stiffness	NOUN
fumecheng-6852	63	8	torsional	torsional	ADJ
fumecheng-6852	63	9	spring	spring	NOUN
fumecheng-6852	63	10	,	,	PUNCT
fumecheng-6852	63	11	which	which	PRON
fumecheng-6852	63	12	is	be	AUX
fumecheng-6852	63	13	made	make	VERB
fumecheng-6852	63	14	of	of	ADP
fumecheng-6852	63	15	two	two	NUM
fumecheng-6852	63	16	coaxial	coaxial	ADJ
fumecheng-6852	63	17	rings	ring	NOUN
fumecheng-6852	63	18	consisting	consist	VERB
fumecheng-6852	63	19	of	of	ADP
fumecheng-6852	63	20	radially	radially	ADV
fumecheng-6852	63	21	magnetized	magnetize	VERB
fumecheng-6852	63	22	arc	arc	NOUN
fumecheng-6852	63	23	magnets	magnet	NOUN
fumecheng-6852	63	24	aligned	align	VERB
fumecheng-6852	63	25	in	in	ADP
fumecheng-6852	63	26	an	an	DET
fumecheng-6852	63	27	alternating	alternate	VERB
fumecheng-6852	63	28	way	way	NOUN
fumecheng-6852	63	29	.	.	PUNCT
fumecheng-6852	64	1	when	when	SCONJ
fumecheng-6852	64	2	the	the	DET
fumecheng-6852	64	3	components	component	NOUN
fumecheng-6852	64	4	are	be	AUX
fumecheng-6852	64	5	in	in	ADP
fumecheng-6852	64	6	equilibrium	equilibrium	NOUN
fumecheng-6852	64	7	,	,	PUNCT
fumecheng-6852	64	8	rotating	rotate	VERB
fumecheng-6852	64	9	one	one	NUM
fumecheng-6852	64	10	of	of	ADP
fumecheng-6852	64	11	the	the	DET
fumecheng-6852	64	12	rings	ring	NOUN
fumecheng-6852	64	13	results	result	NOUN
fumecheng-6852	64	14	in	in	ADP
fumecheng-6852	64	15	counter	counter	ADJ
fumecheng-6852	64	16	-	-	ADJ
fumecheng-6852	64	17	acting	acting	ADJ
fumecheng-6852	64	18	torque	torque	NOUN
fumecheng-6852	64	19	τsp	τsp	VERB
fumecheng-6852	64	20	whose	whose	DET
fumecheng-6852	64	21	value	value	NOUN
fumecheng-6852	64	22	is	be	AUX
fumecheng-6852	64	23	approximately	approximately	ADV
fumecheng-6852	64	24	proportional	proportional	ADJ
fumecheng-6852	64	25	to	to	PART
fumecheng-6852	64	26	angle	angle	VERB
fumecheng-6852	64	27	φr	φr	ADP
fumecheng-6852	64	28	between	between	ADP
fumecheng-6852	64	29	the	the	DET
fumecheng-6852	64	30	rings	ring	NOUN
fumecheng-6852	64	31	if	if	SCONJ
fumecheng-6852	64	32	the	the	DET
fumecheng-6852	64	33	angle	angle	NOUN
fumecheng-6852	64	34	is	be	AUX
fumecheng-6852	64	35	sufficiently	sufficiently	ADV
fumecheng-6852	64	36	small	small	ADJ
fumecheng-6852	64	37	.	.	PUNCT
fumecheng-6852	65	1	stiffness	stiffness	ADJ
fumecheng-6852	65	2	adjustment	adjustment	NOUN
fumecheng-6852	65	3	can	can	AUX
fumecheng-6852	65	4	be	be	AUX
fumecheng-6852	65	5	accomplished	accomplish	VERB
fumecheng-6852	65	6	by	by	ADP
fumecheng-6852	65	7	translating	translate	VERB
fumecheng-6852	65	8	one	one	NUM
fumecheng-6852	65	9	of	of	ADP
fumecheng-6852	65	10	the	the	DET
fumecheng-6852	65	11	rings	ring	NOUN
fumecheng-6852	65	12	along	along	ADP
fumecheng-6852	65	13	the	the	DET
fumecheng-6852	65	14	axis	axis	NOUN
fumecheng-6852	65	15	.	.	PUNCT
fumecheng-6852	66	1	moving	move	VERB
fumecheng-6852	66	2	rings	ring	NOUN
fumecheng-6852	66	3	away	away	ADV
fumecheng-6852	66	4	from	from	ADP
fumecheng-6852	66	5	the	the	DET
fumecheng-6852	66	6	equilibrium	equilibrium	NOUN
fumecheng-6852	66	7	by	by	ADP
fumecheng-6852	66	8	a	a	DET
fumecheng-6852	66	9	distance	distance	NOUN
fumecheng-6852	66	10	d	d	NOUN
fumecheng-6852	66	11	causes	cause	VERB
fumecheng-6852	66	12	the	the	DET
fumecheng-6852	66	13	overlapping	overlap	VERB
fumecheng-6852	66	14	part	part	NOUN
fumecheng-6852	66	15	to	to	ADP
fumecheng-6852	66	16	104	104	NUM
fumecheng-6852	66	17	b.	b.	PROPN
fumecheng-6852	66	18	kozakiewicz	kozakiewicz	PROPN
fumecheng-6852	66	19	,	,	PUNCT
fumecheng-6852	66	20	t.	t.	PROPN
fumecheng-6852	66	21	winiarski	winiarski	PROPN
fumecheng-6852	66	22	become	become	VERB
fumecheng-6852	66	23	smaller	small	ADJ
fumecheng-6852	66	24	,	,	PUNCT
fumecheng-6852	66	25	which	which	PRON
fumecheng-6852	66	26	reduces	reduce	VERB
fumecheng-6852	66	27	magnetic	magnetic	ADJ
fumecheng-6852	66	28	forces	force	NOUN
fumecheng-6852	66	29	between	between	ADP
fumecheng-6852	66	30	the	the	DET
fumecheng-6852	66	31	rings	ring	NOUN
fumecheng-6852	66	32	and	and	CCONJ
fumecheng-6852	66	33	hence	hence	ADV
fumecheng-6852	66	34	the	the	DET
fumecheng-6852	66	35	stiffness	stiffness	NOUN
fumecheng-6852	66	36	of	of	ADP
fumecheng-6852	66	37	the	the	DET
fumecheng-6852	66	38	system	system	NOUN
fumecheng-6852	66	39	decreases	decrease	VERB
fumecheng-6852	66	40	.	.	PUNCT
fumecheng-6852	67	1	we	we	PRON
fumecheng-6852	67	2	will	will	AUX
fumecheng-6852	67	3	refer	refer	VERB
fumecheng-6852	67	4	to	to	ADP
fumecheng-6852	67	5	this	this	DET
fumecheng-6852	67	6	solution	solution	NOUN
fumecheng-6852	67	7	as	as	SCONJ
fumecheng-6852	67	8	ams	ams	NOUN
fumecheng-6852	67	9	–	–	PUNCT
fumecheng-6852	67	10	arc	arc	NOUN
fumecheng-6852	67	11	magnets	magnet	NOUN
fumecheng-6852	67	12	spring	spring	VERB
fumecheng-6852	67	13	.	.	PUNCT
fumecheng-6852	68	1	such	such	DET
fumecheng-6852	68	2	an	an	DET
fumecheng-6852	68	3	arrangement	arrangement	NOUN
fumecheng-6852	68	4	has	have	VERB
fumecheng-6852	68	5	some	some	DET
fumecheng-6852	68	6	unique	unique	ADJ
fumecheng-6852	68	7	advantages	advantage	NOUN
fumecheng-6852	68	8	like	like	ADP
fumecheng-6852	68	9	decoupled	decouple	VERB
fumecheng-6852	68	10	position	position	NOUN
fumecheng-6852	68	11	and	and	CCONJ
fumecheng-6852	68	12	stiffness	stiffness	ADJ
fumecheng-6852	68	13	control	control	NOUN
fumecheng-6852	68	14	,	,	PUNCT
fumecheng-6852	68	15	no	no	DET
fumecheng-6852	68	16	need	need	NOUN
fumecheng-6852	68	17	for	for	ADP
fumecheng-6852	68	18	constant	constant	ADJ
fumecheng-6852	68	19	energy	energy	NOUN
fumecheng-6852	68	20	supply	supply	NOUN
fumecheng-6852	68	21	,	,	PUNCT
fumecheng-6852	68	22	inherent	inherent	ADJ
fumecheng-6852	68	23	maximum	maximum	ADJ
fumecheng-6852	68	24	torque	torque	NOUN
fumecheng-6852	68	25	limit	limit	NOUN
fumecheng-6852	68	26	,	,	PUNCT
fumecheng-6852	68	27	possible	possible	ADJ
fumecheng-6852	68	28	zero	zero	NUM
fumecheng-6852	68	29	stiffness	stiffness	NOUN
fumecheng-6852	68	30	configuration	configuration	NOUN
fumecheng-6852	68	31	(	(	PUNCT
fumecheng-6852	68	32	rings	ring	NOUN
fumecheng-6852	68	33	completely	completely	ADV
fumecheng-6852	68	34	decoupled	decouple	VERB
fumecheng-6852	68	35	)	)	PUNCT
fumecheng-6852	68	36	and	and	CCONJ
fumecheng-6852	68	37	an	an	DET
fumecheng-6852	68	38	unlimited	unlimited	ADJ
fumecheng-6852	68	39	angular	angular	ADJ
fumecheng-6852	68	40	position	position	NOUN
fumecheng-6852	68	41	range	range	NOUN
fumecheng-6852	68	42	.	.	PUNCT
fumecheng-6852	69	1	it	it	PRON
fumecheng-6852	69	2	also	also	ADV
fumecheng-6852	69	3	has	have	VERB
fumecheng-6852	69	4	some	some	DET
fumecheng-6852	69	5	benefits	benefit	NOUN
fumecheng-6852	69	6	which	which	PRON
fumecheng-6852	69	7	are	be	AUX
fumecheng-6852	69	8	typical	typical	ADJ
fumecheng-6852	69	9	for	for	ADP
fumecheng-6852	69	10	solutions	solution	NOUN
fumecheng-6852	69	11	based	base	VERB
fumecheng-6852	69	12	on	on	ADP
fumecheng-6852	69	13	magnets	magnet	NOUN
fumecheng-6852	69	14	:	:	PUNCT
fumecheng-6852	69	15	no	no	DET
fumecheng-6852	69	16	contact	contact	NOUN
fumecheng-6852	69	17	between	between	ADP
fumecheng-6852	69	18	moving	move	VERB
fumecheng-6852	69	19	parts	part	NOUN
fumecheng-6852	69	20	,	,	PUNCT
fumecheng-6852	69	21	reduced	reduce	VERB
fumecheng-6852	69	22	friction	friction	NOUN
fumecheng-6852	69	23	and	and	CCONJ
fumecheng-6852	69	24	wear	wear	NOUN
fumecheng-6852	69	25	,	,	PUNCT
fumecheng-6852	69	26	and	and	CCONJ
fumecheng-6852	69	27	zero	zero	NUM
fumecheng-6852	69	28	clearances	clearance	NOUN
fumecheng-6852	69	29	between	between	ADP
fumecheng-6852	69	30	cooperating	cooperate	VERB
fumecheng-6852	69	31	parts	part	NOUN
fumecheng-6852	69	32	.	.	PUNCT
fumecheng-6852	70	1	to	to	ADP
fumecheng-6852	70	2	the	the	DET
fumecheng-6852	70	3	best	good	ADJ
fumecheng-6852	70	4	of	of	ADP
fumecheng-6852	70	5	our	our	PRON
fumecheng-6852	70	6	knowledge	knowledge	NOUN
fumecheng-6852	70	7	,	,	PUNCT
fumecheng-6852	70	8	the	the	DET
fumecheng-6852	70	9	ams	ams	NOUN
fumecheng-6852	70	10	arrangement	arrangement	NOUN
fumecheng-6852	70	11	has	have	AUX
fumecheng-6852	70	12	been	be	AUX
fumecheng-6852	70	13	proposed	propose	VERB
fumecheng-6852	70	14	for	for	ADP
fumecheng-6852	70	15	the	the	DET
fumecheng-6852	70	16	first	first	ADJ
fumecheng-6852	70	17	time	time	NOUN
fumecheng-6852	70	18	in	in	ADP
fumecheng-6852	70	19	[	[	X
fumecheng-6852	70	20	42	42	NUM
fumecheng-6852	70	21	]	]	PUNCT
fumecheng-6852	70	22	.	.	PUNCT
fumecheng-6852	71	1	authors	author	NOUN
fumecheng-6852	71	2	of	of	ADP
fumecheng-6852	71	3	that	that	DET
fumecheng-6852	71	4	paper	paper	NOUN
fumecheng-6852	71	5	built	build	VERB
fumecheng-6852	71	6	a	a	DET
fumecheng-6852	71	7	magnetic	magnetic	ADJ
fumecheng-6852	71	8	spring	spring	NOUN
fumecheng-6852	71	9	using	use	VERB
fumecheng-6852	71	10	four	four	NUM
fumecheng-6852	71	11	arc	arc	NOUN
fumecheng-6852	71	12	magnets	magnet	NOUN
fumecheng-6852	71	13	per	per	ADP
fumecheng-6852	71	14	ring	ring	NOUN
fumecheng-6852	71	15	,	,	PUNCT
fumecheng-6852	71	16	implemented	implement	VERB
fumecheng-6852	71	17	it	it	PRON
fumecheng-6852	71	18	in	in	ADP
fumecheng-6852	71	19	construction	construction	NOUN
fumecheng-6852	71	20	of	of	ADP
fumecheng-6852	71	21	vsa	vsa	NOUN
fumecheng-6852	71	22	and	and	CCONJ
fumecheng-6852	71	23	measured	measure	VERB
fumecheng-6852	71	24	some	some	DET
fumecheng-6852	71	25	characteristics	characteristic	NOUN
fumecheng-6852	71	26	like	like	ADP
fumecheng-6852	71	27	torque	torque	NOUN
fumecheng-6852	71	28	-	-	PUNCT
fumecheng-6852	71	29	angle	angle	NOUN
fumecheng-6852	71	30	relationship	relationship	NOUN
fumecheng-6852	71	31	for	for	ADP
fumecheng-6852	71	32	different	different	ADJ
fumecheng-6852	71	33	axial	axial	ADJ
fumecheng-6852	71	34	distances	distance	NOUN
fumecheng-6852	71	35	between	between	ADP
fumecheng-6852	71	36	the	the	DET
fumecheng-6852	71	37	rings	ring	NOUN
fumecheng-6852	71	38	.	.	PUNCT
fumecheng-6852	72	1	a	a	DET
fumecheng-6852	72	2	continuation	continuation	NOUN
fumecheng-6852	72	3	of	of	ADP
fumecheng-6852	72	4	that	that	DET
fumecheng-6852	72	5	work	work	NOUN
fumecheng-6852	72	6	was	be	AUX
fumecheng-6852	72	7	a	a	DET
fumecheng-6852	72	8	development	development	NOUN
fumecheng-6852	72	9	of	of	ADP
fumecheng-6852	72	10	a	a	DET
fumecheng-6852	72	11	modified	modify	VERB
fumecheng-6852	72	12	design	design	NOUN
fumecheng-6852	72	13	of	of	ADP
fumecheng-6852	72	14	a	a	DET
fumecheng-6852	72	15	more	more	ADV
fumecheng-6852	72	16	compact	compact	ADJ
fumecheng-6852	72	17	spring	spring	NOUN
fumecheng-6852	73	1	[	[	X
fumecheng-6852	73	2	43	43	NUM
fumecheng-6852	73	3	]	]	PUNCT
fumecheng-6852	73	4	with	with	ADP
fumecheng-6852	73	5	an	an	DET
fumecheng-6852	73	6	additional	additional	ADJ
fumecheng-6852	73	7	intermediary	intermediary	NOUN
fumecheng-6852	73	8	ring	ring	NOUN
fumecheng-6852	73	9	used	use	VERB
fumecheng-6852	73	10	to	to	PART
fumecheng-6852	73	11	increase	increase	VERB
fumecheng-6852	73	12	its	its	PRON
fumecheng-6852	73	13	maximal	maximal	ADJ
fumecheng-6852	73	14	torque	torque	NOUN
fumecheng-6852	73	15	.	.	PUNCT
fumecheng-6852	74	1	the	the	DET
fumecheng-6852	74	2	other	other	ADJ
fumecheng-6852	74	3	significant	significant	ADJ
fumecheng-6852	74	4	achievement	achievement	NOUN
fumecheng-6852	74	5	in	in	ADP
fumecheng-6852	74	6	this	this	DET
fumecheng-6852	74	7	field	field	NOUN
fumecheng-6852	74	8	has	have	AUX
fumecheng-6852	74	9	been	be	AUX
fumecheng-6852	74	10	made	make	VERB
fumecheng-6852	74	11	by	by	ADP
fumecheng-6852	74	12	authors	author	NOUN
fumecheng-6852	74	13	of	of	ADP
fumecheng-6852	74	14	the	the	DET
fumecheng-6852	74	15	paper	paper	NOUN
fumecheng-6852	74	16	[	[	X
fumecheng-6852	74	17	44	44	NUM
fumecheng-6852	74	18	]	]	PUNCT
fumecheng-6852	74	19	.	.	PUNCT
fumecheng-6852	75	1	they	they	PRON
fumecheng-6852	75	2	prepared	prepare	VERB
fumecheng-6852	75	3	and	and	CCONJ
fumecheng-6852	75	4	performed	perform	VERB
fumecheng-6852	75	5	multiple	multiple	ADJ
fumecheng-6852	75	6	fem	fem	NOUN
fumecheng-6852	75	7	analyses	analysis	NOUN
fumecheng-6852	75	8	for	for	ADP
fumecheng-6852	75	9	different	different	ADJ
fumecheng-6852	75	10	arrangements	arrangement	NOUN
fumecheng-6852	75	11	of	of	ADP
fumecheng-6852	75	12	magnets	magnet	NOUN
fumecheng-6852	75	13	in	in	ADP
fumecheng-6852	75	14	ams	am	NOUN
fumecheng-6852	75	15	–	–	PUNCT
fumecheng-6852	75	16	in	in	ADP
fumecheng-6852	75	17	particular	particular	ADJ
fumecheng-6852	75	18	,	,	PUNCT
fumecheng-6852	75	19	they	they	PRON
fumecheng-6852	75	20	examined	examine	VERB
fumecheng-6852	75	21	an	an	DET
fumecheng-6852	75	22	impact	impact	NOUN
fumecheng-6852	75	23	of	of	ADP
fumecheng-6852	75	24	poles	pole	NOUN
fumecheng-6852	75	25	number	number	NOUN
fumecheng-6852	75	26	and	and	CCONJ
fumecheng-6852	75	27	magnets	magnet	NOUN
fumecheng-6852	75	28	dimensions	dimension	NOUN
fumecheng-6852	75	29	on	on	ADP
fumecheng-6852	75	30	maximum	maximum	ADJ
fumecheng-6852	75	31	torque	torque	NOUN
fumecheng-6852	75	32	,	,	PUNCT
fumecheng-6852	75	33	energy	energy	NOUN
fumecheng-6852	75	34	and	and	CCONJ
fumecheng-6852	75	35	stiffness	stiffness	NOUN
fumecheng-6852	75	36	of	of	ADP
fumecheng-6852	75	37	magnetic	magnetic	ADJ
fumecheng-6852	75	38	spring	spring	NOUN
fumecheng-6852	75	39	.	.	PUNCT
fumecheng-6852	76	1	to	to	PART
fumecheng-6852	76	2	verify	verify	VERB
fumecheng-6852	76	3	the	the	DET
fumecheng-6852	76	4	simulation	simulation	NOUN
fumecheng-6852	76	5	model	model	NOUN
fumecheng-6852	76	6	,	,	PUNCT
fumecheng-6852	76	7	the	the	DET
fumecheng-6852	76	8	authors	author	NOUN
fumecheng-6852	76	9	built	build	VERB
fumecheng-6852	76	10	simple	simple	ADJ
fumecheng-6852	76	11	two	two	NUM
fumecheng-6852	76	12	poles	pole	NOUN
fumecheng-6852	76	13	spring	spring	NOUN
fumecheng-6852	76	14	and	and	CCONJ
fumecheng-6852	76	15	measured	measure	VERB
fumecheng-6852	76	16	its	its	PRON
fumecheng-6852	76	17	characteristics	characteristic	NOUN
fumecheng-6852	76	18	.	.	PUNCT
fumecheng-6852	77	1	3	3	X
fumecheng-6852	77	2	.	.	X
fumecheng-6852	77	3	magnetic	magnetic	ADJ
fumecheng-6852	77	4	spring	spring	NOUN
fumecheng-6852	77	5	characteristics	characteristic	NOUN
fumecheng-6852	77	6	despite	despite	SCONJ
fumecheng-6852	77	7	of	of	ADP
fumecheng-6852	77	8	all	all	PRON
fumecheng-6852	77	9	of	of	ADP
fumecheng-6852	77	10	the	the	DET
fumecheng-6852	77	11	advantages	advantage	NOUN
fumecheng-6852	77	12	of	of	ADP
fumecheng-6852	77	13	the	the	DET
fumecheng-6852	77	14	arc	arc	NOUN
fumecheng-6852	77	15	magnetic	magnetic	ADJ
fumecheng-6852	77	16	springs	spring	NOUN
fumecheng-6852	77	17	they	they	PRON
fumecheng-6852	77	18	have	have	VERB
fumecheng-6852	77	19	at	at	ADV
fumecheng-6852	77	20	least	least	ADV
fumecheng-6852	77	21	one	one	NUM
fumecheng-6852	77	22	major	major	ADJ
fumecheng-6852	77	23	drawback	drawback	NOUN
fumecheng-6852	77	24	–	–	PUNCT
fumecheng-6852	77	25	they	they	PRON
fumecheng-6852	77	26	exhibit	exhibit	VERB
fumecheng-6852	77	27	unstable	unstable	ADJ
fumecheng-6852	77	28	behavior	behavior	NOUN
fumecheng-6852	77	29	for	for	ADP
fumecheng-6852	77	30	specific	specific	ADJ
fumecheng-6852	77	31	angles	angle	NOUN
fumecheng-6852	77	32	φr	φr	ADP
fumecheng-6852	77	33	.	.	PUNCT
fumecheng-6852	77	34	to	to	PART
fumecheng-6852	77	35	examine	examine	VERB
fumecheng-6852	77	36	that	that	DET
fumecheng-6852	77	37	phenomenon	phenomenon	NOUN
fumecheng-6852	77	38	in	in	ADP
fumecheng-6852	77	39	detail	detail	NOUN
fumecheng-6852	77	40	,	,	PUNCT
fumecheng-6852	77	41	we	we	PRON
fumecheng-6852	77	42	shall	shall	AUX
fumecheng-6852	77	43	introduce	introduce	VERB
fumecheng-6852	77	44	some	some	DET
fumecheng-6852	77	45	additional	additional	ADJ
fumecheng-6852	77	46	terms	term	NOUN
fumecheng-6852	77	47	.	.	PUNCT
fumecheng-6852	78	1	fig	fig	NOUN
fumecheng-6852	78	2	.	.	PUNCT
fumecheng-6852	79	1	2	2	NUM
fumecheng-6852	79	2	presents	present	NOUN
fumecheng-6852	79	3	sample	sample	NOUN
fumecheng-6852	79	4	torque	torque	NOUN
fumecheng-6852	79	5	-	-	PUNCT
fumecheng-6852	79	6	angle	angle	NOUN
fumecheng-6852	79	7	characteristics	characteristic	NOUN
fumecheng-6852	79	8	of	of	ADP
fumecheng-6852	79	9	magnetic	magnetic	ADJ
fumecheng-6852	79	10	spring	spring	NOUN
fumecheng-6852	79	11	.	.	PUNCT
fumecheng-6852	80	1	when	when	SCONJ
fumecheng-6852	80	2	external	external	ADJ
fumecheng-6852	80	3	load	load	NOUN
fumecheng-6852	80	4	τld	τld	PUNCT
fumecheng-6852	80	5	(	(	PUNCT
fumecheng-6852	80	6	whose	whose	DET
fumecheng-6852	80	7	value	value	NOUN
fumecheng-6852	80	8	is	be	AUX
fumecheng-6852	80	9	lower	low	ADJ
fumecheng-6852	80	10	than	than	ADP
fumecheng-6852	80	11	maximal	maximal	ADJ
fumecheng-6852	80	12	torque	torque	NOUN
fumecheng-6852	80	13	)	)	PUNCT
fumecheng-6852	80	14	is	be	AUX
fumecheng-6852	80	15	applied	apply	VERB
fumecheng-6852	80	16	to	to	ADP
fumecheng-6852	80	17	one	one	NUM
fumecheng-6852	80	18	of	of	ADP
fumecheng-6852	80	19	the	the	DET
fumecheng-6852	80	20	rings	ring	NOUN
fumecheng-6852	80	21	,	,	PUNCT
fumecheng-6852	80	22	multiple	multiple	ADJ
fumecheng-6852	80	23	equilibrium	equilibrium	NOUN
fumecheng-6852	80	24	points	point	NOUN
fumecheng-6852	80	25	occur	occur	VERB
fumecheng-6852	80	26	.	.	PUNCT
fumecheng-6852	81	1	if	if	SCONJ
fumecheng-6852	81	2	term	term	NOUN
fumecheng-6852	81	3	dτsp	dτsp	PROPN
fumecheng-6852	81	4	/	/	SYM
fumecheng-6852	81	5	dφr	dφr	NOUN
fumecheng-6852	81	6	has	have	VERB
fumecheng-6852	81	7	a	a	DET
fumecheng-6852	81	8	negative	negative	ADJ
fumecheng-6852	81	9	sign	sign	NOUN
fumecheng-6852	81	10	,	,	PUNCT
fumecheng-6852	81	11	the	the	DET
fumecheng-6852	81	12	whole	whole	ADJ
fumecheng-6852	81	13	system	system	NOUN
fumecheng-6852	81	14	acts	act	VERB
fumecheng-6852	81	15	like	like	ADP
fumecheng-6852	81	16	a	a	DET
fumecheng-6852	81	17	conventional	conventional	ADJ
fumecheng-6852	81	18	torsional	torsional	ADJ
fumecheng-6852	81	19	spring	spring	NOUN
fumecheng-6852	81	20	and	and	CCONJ
fumecheng-6852	81	21	equilibrium	equilibrium	NOUN
fumecheng-6852	81	22	is	be	AUX
fumecheng-6852	81	23	stable	stable	ADJ
fumecheng-6852	81	24	.	.	PUNCT
fumecheng-6852	82	1	otherwise	otherwise	ADV
fumecheng-6852	82	2	,	,	PUNCT
fumecheng-6852	82	3	even	even	ADV
fumecheng-6852	82	4	a	a	DET
fumecheng-6852	82	5	small	small	ADJ
fumecheng-6852	82	6	change	change	NOUN
fumecheng-6852	82	7	of	of	ADP
fumecheng-6852	82	8	resultant	resultant	NOUN
fumecheng-6852	82	9	torque	torque	NOUN
fumecheng-6852	82	10	causes	cause	VERB
fumecheng-6852	82	11	the	the	DET
fumecheng-6852	82	12	system	system	NOUN
fumecheng-6852	82	13	to	to	PART
fumecheng-6852	82	14	move	move	VERB
fumecheng-6852	82	15	away	away	ADV
fumecheng-6852	82	16	from	from	ADP
fumecheng-6852	82	17	equilibrium	equilibrium	NOUN
fumecheng-6852	82	18	,	,	PUNCT
fumecheng-6852	82	19	which	which	PRON
fumecheng-6852	82	20	in	in	ADP
fumecheng-6852	82	21	this	this	DET
fumecheng-6852	82	22	case	case	NOUN
fumecheng-6852	82	23	is	be	AUX
fumecheng-6852	82	24	unstable	unstable	ADJ
fumecheng-6852	82	25	,	,	PUNCT
fumecheng-6852	82	26	and	and	CCONJ
fumecheng-6852	82	27	to	to	PART
fumecheng-6852	82	28	accelerate	accelerate	VERB
fumecheng-6852	82	29	toward	toward	ADP
fumecheng-6852	82	30	the	the	DET
fumecheng-6852	82	31	next	next	ADJ
fumecheng-6852	82	32	stable	stable	ADJ
fumecheng-6852	82	33	one	one	NOUN
fumecheng-6852	82	34	.	.	PUNCT
fumecheng-6852	83	1	the	the	DET
fumecheng-6852	83	2	direction	direction	NOUN
fumecheng-6852	83	3	of	of	ADP
fumecheng-6852	83	4	this	this	DET
fumecheng-6852	83	5	movement	movement	NOUN
fumecheng-6852	83	6	depends	depend	VERB
fumecheng-6852	83	7	heavily	heavily	ADV
fumecheng-6852	83	8	on	on	ADP
fumecheng-6852	83	9	initial	initial	ADJ
fumecheng-6852	83	10	disturbance	disturbance	NOUN
fumecheng-6852	83	11	,	,	PUNCT
fumecheng-6852	83	12	which	which	PRON
fumecheng-6852	83	13	makes	make	VERB
fumecheng-6852	83	14	it	it	PRON
fumecheng-6852	83	15	nearly	nearly	ADV
fumecheng-6852	83	16	impossible	impossible	ADJ
fumecheng-6852	83	17	to	to	PART
fumecheng-6852	83	18	predict	predict	VERB
fumecheng-6852	83	19	and	and	CCONJ
fumecheng-6852	83	20	–	–	PUNCT
fumecheng-6852	83	21	as	as	ADP
fumecheng-6852	83	22	a	a	DET
fumecheng-6852	83	23	consequence	consequence	NOUN
fumecheng-6852	83	24	–	–	PUNCT
fumecheng-6852	83	25	problematic	problematic	ADJ
fumecheng-6852	83	26	to	to	PART
fumecheng-6852	83	27	control	control	VERB
fumecheng-6852	83	28	.	.	PUNCT
fumecheng-6852	84	1	for	for	ADP
fumecheng-6852	84	2	this	this	DET
fumecheng-6852	84	3	reason	reason	NOUN
fumecheng-6852	84	4	,	,	PUNCT
fumecheng-6852	84	5	it	it	PRON
fumecheng-6852	84	6	is	be	AUX
fumecheng-6852	84	7	better	well	ADJ
fumecheng-6852	84	8	to	to	PART
fumecheng-6852	84	9	avoid	avoid	VERB
fumecheng-6852	84	10	unstable	unstable	ADJ
fumecheng-6852	84	11	regions	region	NOUN
fumecheng-6852	84	12	of	of	ADP
fumecheng-6852	84	13	spring	spring	NOUN
fumecheng-6852	84	14	characteristic	characteristic	NOUN
fumecheng-6852	84	15	in	in	ADP
fumecheng-6852	84	16	typical	typical	ADJ
fumecheng-6852	84	17	applications	application	NOUN
fumecheng-6852	84	18	.	.	PUNCT
fumecheng-6852	85	1	the	the	DET
fumecheng-6852	85	2	critical	critical	ADJ
fumecheng-6852	85	3	angle	angle	NOUN
fumecheng-6852	85	4	,	,	PUNCT
fumecheng-6852	85	5	separating	separate	VERB
fumecheng-6852	85	6	stable	stable	ADJ
fumecheng-6852	85	7	and	and	CCONJ
fumecheng-6852	85	8	unstable	unstable	ADJ
fumecheng-6852	85	9	regions	region	NOUN
fumecheng-6852	85	10	,	,	PUNCT
fumecheng-6852	85	11	corresponds	correspond	VERB
fumecheng-6852	85	12	to	to	ADP
fumecheng-6852	85	13	maximal	maximal	ADJ
fumecheng-6852	85	14	torque	torque	NOUN
fumecheng-6852	85	15	.	.	PUNCT
fumecheng-6852	86	1	to	to	PART
fumecheng-6852	86	2	make	make	VERB
fumecheng-6852	86	3	sure	sure	ADJ
fumecheng-6852	86	4	that	that	SCONJ
fumecheng-6852	86	5	it	it	PRON
fumecheng-6852	86	6	is	be	AUX
fumecheng-6852	86	7	not	not	PART
fumecheng-6852	86	8	exceeded	exceed	VERB
fumecheng-6852	86	9	,	,	PUNCT
fumecheng-6852	86	10	it	it	PRON
fumecheng-6852	86	11	may	may	AUX
fumecheng-6852	86	12	be	be	AUX
fumecheng-6852	86	13	necessary	necessary	ADJ
fumecheng-6852	86	14	to	to	PART
fumecheng-6852	86	15	assume	assume	VERB
fumecheng-6852	86	16	some	some	DET
fumecheng-6852	86	17	safety	safety	NOUN
fumecheng-6852	86	18	margin	margin	NOUN
fumecheng-6852	86	19	and	and	CCONJ
fumecheng-6852	86	20	to	to	PART
fumecheng-6852	86	21	operate	operate	VERB
fumecheng-6852	86	22	only	only	ADV
fumecheng-6852	86	23	within	within	ADP
fumecheng-6852	86	24	the	the	DET
fumecheng-6852	86	25	safe	safe	ADJ
fumecheng-6852	86	26	range	range	NOUN
fumecheng-6852	86	27	of	of	ADP
fumecheng-6852	86	28	angles	angle	NOUN
fumecheng-6852	86	29	which	which	PRON
fumecheng-6852	86	30	is	be	AUX
fumecheng-6852	86	31	narrower	narrow	ADJ
fumecheng-6852	86	32	than	than	ADP
fumecheng-6852	86	33	the	the	DET
fumecheng-6852	86	34	stable	stable	ADJ
fumecheng-6852	86	35	one	one	NOUN
fumecheng-6852	86	36	.	.	PUNCT
fumecheng-6852	87	1	it	it	PRON
fumecheng-6852	87	2	may	may	AUX
fumecheng-6852	87	3	be	be	AUX
fumecheng-6852	87	4	beneficial	beneficial	ADJ
fumecheng-6852	87	5	to	to	PART
fumecheng-6852	87	6	utilize	utilize	VERB
fumecheng-6852	87	7	even	even	ADV
fumecheng-6852	87	8	a	a	DET
fumecheng-6852	87	9	tinier	tiny	ADJ
fumecheng-6852	87	10	span	span	NOUN
fumecheng-6852	87	11	of	of	ADP
fumecheng-6852	87	12	angles	angle	NOUN
fumecheng-6852	87	13	.	.	PUNCT
fumecheng-6852	88	1	control	control	NOUN
fumecheng-6852	88	2	laws	law	NOUN
fumecheng-6852	88	3	could	could	AUX
fumecheng-6852	88	4	be	be	AUX
fumecheng-6852	88	5	much	much	ADV
fumecheng-6852	88	6	simpler	simple	ADJ
fumecheng-6852	88	7	if	if	SCONJ
fumecheng-6852	88	8	the	the	DET
fumecheng-6852	88	9	relationship	relationship	NOUN
fumecheng-6852	88	10	between	between	ADP
fumecheng-6852	88	11	torque	torque	NOUN
fumecheng-6852	88	12	and	and	CCONJ
fumecheng-6852	88	13	deflection	deflection	NOUN
fumecheng-6852	88	14	were	be	AUX
fumecheng-6852	88	15	linear	linear	ADJ
fumecheng-6852	88	16	(	(	PUNCT
fumecheng-6852	88	17	stiffness	stiffness	ADV
fumecheng-6852	88	18	irrelevant	irrelevant	ADJ
fumecheng-6852	88	19	to	to	PART
fumecheng-6852	88	20	angle	angle	VERB
fumecheng-6852	88	21	)	)	PUNCT
fumecheng-6852	88	22	.	.	PUNCT
fumecheng-6852	89	1	in	in	ADP
fumecheng-6852	89	2	fact	fact	NOUN
fumecheng-6852	89	3	,	,	PUNCT
fumecheng-6852	89	4	in	in	ADP
fumecheng-6852	89	5	multiple	multiple	ADJ
fumecheng-6852	89	6	papers	paper	NOUN
fumecheng-6852	89	7	concerning	concern	VERB
fumecheng-6852	89	8	modeling	modeling	NOUN
fumecheng-6852	89	9	and	and	CCONJ
fumecheng-6852	89	10	control	control	NOUN
fumecheng-6852	89	11	of	of	ADP
fumecheng-6852	89	12	robots	robot	NOUN
fumecheng-6852	89	13	with	with	ADP
fumecheng-6852	89	14	compliant	compliant	ADJ
fumecheng-6852	89	15	joints	joint	NOUN
fumecheng-6852	89	16	,	,	PUNCT
fumecheng-6852	89	17	the	the	DET
fumecheng-6852	89	18	linearity	linearity	NOUN
fumecheng-6852	89	19	of	of	ADP
fumecheng-6852	89	20	compliance	compliance	NOUN
fumecheng-6852	89	21	is	be	AUX
fumecheng-6852	89	22	one	one	NUM
fumecheng-6852	89	23	of	of	ADP
fumecheng-6852	89	24	the	the	DET
fumecheng-6852	89	25	main	main	ADJ
fumecheng-6852	89	26	assumptions	assumption	NOUN
fumecheng-6852	89	27	[	[	X
fumecheng-6852	89	28	45	45	NUM
fumecheng-6852	89	29	–	–	PUNCT
fumecheng-6852	89	30	47	47	NUM
fumecheng-6852	89	31	]	]	PUNCT
fumecheng-6852	89	32	.	.	PUNCT
fumecheng-6852	90	1	the	the	DET
fumecheng-6852	90	2	range	range	NOUN
fumecheng-6852	90	3	of	of	ADP
fumecheng-6852	90	4	angles	angle	NOUN
fumecheng-6852	90	5	which	which	PRON
fumecheng-6852	90	6	provides	provide	VERB
fumecheng-6852	90	7	that	that	SCONJ
fumecheng-6852	90	8	real	real	ADJ
fumecheng-6852	90	9	characteristic	characteristic	ADJ
fumecheng-6852	90	10	differs	differ	VERB
fumecheng-6852	90	11	from	from	ADP
fumecheng-6852	90	12	the	the	DET
fumecheng-6852	90	13	linearised	linearise	VERB
fumecheng-6852	90	14	one	one	NOUN
fumecheng-6852	90	15	no	no	ADV
fumecheng-6852	90	16	more	more	ADJ
fumecheng-6852	90	17	than	than	ADP
fumecheng-6852	90	18	5	5	NUM
fumecheng-6852	90	19	%	%	NOUN
fumecheng-6852	90	20	we	we	PRON
fumecheng-6852	90	21	will	will	AUX
fumecheng-6852	90	22	call	call	VERB
fumecheng-6852	90	23	a	a	DET
fumecheng-6852	90	24	linearity	linearity	NOUN
fumecheng-6852	90	25	range	range	NOUN
fumecheng-6852	90	26	.	.	PUNCT
fumecheng-6852	91	1	spring	spring	NOUN
fumecheng-6852	91	2	based	base	VERB
fumecheng-6852	91	3	on	on	ADP
fumecheng-6852	91	4	flat	flat	ADJ
fumecheng-6852	91	5	permanent	permanent	ADJ
fumecheng-6852	91	6	magnets	magnet	NOUN
fumecheng-6852	91	7	:	:	PUNCT
fumecheng-6852	91	8	design	design	NOUN
fumecheng-6852	91	9	,	,	PUNCT
fumecheng-6852	91	10	analysis	analysis	NOUN
fumecheng-6852	91	11	and	and	CCONJ
fumecheng-6852	91	12	use	use	NOUN
fumecheng-6852	91	13	in	in	ADP
fumecheng-6852	91	14	variable	variable	ADJ
fumecheng-6852	91	15	stiffness	stiffness	NOUN
fumecheng-6852	91	16	actuator	actuator	NOUN
fumecheng-6852	91	17	105	105	NUM
fumecheng-6852	91	18	fig	fig	NOUN
fumecheng-6852	91	19	.	.	PUNCT
fumecheng-6852	92	1	2	2	NUM
fumecheng-6852	92	2	terms	term	NOUN
fumecheng-6852	92	3	describing	describe	VERB
fumecheng-6852	92	4	torque	torque	NOUN
fumecheng-6852	92	5	-	-	PUNCT
fumecheng-6852	92	6	angle	angle	NOUN
fumecheng-6852	92	7	characteristics	characteristic	NOUN
fumecheng-6852	92	8	of	of	ADP
fumecheng-6852	92	9	magnetic	magnetic	ADJ
fumecheng-6852	92	10	spring	spring	NOUN
fumecheng-6852	92	11	the	the	DET
fumecheng-6852	92	12	part	part	NOUN
fumecheng-6852	92	13	of	of	ADP
fumecheng-6852	92	14	the	the	DET
fumecheng-6852	92	15	stable	stable	ADJ
fumecheng-6852	92	16	range	range	NOUN
fumecheng-6852	92	17	of	of	ADP
fumecheng-6852	92	18	angles	angle	NOUN
fumecheng-6852	92	19	that	that	PRON
fumecheng-6852	92	20	can	can	AUX
fumecheng-6852	92	21	be	be	AUX
fumecheng-6852	92	22	utilized	utilize	VERB
fumecheng-6852	92	23	as	as	ADP
fumecheng-6852	92	24	a	a	DET
fumecheng-6852	92	25	safe	safe	ADJ
fumecheng-6852	92	26	or	or	CCONJ
fumecheng-6852	92	27	linear	linear	ADJ
fumecheng-6852	92	28	range	range	NOUN
fumecheng-6852	92	29	depends	depend	VERB
fumecheng-6852	92	30	on	on	ADP
fumecheng-6852	92	31	the	the	DET
fumecheng-6852	92	32	shape	shape	NOUN
fumecheng-6852	92	33	of	of	ADP
fumecheng-6852	92	34	torque	torque	NOUN
fumecheng-6852	92	35	-	-	PUNCT
fumecheng-6852	92	36	angle	angle	NOUN
fumecheng-6852	92	37	characteristics	characteristic	NOUN
fumecheng-6852	92	38	(	(	PUNCT
fumecheng-6852	92	39	fig	fig	NOUN
fumecheng-6852	92	40	.	.	PUNCT
fumecheng-6852	93	1	3	3	NUM
fumecheng-6852	93	2	)	)	PUNCT
fumecheng-6852	93	3	.	.	PUNCT
fumecheng-6852	94	1	a	a	DET
fumecheng-6852	94	2	typical	typical	ADJ
fumecheng-6852	94	3	plot	plot	NOUN
fumecheng-6852	94	4	for	for	ADP
fumecheng-6852	94	5	a	a	DET
fumecheng-6852	94	6	manypole	manypole	NOUN
fumecheng-6852	94	7	magnetic	magnetic	ADJ
fumecheng-6852	94	8	spring	spring	NOUN
fumecheng-6852	94	9	is	be	AUX
fumecheng-6852	94	10	close	close	ADJ
fumecheng-6852	94	11	to	to	PART
fumecheng-6852	94	12	sinusoid	sinusoid	VERB
fumecheng-6852	94	13	(	(	PUNCT
fumecheng-6852	94	14	curve	curve	NOUN
fumecheng-6852	94	15	2	2	NUM
fumecheng-6852	94	16	)	)	PUNCT
fumecheng-6852	94	17	.	.	PUNCT
fumecheng-6852	95	1	the	the	PRON
fumecheng-6852	95	2	fewer	few	ADJ
fumecheng-6852	95	3	the	the	DET
fumecheng-6852	95	4	poles	pole	NOUN
fumecheng-6852	95	5	,	,	PUNCT
fumecheng-6852	95	6	the	the	DET
fumecheng-6852	95	7	more	more	ADV
fumecheng-6852	95	8	trapezoidal	trapezoidal	ADJ
fumecheng-6852	95	9	(	(	PUNCT
fumecheng-6852	95	10	curve	curve	NOUN
fumecheng-6852	95	11	1	1	NUM
fumecheng-6852	95	12	)	)	PUNCT
fumecheng-6852	95	13	or	or	CCONJ
fumecheng-6852	95	14	even	even	ADV
fumecheng-6852	95	15	rectangular	rectangular	VERB
fumecheng-6852	95	16	alike	alike	ADV
fumecheng-6852	95	17	the	the	DET
fumecheng-6852	95	18	shape	shape	NOUN
fumecheng-6852	95	19	becomes	become	VERB
fumecheng-6852	95	20	[	[	X
fumecheng-6852	95	21	44	44	NUM
fumecheng-6852	95	22	]	]	PUNCT
fumecheng-6852	95	23	making	make	VERB
fumecheng-6852	95	24	safe	safe	ADJ
fumecheng-6852	95	25	and	and	CCONJ
fumecheng-6852	95	26	linear	linear	ADJ
fumecheng-6852	95	27	ranges	range	VERB
fumecheng-6852	95	28	exceptionally	exceptionally	ADV
fumecheng-6852	95	29	narrow	narrow	ADJ
fumecheng-6852	95	30	.	.	PUNCT
fumecheng-6852	96	1	in	in	ADP
fumecheng-6852	96	2	this	this	DET
fumecheng-6852	96	3	context	context	NOUN
fumecheng-6852	96	4	,	,	PUNCT
fumecheng-6852	96	5	a	a	DET
fumecheng-6852	96	6	triangular	triangular	NOUN
fumecheng-6852	96	7	(	(	PUNCT
fumecheng-6852	96	8	curve	curve	NOUN
fumecheng-6852	96	9	3	3	NUM
fumecheng-6852	96	10	)	)	PUNCT
fumecheng-6852	96	11	or	or	CCONJ
fumecheng-6852	96	12	saw	saw	AUX
fumecheng-6852	96	13	(	(	PUNCT
fumecheng-6852	96	14	curve	curve	VERB
fumecheng-6852	96	15	4	4	NUM
fumecheng-6852	96	16	)	)	PUNCT
fumecheng-6852	96	17	alike	alike	ADV
fumecheng-6852	96	18	form	form	NOUN
fumecheng-6852	96	19	of	of	ADP
fumecheng-6852	96	20	a	a	DET
fumecheng-6852	96	21	curve	curve	NOUN
fumecheng-6852	96	22	would	would	AUX
fumecheng-6852	96	23	be	be	AUX
fumecheng-6852	96	24	more	more	ADV
fumecheng-6852	96	25	beneficial	beneficial	ADJ
fumecheng-6852	96	26	,	,	PUNCT
fumecheng-6852	96	27	however	however	ADV
fumecheng-6852	96	28	–	–	PUNCT
fumecheng-6852	96	29	to	to	ADP
fumecheng-6852	96	30	the	the	DET
fumecheng-6852	96	31	best	good	ADJ
fumecheng-6852	96	32	of	of	ADP
fumecheng-6852	96	33	our	our	PRON
fumecheng-6852	96	34	knowledge	knowledge	NOUN
fumecheng-6852	96	35	–	–	PUNCT
fumecheng-6852	96	36	it	it	PRON
fumecheng-6852	96	37	has	have	AUX
fumecheng-6852	96	38	not	not	PART
fumecheng-6852	96	39	been	be	AUX
fumecheng-6852	96	40	obtained	obtain	VERB
fumecheng-6852	96	41	for	for	ADP
fumecheng-6852	96	42	arc	arc	NOUN
fumecheng-6852	96	43	magnets	magnet	NOUN
fumecheng-6852	96	44	springs	spring	NOUN
fumecheng-6852	96	45	so	so	ADV
fumecheng-6852	96	46	far	far	ADV
fumecheng-6852	96	47	.	.	PUNCT
fumecheng-6852	97	1	in	in	ADP
fumecheng-6852	97	2	this	this	DET
fumecheng-6852	97	3	paper	paper	NOUN
fumecheng-6852	97	4	,	,	PUNCT
fumecheng-6852	97	5	we	we	PRON
fumecheng-6852	97	6	propose	propose	VERB
fumecheng-6852	97	7	a	a	DET
fumecheng-6852	97	8	solution	solution	NOUN
fumecheng-6852	97	9	to	to	PART
fumecheng-6852	97	10	broaden	broaden	VERB
fumecheng-6852	97	11	both	both	CCONJ
fumecheng-6852	97	12	linear	linear	ADJ
fumecheng-6852	97	13	and	and	CCONJ
fumecheng-6852	97	14	safe	safe	ADJ
fumecheng-6852	97	15	ranges	range	NOUN
fumecheng-6852	97	16	of	of	ADP
fumecheng-6852	97	17	magnetic	magnetic	ADJ
fumecheng-6852	97	18	spring	spring	NOUN
fumecheng-6852	97	19	.	.	PUNCT
fumecheng-6852	98	1	fig	fig	NOUN
fumecheng-6852	98	2	.	.	PUNCT
fumecheng-6852	99	1	3	3	NUM
fumecheng-6852	99	2	impact	impact	NOUN
fumecheng-6852	99	3	of	of	ADP
fumecheng-6852	99	4	torque	torque	NOUN
fumecheng-6852	99	5	-	-	PUNCT
fumecheng-6852	99	6	angle	angle	NOUN
fumecheng-6852	99	7	characteristics	characteristic	NOUN
fumecheng-6852	99	8	shape	shape	NOUN
fumecheng-6852	99	9	on	on	ADP
fumecheng-6852	99	10	widths	width	NOUN
fumecheng-6852	99	11	of	of	ADP
fumecheng-6852	99	12	safe	safe	ADJ
fumecheng-6852	99	13	ranges	range	NOUN
fumecheng-6852	99	14	of	of	ADP
fumecheng-6852	99	15	angles	angle	NOUN
fumecheng-6852	99	16	106	106	NUM
fumecheng-6852	99	17	b.	b.	PROPN
fumecheng-6852	99	18	kozakiewicz	kozakiewicz	PROPN
fumecheng-6852	99	19	,	,	PUNCT
fumecheng-6852	99	20	t.	t.	PROPN
fumecheng-6852	99	21	winiarski	winiarski	PROPN
fumecheng-6852	99	22	4	4	NUM
fumecheng-6852	99	23	.	.	PUNCT
fumecheng-6852	99	24	conception	conception	NOUN
fumecheng-6852	99	25	of	of	ADP
fumecheng-6852	99	26	vsa	vsa	NOUN
fumecheng-6852	99	27	based	base	VERB
fumecheng-6852	99	28	on	on	ADP
fumecheng-6852	99	29	flat	flat	ADJ
fumecheng-6852	99	30	permanent	permanent	ADJ
fumecheng-6852	99	31	magnets	magnet	NOUN
fumecheng-6852	99	32	the	the	DET
fumecheng-6852	99	33	trapezoidal	trapezoidal	ADJ
fumecheng-6852	99	34	shape	shape	NOUN
fumecheng-6852	99	35	of	of	ADP
fumecheng-6852	99	36	few	few	ADJ
fumecheng-6852	99	37	-	-	PUNCT
fumecheng-6852	99	38	poles	pole	NOUN
fumecheng-6852	99	39	-	-	PUNCT
fumecheng-6852	99	40	ams	ams	NOUN
fumecheng-6852	99	41	torque	torque	NOUN
fumecheng-6852	99	42	-	-	PUNCT
fumecheng-6852	99	43	angle	angle	NOUN
fumecheng-6852	99	44	characteristics	characteristic	NOUN
fumecheng-6852	99	45	is	be	AUX
fumecheng-6852	99	46	related	relate	VERB
fumecheng-6852	99	47	to	to	ADP
fumecheng-6852	99	48	a	a	DET
fumecheng-6852	99	49	non	non	ADJ
fumecheng-6852	99	50	-	-	ADJ
fumecheng-6852	99	51	linear	linear	ADJ
fumecheng-6852	99	52	way	way	NOUN
fumecheng-6852	99	53	the	the	DET
fumecheng-6852	99	54	magnetic	magnetic	ADJ
fumecheng-6852	99	55	field	field	NOUN
fumecheng-6852	99	56	distribution	distribution	NOUN
fumecheng-6852	99	57	changes	change	NOUN
fumecheng-6852	99	58	as	as	SCONJ
fumecheng-6852	99	59	the	the	DET
fumecheng-6852	99	60	rings	ring	NOUN
fumecheng-6852	99	61	rotate	rotate	VERB
fumecheng-6852	99	62	relative	relative	ADJ
fumecheng-6852	99	63	to	to	ADP
fumecheng-6852	99	64	each	each	DET
fumecheng-6852	99	65	other	other	ADJ
fumecheng-6852	99	66	.	.	PUNCT
fumecheng-6852	100	1	the	the	DET
fumecheng-6852	100	2	idea	idea	NOUN
fumecheng-6852	100	3	that	that	SCONJ
fumecheng-6852	100	4	we	we	PRON
fumecheng-6852	100	5	propose	propose	VERB
fumecheng-6852	100	6	is	be	AUX
fumecheng-6852	100	7	to	to	PART
fumecheng-6852	100	8	alter	alter	VERB
fumecheng-6852	100	9	air	air	NOUN
fumecheng-6852	100	10	gap	gap	NOUN
fumecheng-6852	100	11	width	width	ADJ
fumecheng-6852	100	12	with	with	ADP
fumecheng-6852	100	13	respect	respect	NOUN
fumecheng-6852	100	14	to	to	ADP
fumecheng-6852	100	15	the	the	DET
fumecheng-6852	100	16	relative	relative	ADJ
fumecheng-6852	100	17	angle	angle	NOUN
fumecheng-6852	100	18	in	in	ADP
fumecheng-6852	100	19	a	a	DET
fumecheng-6852	100	20	way	way	NOUN
fumecheng-6852	100	21	that	that	PRON
fumecheng-6852	100	22	compensates	compensate	VERB
fumecheng-6852	100	23	these	these	DET
fumecheng-6852	100	24	non	non	NOUN
fumecheng-6852	100	25	-	-	NOUN
fumecheng-6852	100	26	linearities	linearity	NOUN
fumecheng-6852	100	27	and	and	CCONJ
fumecheng-6852	100	28	results	result	NOUN
fumecheng-6852	100	29	in	in	ADP
fumecheng-6852	100	30	a	a	DET
fumecheng-6852	100	31	more	more	ADV
fumecheng-6852	100	32	triangular	triangular	NOUN
fumecheng-6852	100	33	form	form	NOUN
fumecheng-6852	100	34	of	of	ADP
fumecheng-6852	100	35	characteristics	characteristic	NOUN
fumecheng-6852	100	36	.	.	PUNCT
fumecheng-6852	101	1	a	a	DET
fumecheng-6852	101	2	specific	specific	ADJ
fumecheng-6852	101	3	configuration	configuration	NOUN
fumecheng-6852	101	4	of	of	ADP
fumecheng-6852	101	5	magnets	magnet	NOUN
fumecheng-6852	101	6	that	that	PRON
fumecheng-6852	101	7	we	we	PRON
fumecheng-6852	101	8	suggest	suggest	VERB
fumecheng-6852	101	9	is	be	AUX
fumecheng-6852	101	10	presented	present	VERB
fumecheng-6852	101	11	in	in	ADP
fumecheng-6852	101	12	fig	fig	NOUN
fumecheng-6852	101	13	.	.	PUNCT
fumecheng-6852	102	1	4	4	X
fumecheng-6852	102	2	.	.	X
fumecheng-6852	102	3	fig	fig	NOUN
fumecheng-6852	102	4	.	.	PUNCT
fumecheng-6852	103	1	4	4	NUM
fumecheng-6852	103	2	proposed	propose	VERB
fumecheng-6852	103	3	variable	variable	ADJ
fumecheng-6852	103	4	stiffness	stiffness	NOUN
fumecheng-6852	103	5	torsional	torsional	ADJ
fumecheng-6852	103	6	spring	spring	NOUN
fumecheng-6852	103	7	based	base	VERB
fumecheng-6852	103	8	on	on	ADP
fumecheng-6852	103	9	flat	flat	ADJ
fumecheng-6852	103	10	magnets	magnet	NOUN
fumecheng-6852	103	11	–	–	PUNCT
fumecheng-6852	103	12	fms	fms	PROPN
fumecheng-6852	103	13	the	the	DET
fumecheng-6852	103	14	rings	ring	NOUN
fumecheng-6852	103	15	are	be	AUX
fumecheng-6852	103	16	composed	compose	VERB
fumecheng-6852	103	17	of	of	ADP
fumecheng-6852	103	18	flat	flat	ADJ
fumecheng-6852	103	19	magnets	magnet	NOUN
fumecheng-6852	103	20	aligned	align	VERB
fumecheng-6852	103	21	into	into	ADP
fumecheng-6852	103	22	polygons	polygon	NOUN
fumecheng-6852	103	23	and	and	CCONJ
fumecheng-6852	103	24	magnetized	magnetize	VERB
fumecheng-6852	103	25	in	in	ADP
fumecheng-6852	103	26	a	a	DET
fumecheng-6852	103	27	direction	direction	NOUN
fumecheng-6852	103	28	perpendicular	perpendicular	NOUN
fumecheng-6852	103	29	to	to	ADP
fumecheng-6852	103	30	their	their	PRON
fumecheng-6852	103	31	walls	wall	NOUN
fumecheng-6852	103	32	.	.	PUNCT
fumecheng-6852	104	1	we	we	PRON
fumecheng-6852	104	2	will	will	AUX
fumecheng-6852	104	3	call	call	VERB
fumecheng-6852	104	4	this	this	DET
fumecheng-6852	104	5	setup	setup	NOUN
fumecheng-6852	104	6	fms	fms	PROPN
fumecheng-6852	104	7	–	–	PUNCT
fumecheng-6852	104	8	flat	flat	ADJ
fumecheng-6852	104	9	magnets	magnet	NOUN
fumecheng-6852	104	10	spring	spring	VERB
fumecheng-6852	104	11	.	.	PUNCT
fumecheng-6852	105	1	as	as	SCONJ
fumecheng-6852	105	2	will	will	AUX
fumecheng-6852	105	3	be	be	AUX
fumecheng-6852	105	4	proven	prove	VERB
fumecheng-6852	105	5	in	in	ADP
fumecheng-6852	105	6	this	this	DET
fumecheng-6852	105	7	paper	paper	NOUN
fumecheng-6852	105	8	,	,	PUNCT
fumecheng-6852	105	9	it	it	PRON
fumecheng-6852	105	10	is	be	AUX
fumecheng-6852	105	11	possible	possible	ADJ
fumecheng-6852	105	12	to	to	PART
fumecheng-6852	105	13	obtain	obtain	VERB
fumecheng-6852	105	14	the	the	DET
fumecheng-6852	105	15	effect	effect	NOUN
fumecheng-6852	105	16	described	describe	VERB
fumecheng-6852	105	17	above	above	ADV
fumecheng-6852	105	18	by	by	ADP
fumecheng-6852	105	19	proper	proper	ADJ
fumecheng-6852	105	20	choice	choice	NOUN
fumecheng-6852	105	21	of	of	ADP
fumecheng-6852	105	22	polygon	polygon	NOUN
fumecheng-6852	105	23	and	and	CCONJ
fumecheng-6852	105	24	magnets	magnet	NOUN
fumecheng-6852	105	25	dimensions	dimension	NOUN
fumecheng-6852	105	26	.	.	PUNCT
fumecheng-6852	106	1	fig	fig	NOUN
fumecheng-6852	106	2	.	.	PUNCT
fumecheng-6852	107	1	5	5	NUM
fumecheng-6852	107	2	practical	practical	ADJ
fumecheng-6852	107	3	setup	setup	NOUN
fumecheng-6852	107	4	of	of	ADP
fumecheng-6852	107	5	magnetic	magnetic	ADJ
fumecheng-6852	107	6	rings	ring	NOUN
fumecheng-6852	107	7	while	while	SCONJ
fumecheng-6852	107	8	fig	fig	NOUN
fumecheng-6852	107	9	.	.	PUNCT
fumecheng-6852	108	1	4	4	NUM
fumecheng-6852	108	2	depicts	depict	VERB
fumecheng-6852	108	3	the	the	DET
fumecheng-6852	108	4	general	general	ADJ
fumecheng-6852	108	5	conception	conception	NOUN
fumecheng-6852	108	6	of	of	ADP
fumecheng-6852	108	7	magnets	magnet	NOUN
fumecheng-6852	108	8	arrangement	arrangement	NOUN
fumecheng-6852	108	9	,	,	PUNCT
fumecheng-6852	108	10	fig	fig	NOUN
fumecheng-6852	108	11	.	.	PUNCT
fumecheng-6852	109	1	5	5	NUM
fumecheng-6852	109	2	presents	present	VERB
fumecheng-6852	109	3	more	more	ADV
fumecheng-6852	109	4	practical	practical	ADJ
fumecheng-6852	109	5	setup	setup	NOUN
fumecheng-6852	109	6	visualizing	visualize	VERB
fumecheng-6852	109	7	one	one	NUM
fumecheng-6852	109	8	of	of	ADP
fumecheng-6852	109	9	the	the	DET
fumecheng-6852	109	10	possible	possible	ADJ
fumecheng-6852	109	11	ways	way	NOUN
fumecheng-6852	109	12	of	of	ADP
fumecheng-6852	109	13	supporting	support	VERB
fumecheng-6852	109	14	cooperating	cooperate	VERB
fumecheng-6852	109	15	components	component	NOUN
fumecheng-6852	109	16	on	on	ADP
fumecheng-6852	109	17	shafts	shafts	ADJ
fumecheng-6852	109	18	and	and	CCONJ
fumecheng-6852	109	19	of	of	ADP
fumecheng-6852	109	20	enclosing	enclose	VERB
fumecheng-6852	109	21	the	the	DET
fumecheng-6852	109	22	whole	whole	ADJ
fumecheng-6852	109	23	assembly	assembly	NOUN
fumecheng-6852	109	24	to	to	PART
fumecheng-6852	109	25	separate	separate	VERB
fumecheng-6852	109	26	it	it	PRON
fumecheng-6852	109	27	physically	physically	ADV
fumecheng-6852	109	28	and	and	CCONJ
fumecheng-6852	109	29	magnetically	magnetically	ADV
fumecheng-6852	109	30	from	from	ADP
fumecheng-6852	109	31	its	its	PRON
fumecheng-6852	109	32	environment	environment	NOUN
fumecheng-6852	109	33	.	.	PUNCT
fumecheng-6852	110	1	magnets	magnet	NOUN
fumecheng-6852	110	2	in	in	ADP
fumecheng-6852	110	3	the	the	DET
fumecheng-6852	110	4	outer	outer	ADJ
fumecheng-6852	110	5	ring	ring	NOUN
fumecheng-6852	110	6	are	be	AUX
fumecheng-6852	110	7	attached	attach	VERB
fumecheng-6852	110	8	to	to	ADP
fumecheng-6852	110	9	a	a	DET
fumecheng-6852	110	10	ferromagnetic	ferromagnetic	ADJ
fumecheng-6852	110	11	tube	tube	NOUN
fumecheng-6852	110	12	with	with	ADP
fumecheng-6852	110	13	ferromagnetic	ferromagnetic	ADJ
fumecheng-6852	110	14	cups	cup	NOUN
fumecheng-6852	110	15	on	on	ADP
fumecheng-6852	110	16	both	both	DET
fumecheng-6852	110	17	ends	end	NOUN
fumecheng-6852	110	18	,	,	PUNCT
fumecheng-6852	110	19	while	while	SCONJ
fumecheng-6852	110	20	magnets	magnet	NOUN
fumecheng-6852	110	21	in	in	ADP
fumecheng-6852	110	22	the	the	DET
fumecheng-6852	110	23	inner	inner	ADJ
fumecheng-6852	110	24	ring	ring	NOUN
fumecheng-6852	110	25	are	be	AUX
fumecheng-6852	110	26	attached	attach	VERB
fumecheng-6852	110	27	to	to	ADP
fumecheng-6852	110	28	a	a	DET
fumecheng-6852	110	29	ferromagnetic	ferromagnetic	ADJ
fumecheng-6852	110	30	drilled	drill	VERB
fumecheng-6852	110	31	core	core	NOUN
fumecheng-6852	110	32	.	.	PUNCT
fumecheng-6852	111	1	both	both	DET
fumecheng-6852	111	2	components	component	NOUN
fumecheng-6852	111	3	are	be	AUX
fumecheng-6852	111	4	mounted	mount	VERB
fumecheng-6852	111	5	to	to	ADP
fumecheng-6852	111	6	nonferromagnetic	nonferromagnetic	ADJ
fumecheng-6852	111	7	shafts	shaft	NOUN
fumecheng-6852	111	8	.	.	PUNCT
fumecheng-6852	112	1	such	such	DET
fumecheng-6852	112	2	a	a	DET
fumecheng-6852	112	3	choice	choice	NOUN
fumecheng-6852	112	4	of	of	ADP
fumecheng-6852	112	5	materials	material	NOUN
fumecheng-6852	112	6	results	result	NOUN
fumecheng-6852	112	7	in	in	ADP
fumecheng-6852	112	8	high	high	ADJ
fumecheng-6852	112	9	magnetic	magnetic	ADJ
fumecheng-6852	112	10	flux	flux	NOUN
fumecheng-6852	112	11	density	density	NOUN
fumecheng-6852	112	12	in	in	ADP
fumecheng-6852	112	13	the	the	DET
fumecheng-6852	112	14	spring	spring	NOUN
fumecheng-6852	112	15	based	base	VERB
fumecheng-6852	112	16	on	on	ADP
fumecheng-6852	112	17	flat	flat	ADJ
fumecheng-6852	112	18	permanent	permanent	ADJ
fumecheng-6852	112	19	magnets	magnet	NOUN
fumecheng-6852	112	20	:	:	PUNCT
fumecheng-6852	112	21	design	design	NOUN
fumecheng-6852	112	22	,	,	PUNCT
fumecheng-6852	112	23	analysis	analysis	NOUN
fumecheng-6852	112	24	and	and	CCONJ
fumecheng-6852	112	25	use	use	NOUN
fumecheng-6852	112	26	in	in	ADP
fumecheng-6852	112	27	variable	variable	ADJ
fumecheng-6852	112	28	stiffness	stiffness	NOUN
fumecheng-6852	112	29	actuator	actuator	NOUN
fumecheng-6852	112	30	107	107	NUM
fumecheng-6852	112	31	inside	inside	ADP
fumecheng-6852	112	32	of	of	ADP
fumecheng-6852	112	33	the	the	DET
fumecheng-6852	112	34	spring	spring	NOUN
fumecheng-6852	112	35	and	and	CCONJ
fumecheng-6852	112	36	a	a	DET
fumecheng-6852	112	37	negligibly	negligibly	ADV
fumecheng-6852	112	38	small	small	ADJ
fumecheng-6852	112	39	stream	stream	NOUN
fumecheng-6852	112	40	leakage	leakage	NOUN
fumecheng-6852	112	41	to	to	ADP
fumecheng-6852	112	42	the	the	DET
fumecheng-6852	112	43	outside	outside	NOUN
fumecheng-6852	112	44	as	as	SCONJ
fumecheng-6852	112	45	it	it	PRON
fumecheng-6852	112	46	was	be	AUX
fumecheng-6852	112	47	proved	prove	VERB
fumecheng-6852	112	48	in	in	ADP
fumecheng-6852	112	49	simulation	simulation	NOUN
fumecheng-6852	112	50	described	describe	VERB
fumecheng-6852	112	51	in	in	ADP
fumecheng-6852	112	52	section	section	NOUN
fumecheng-6852	112	53	5	5	NUM
fumecheng-6852	112	54	.	.	PUNCT
fumecheng-6852	112	55	fig	fig	NOUN
fumecheng-6852	112	56	.	.	PUNCT
fumecheng-6852	113	1	6	6	NUM
fumecheng-6852	113	2	presents	present	VERB
fumecheng-6852	113	3	a	a	DET
fumecheng-6852	113	4	proposed	propose	VERB
fumecheng-6852	113	5	conceptual	conceptual	ADJ
fumecheng-6852	113	6	design	design	NOUN
fumecheng-6852	113	7	of	of	ADP
fumecheng-6852	113	8	variable	variable	ADJ
fumecheng-6852	113	9	stiffness	stiffness	NOUN
fumecheng-6852	113	10	actuator	actuator	NOUN
fumecheng-6852	113	11	based	base	VERB
fumecheng-6852	113	12	on	on	ADP
fumecheng-6852	113	13	magnetic	magnetic	ADJ
fumecheng-6852	113	14	spring	spring	NOUN
fumecheng-6852	113	15	.	.	PUNCT
fumecheng-6852	114	1	we	we	PRON
fumecheng-6852	114	2	will	will	AUX
fumecheng-6852	114	3	refer	refer	VERB
fumecheng-6852	114	4	to	to	ADP
fumecheng-6852	114	5	this	this	DET
fumecheng-6852	114	6	setup	setup	NOUN
fumecheng-6852	114	7	as	as	ADP
fumecheng-6852	114	8	attractor	attractor	NOUN
fumecheng-6852	114	9	–	–	PUNCT
fumecheng-6852	114	10	variable	variable	ADJ
fumecheng-6852	114	11	stiffness	stiffness	NOUN
fumecheng-6852	114	12	magnetic	magnetic	ADJ
fumecheng-6852	114	13	spring	spring	NOUN
fumecheng-6852	114	14	actuator	actuator	NOUN
fumecheng-6852	114	15	.	.	PUNCT
fumecheng-6852	115	1	fig	fig	NOUN
fumecheng-6852	115	2	.	.	PUNCT
fumecheng-6852	116	1	6	6	NUM
fumecheng-6852	116	2	vsa	vsa	NOUN
fumecheng-6852	116	3	concept	concept	NOUN
fumecheng-6852	116	4	–	–	PUNCT
fumecheng-6852	116	5	attractor	attractor	NOUN
fumecheng-6852	116	6	:	:	PUNCT
fumecheng-6852	116	7	1	1	X
fumecheng-6852	116	8	.	.	PUNCT
fumecheng-6852	116	9	fixed	fix	VERB
fumecheng-6852	116	10	frame	frame	NOUN
fumecheng-6852	116	11	,	,	PUNCT
fumecheng-6852	116	12	2	2	X
fumecheng-6852	116	13	.	.	PUNCT
fumecheng-6852	116	14	bearings	bearing	NOUN
fumecheng-6852	116	15	,	,	PUNCT
fumecheng-6852	116	16	3	3	X
fumecheng-6852	116	17	.	.	PUNCT
fumecheng-6852	116	18	output	output	NOUN
fumecheng-6852	116	19	shaft	shaft	NOUN
fumecheng-6852	116	20	,	,	PUNCT
fumecheng-6852	116	21	4	4	NUM
fumecheng-6852	116	22	.	.	X
fumecheng-6852	116	23	flange	flange	NOUN
fumecheng-6852	116	24	,	,	PUNCT
fumecheng-6852	116	25	5	5	NUM
fumecheng-6852	116	26	.	.	PUNCT
fumecheng-6852	116	27	inner	inner	ADJ
fumecheng-6852	116	28	magnetic	magnetic	ADJ
fumecheng-6852	116	29	ring	ring	NOUN
fumecheng-6852	116	30	,	,	PUNCT
fumecheng-6852	116	31	6	6	NUM
fumecheng-6852	116	32	.	.	PUNCT
fumecheng-6852	116	33	guiding	guide	VERB
fumecheng-6852	116	34	shafts	shaft	NOUN
fumecheng-6852	116	35	,	,	PUNCT
fumecheng-6852	116	36	7	7	NUM
fumecheng-6852	116	37	.	.	PUNCT
fumecheng-6852	116	38	linear	linear	ADJ
fumecheng-6852	116	39	bushings	bushing	NOUN
fumecheng-6852	116	40	,	,	PUNCT
fumecheng-6852	116	41	8	8	NUM
fumecheng-6852	116	42	.	.	PUNCT
fumecheng-6852	116	43	rigid	rigid	ADJ
fumecheng-6852	116	44	carriage	carriage	NOUN
fumecheng-6852	116	45	,	,	PUNCT
fumecheng-6852	116	46	9	9	NUM
fumecheng-6852	116	47	.	.	PUNCT
fumecheng-6852	116	48	bearings	bearing	NOUN
fumecheng-6852	116	49	,	,	PUNCT
fumecheng-6852	116	50	10	10	NUM
fumecheng-6852	116	51	.	.	PUNCT
fumecheng-6852	117	1	input	input	NOUN
fumecheng-6852	117	2	shaft	shaft	NOUN
fumecheng-6852	117	3	,	,	PUNCT
fumecheng-6852	117	4	11	11	NUM
fumecheng-6852	117	5	.	.	PUNCT
fumecheng-6852	118	1	outer	outer	ADJ
fumecheng-6852	118	2	magnetic	magnetic	ADJ
fumecheng-6852	118	3	ring	ring	NOUN
fumecheng-6852	118	4	,	,	PUNCT
fumecheng-6852	118	5	12	12	NUM
fumecheng-6852	118	6	.	.	PUNCT
fumecheng-6852	119	1	lead	lead	PROPN
fumecheng-6852	119	2	screw	screw	VERB
fumecheng-6852	119	3	,	,	PUNCT
fumecheng-6852	119	4	13	13	NUM
fumecheng-6852	119	5	.	.	PUNCT
fumecheng-6852	120	1	bearings	bearing	NOUN
fumecheng-6852	120	2	,	,	PUNCT
fumecheng-6852	120	3	14	14	NUM
fumecheng-6852	120	4	.	.	PUNCT
fumecheng-6852	121	1	nut	nut	NOUN
fumecheng-6852	121	2	,	,	PUNCT
fumecheng-6852	121	3	15,16	15,16	NUM
fumecheng-6852	121	4	.	.	PUNCT
fumecheng-6852	122	1	clutches	clutch	NOUN
fumecheng-6852	122	2	,	,	PUNCT
fumecheng-6852	122	3	17,18	17,18	NUM
fumecheng-6852	122	4	.	.	PUNCT
fumecheng-6852	123	1	dc	dc	PROPN
fumecheng-6852	123	2	servomotors	servomotors	PROPN
fumecheng-6852	123	3	,	,	PUNCT
fumecheng-6852	123	4	19,20	19,20	NOUN
fumecheng-6852	123	5	.	.	PUNCT
fumecheng-6852	124	1	absolute	absolute	ADJ
fumecheng-6852	124	2	optic	optic	ADJ
fumecheng-6852	124	3	encoders	encoder	NOUN
fumecheng-6852	124	4	5	5	NUM
fumecheng-6852	124	5	.	.	PUNCT
fumecheng-6852	124	6	simulation	simulation	NOUN
fumecheng-6852	124	7	there	there	PRON
fumecheng-6852	124	8	were	be	VERB
fumecheng-6852	124	9	three	three	NUM
fumecheng-6852	124	10	main	main	ADJ
fumecheng-6852	124	11	goals	goal	NOUN
fumecheng-6852	124	12	of	of	ADP
fumecheng-6852	124	13	fem	fem	NOUN
fumecheng-6852	124	14	analyses	analysis	NOUN
fumecheng-6852	124	15	performed	perform	VERB
fumecheng-6852	124	16	on	on	ADP
fumecheng-6852	124	17	magnetic	magnetic	ADJ
fumecheng-6852	124	18	spring	spring	NOUN
fumecheng-6852	124	19	models	model	NOUN
fumecheng-6852	124	20	:	:	PUNCT
fumecheng-6852	124	21	verifying	verify	VERB
fumecheng-6852	124	22	a	a	DET
fumecheng-6852	124	23	choice	choice	NOUN
fumecheng-6852	124	24	of	of	ADP
fumecheng-6852	124	25	materials	material	NOUN
fumecheng-6852	124	26	presented	present	VERB
fumecheng-6852	124	27	in	in	ADP
fumecheng-6852	124	28	section	section	NOUN
fumecheng-6852	124	29	4	4	NUM
fumecheng-6852	124	30	,	,	PUNCT
fumecheng-6852	124	31	investigating	investigate	VERB
fumecheng-6852	124	32	an	an	DET
fumecheng-6852	124	33	impact	impact	NOUN
fumecheng-6852	124	34	of	of	ADP
fumecheng-6852	124	35	magnets	magnet	NOUN
fumecheng-6852	124	36	number	number	NOUN
fumecheng-6852	124	37	,	,	PUNCT
fumecheng-6852	124	38	shape	shape	NOUN
fumecheng-6852	124	39	and	and	CCONJ
fumecheng-6852	124	40	arrangement	arrangement	NOUN
fumecheng-6852	124	41	on	on	ADP
fumecheng-6852	124	42	spring	spring	NOUN
fumecheng-6852	124	43	torque	torque	NOUN
fumecheng-6852	124	44	-	-	PUNCT
fumecheng-6852	124	45	angle	angle	NOUN
fumecheng-6852	124	46	characteristics	characteristic	NOUN
fumecheng-6852	124	47	and	and	CCONJ
fumecheng-6852	124	48	optimizing	optimize	VERB
fumecheng-6852	124	49	dimensions	dimension	NOUN
fumecheng-6852	124	50	of	of	ADP
fumecheng-6852	124	51	spring	spring	NOUN
fumecheng-6852	124	52	used	use	VERB
fumecheng-6852	124	53	in	in	ADP
fumecheng-6852	124	54	experiments	experiment	NOUN
fumecheng-6852	124	55	.	.	PUNCT
fumecheng-6852	125	1	multiple	multiple	ADJ
fumecheng-6852	125	2	models	model	NOUN
fumecheng-6852	125	3	of	of	ADP
fumecheng-6852	125	4	ams	am	NOUN
fumecheng-6852	125	5	and	and	CCONJ
fumecheng-6852	125	6	fms	fms	PROPN
fumecheng-6852	125	7	were	be	AUX
fumecheng-6852	125	8	prepared	prepared	ADJ
fumecheng-6852	125	9	to	to	PART
fumecheng-6852	125	10	perform	perform	VERB
fumecheng-6852	125	11	fem	fem	NOUN
fumecheng-6852	125	12	analyses	analysis	NOUN
fumecheng-6852	125	13	.	.	PUNCT
fumecheng-6852	126	1	investigated	investigate	VERB
fumecheng-6852	126	2	cases	case	NOUN
fumecheng-6852	126	3	differed	differ	VERB
fumecheng-6852	126	4	from	from	ADP
fumecheng-6852	126	5	each	each	DET
fumecheng-6852	126	6	other	other	ADJ
fumecheng-6852	126	7	with	with	ADP
fumecheng-6852	126	8	number	number	NOUN
fumecheng-6852	126	9	of	of	ADP
fumecheng-6852	126	10	poles	pole	NOUN
fumecheng-6852	126	11	.	.	PUNCT
fumecheng-6852	127	1	all	all	DET
fumecheng-6852	127	2	the	the	DET
fumecheng-6852	127	3	ams	ams	NOUN
fumecheng-6852	127	4	models	model	NOUN
fumecheng-6852	127	5	had	have	VERB
fumecheng-6852	127	6	the	the	DET
fumecheng-6852	127	7	same	same	ADJ
fumecheng-6852	127	8	overall	overall	ADJ
fumecheng-6852	127	9	dimensions	dimension	NOUN
fumecheng-6852	127	10	.	.	PUNCT
fumecheng-6852	128	1	in	in	ADP
fumecheng-6852	128	2	the	the	DET
fumecheng-6852	128	3	case	case	NOUN
fumecheng-6852	128	4	of	of	ADP
fumecheng-6852	128	5	fms	fms	PROPN
fumecheng-6852	128	6	,	,	PUNCT
fumecheng-6852	128	7	it	it	PRON
fumecheng-6852	128	8	was	be	AUX
fumecheng-6852	128	9	impossible	impossible	ADJ
fumecheng-6852	128	10	to	to	PART
fumecheng-6852	128	11	obtain	obtain	VERB
fumecheng-6852	128	12	that	that	PRON
fumecheng-6852	128	13	,	,	PUNCT
fumecheng-6852	128	14	so	so	ADV
fumecheng-6852	128	15	only	only	ADV
fumecheng-6852	128	16	the	the	DET
fumecheng-6852	128	17	inner	inner	ADJ
fumecheng-6852	128	18	dimensions	dimension	NOUN
fumecheng-6852	128	19	(	(	PUNCT
fumecheng-6852	128	20	in	in	ADP
fumecheng-6852	128	21	fig	fig	NOUN
fumecheng-6852	128	22	.	.	PUNCT
fumecheng-6852	129	1	7	7	NUM
fumecheng-6852	129	2	marked	mark	VERB
fumecheng-6852	129	3	as	as	ADP
fumecheng-6852	129	4	g	g	NOUN
fumecheng-6852	129	5	,	,	PUNCT
fumecheng-6852	129	6	l	l	NOUN
fumecheng-6852	129	7	,	,	PUNCT
fumecheng-6852	129	8	w	w	NOUN
fumecheng-6852	129	9	and	and	CCONJ
fumecheng-6852	129	10	z	z	NOUN
fumecheng-6852	129	11	)	)	PUNCT
fumecheng-6852	129	12	were	be	AUX
fumecheng-6852	129	13	kept	keep	VERB
fumecheng-6852	129	14	the	the	DET
fumecheng-6852	129	15	same	same	ADJ
fumecheng-6852	129	16	.	.	PUNCT
fumecheng-6852	130	1	the	the	DET
fumecheng-6852	130	2	geometry	geometry	NOUN
fumecheng-6852	130	3	and	and	CCONJ
fumecheng-6852	130	4	dimensions	dimension	NOUN
fumecheng-6852	130	5	of	of	ADP
fumecheng-6852	130	6	analyzed	analyze	VERB
fumecheng-6852	130	7	models	model	NOUN
fumecheng-6852	130	8	are	be	AUX
fumecheng-6852	130	9	presented	present	VERB
fumecheng-6852	130	10	in	in	ADP
fumecheng-6852	130	11	fig	fig	NOUN
fumecheng-6852	130	12	.	.	PUNCT
fumecheng-6852	131	1	7	7	NUM
fumecheng-6852	131	2	and	and	CCONJ
fumecheng-6852	131	3	specific	specific	ADJ
fumecheng-6852	131	4	values	value	NOUN
fumecheng-6852	131	5	are	be	AUX
fumecheng-6852	131	6	summarized	summarize	VERB
fumecheng-6852	131	7	in	in	ADP
fumecheng-6852	131	8	table	table	NOUN
fumecheng-6852	131	9	1	1	NUM
fumecheng-6852	131	10	.	.	PUNCT
fumecheng-6852	131	11	material	material	NOUN
fumecheng-6852	131	12	properties	property	NOUN
fumecheng-6852	131	13	were	be	AUX
fumecheng-6852	131	14	assigned	assign	VERB
fumecheng-6852	131	15	to	to	ADP
fumecheng-6852	131	16	components	component	NOUN
fumecheng-6852	131	17	according	accord	VERB
fumecheng-6852	131	18	to	to	ADP
fumecheng-6852	131	19	the	the	DET
fumecheng-6852	131	20	description	description	NOUN
fumecheng-6852	131	21	in	in	ADP
fumecheng-6852	131	22	section	section	NOUN
fumecheng-6852	131	23	4	4	NUM
fumecheng-6852	131	24	and	and	CCONJ
fumecheng-6852	131	25	the	the	DET
fumecheng-6852	131	26	values	value	NOUN
fumecheng-6852	131	27	presented	present	VERB
fumecheng-6852	131	28	in	in	ADP
fumecheng-6852	131	29	table	table	NOUN
fumecheng-6852	131	30	2	2	NUM
fumecheng-6852	131	31	.	.	PUNCT
fumecheng-6852	132	1	in	in	ADP
fumecheng-6852	132	2	each	each	DET
fumecheng-6852	132	3	case	case	NOUN
fumecheng-6852	132	4	,	,	PUNCT
fumecheng-6852	132	5	the	the	DET
fumecheng-6852	132	6	spring	spring	NOUN
fumecheng-6852	132	7	was	be	AUX
fumecheng-6852	132	8	surrounded	surround	VERB
fumecheng-6852	132	9	by	by	ADP
fumecheng-6852	132	10	an	an	DET
fumecheng-6852	132	11	air	air	NOUN
fumecheng-6852	132	12	cylinder	cylinder	NOUN
fumecheng-6852	132	13	with	with	ADP
fumecheng-6852	132	14	neumann	neumann	PROPN
fumecheng-6852	132	15	boundary	boundary	ADJ
fumecheng-6852	132	16	conditions	condition	NOUN
fumecheng-6852	132	17	on	on	ADP
fumecheng-6852	132	18	its	its	PRON
fumecheng-6852	132	19	surface	surface	NOUN
fumecheng-6852	132	20	.	.	PUNCT
fumecheng-6852	133	1	108	108	NUM
fumecheng-6852	133	2	b.	b.	PROPN
fumecheng-6852	133	3	kozakiewicz	kozakiewicz	PROPN
fumecheng-6852	133	4	,	,	PUNCT
fumecheng-6852	133	5	t.	t.	PROPN
fumecheng-6852	133	6	winiarski	winiarski	PROPN
fumecheng-6852	133	7	table	table	NOUN
fumecheng-6852	133	8	1	1	NUM
fumecheng-6852	133	9	specific	specific	ADJ
fumecheng-6852	133	10	values	value	NOUN
fumecheng-6852	133	11	of	of	ADP
fumecheng-6852	133	12	dimensions	dimension	NOUN
fumecheng-6852	133	13	of	of	ADP
fumecheng-6852	133	14	investigated	investigate	VERB
fumecheng-6852	133	15	spring	spring	NOUN
fumecheng-6852	133	16	models	model	NOUN
fumecheng-6852	134	1	[	[	X
fumecheng-6852	134	2	mm	mm	X
fumecheng-6852	134	3	]	]	X
fumecheng-6852	134	4	(	(	PUNCT
fumecheng-6852	134	5	parameters	parameter	NOUN
fumecheng-6852	134	6	which	which	PRON
fumecheng-6852	134	7	varied	vary	VERB
fumecheng-6852	134	8	across	across	ADP
fumecheng-6852	134	9	simulations	simulation	NOUN
fumecheng-6852	134	10	are	be	AUX
fumecheng-6852	134	11	bold	bold	ADJ
fumecheng-6852	134	12	)	)	PUNCT
fumecheng-6852	134	13	spring	spring	NOUN
fumecheng-6852	134	14	type	type	NOUN
fumecheng-6852	134	15	pole	pole	NOUN
fumecheng-6852	134	16	pairs	pair	NOUN
fumecheng-6852	134	17	g	g	NOUN
fumecheng-6852	134	18	l	l	NOUN
fumecheng-6852	134	19	u	u	NOUN
fumecheng-6852	134	20	w	w	PROPN
fumecheng-6852	134	21	z	z	PROPN
fumecheng-6852	134	22	g	g	PROPN
fumecheng-6852	134	23	h1	h1	PROPN
fumecheng-6852	134	24	h2	h2	PROPN
fumecheng-6852	134	25	l	l	PROPN
fumecheng-6852	134	26	p1	p1	NOUN
fumecheng-6852	134	27	p2	p2	VERB
fumecheng-6852	134	28	u	u	PROPN
fumecheng-6852	134	29	w	w	PROPN
fumecheng-6852	134	30	z	z	PROPN
fumecheng-6852	134	31	s	s	PROPN
fumecheng-6852	134	32	t	t	NOUN
fumecheng-6852	134	33	2	2	NUM
fumecheng-6852	134	34	4	4	NUM
fumecheng-6852	134	35	40	40	NUM
fumecheng-6852	134	36	88	88	NUM
fumecheng-6852	134	37	°	°	ADP
fumecheng-6852	134	38	32	32	NUM
fumecheng-6852	134	39	44	44	NUM
fumecheng-6852	134	40	4	4	NUM
fumecheng-6852	134	41	8	8	NUM
fumecheng-6852	134	42	3	3	NUM
fumecheng-6852	134	43	84	84	NUM
fumecheng-6852	134	44	20	20	NUM
fumecheng-6852	134	45	20	20	NUM
fumecheng-6852	134	46	88	88	NUM
fumecheng-6852	134	47	°	°	NUM
fumecheng-6852	134	48	63	63	NUM
fumecheng-6852	134	49	75	75	NUM
fumecheng-6852	134	50	4.0	4.0	NUM
fumecheng-6852	134	51	2	2	NUM
fumecheng-6852	134	52	ams	am	NOUN
fumecheng-6852	134	53	3	3	NUM
fumecheng-6852	134	54	4	4	NUM
fumecheng-6852	134	55	40	40	NUM
fumecheng-6852	134	56	58	58	NUM
fumecheng-6852	134	57	°	°	NUM
fumecheng-6852	134	58	32	32	NUM
fumecheng-6852	134	59	44	44	NUM
fumecheng-6852	134	60	4	4	NUM
fumecheng-6852	134	61	8	8	NUM
fumecheng-6852	134	62	3	3	NUM
fumecheng-6852	134	63	84	84	NUM
fumecheng-6852	134	64	20	20	NUM
fumecheng-6852	134	65	20	20	NUM
fumecheng-6852	134	66	58	58	NUM
fumecheng-6852	134	67	°	°	NUM
fumecheng-6852	134	68	63	63	NUM
fumecheng-6852	134	69	75	75	NUM
fumecheng-6852	134	70	4.0	4.0	NUM
fumecheng-6852	134	71	2	2	NUM
fumecheng-6852	134	72	4	4	NUM
fumecheng-6852	134	73	4	4	NUM
fumecheng-6852	134	74	40	40	NUM
fumecheng-6852	134	75	43	43	NUM
fumecheng-6852	134	76	°	°	NUM
fumecheng-6852	134	77	32	32	NUM
fumecheng-6852	134	78	44	44	NUM
fumecheng-6852	134	79	4	4	NUM
fumecheng-6852	134	80	8	8	NUM
fumecheng-6852	134	81	3	3	NUM
fumecheng-6852	134	82	84	84	NUM
fumecheng-6852	134	83	20	20	NUM
fumecheng-6852	134	84	20	20	NUM
fumecheng-6852	134	85	43	43	NUM
fumecheng-6852	134	86	°	°	NOUN
fumecheng-6852	134	87	63	63	NUM
fumecheng-6852	134	88	75	75	NUM
fumecheng-6852	134	89	4.0	4.0	NUM
fumecheng-6852	134	90	2	2	NUM
fumecheng-6852	134	91	2	2	NUM
fumecheng-6852	134	92	4	4	NUM
fumecheng-6852	134	93	40	40	NUM
fumecheng-6852	134	94	30	30	NUM
fumecheng-6852	134	95	32	32	NUM
fumecheng-6852	134	96	44	44	NUM
fumecheng-6852	134	97	4	4	NUM
fumecheng-6852	134	98	8	8	NUM
fumecheng-6852	134	99	3	3	NUM
fumecheng-6852	134	100	84	84	NUM
fumecheng-6852	134	101	20	20	NUM
fumecheng-6852	134	102	20	20	NUM
fumecheng-6852	134	103	40	40	NUM
fumecheng-6852	134	104	71	71	NUM
fumecheng-6852	134	105	84	84	NUM
fumecheng-6852	134	106	5.5	5.5	NUM
fumecheng-6852	134	107	2	2	NUM
fumecheng-6852	134	108	fms	fms	NOUN
fumecheng-6852	134	109	3	3	NUM
fumecheng-6852	134	110	4	4	NUM
fumecheng-6852	134	111	40	40	NUM
fumecheng-6852	134	112	20	20	NUM
fumecheng-6852	134	113	32	32	NUM
fumecheng-6852	134	114	44	44	NUM
fumecheng-6852	134	115	4	4	NUM
fumecheng-6852	134	116	8	8	NUM
fumecheng-6852	134	117	3	3	NUM
fumecheng-6852	134	118	84	84	NUM
fumecheng-6852	134	119	20	20	NUM
fumecheng-6852	134	120	20	20	NUM
fumecheng-6852	134	121	30	30	NUM
fumecheng-6852	134	122	67	67	NUM
fumecheng-6852	134	123	74	74	NUM
fumecheng-6852	134	124	3.4	3.4	NUM
fumecheng-6852	134	125	2	2	NUM
fumecheng-6852	134	126	4	4	NUM
fumecheng-6852	134	127	4	4	NUM
fumecheng-6852	134	128	40	40	NUM
fumecheng-6852	134	129	16	16	NUM
fumecheng-6852	134	130	32	32	NUM
fumecheng-6852	134	131	44	44	NUM
fumecheng-6852	134	132	4	4	NUM
fumecheng-6852	134	133	8	8	NUM
fumecheng-6852	134	134	3	3	NUM
fumecheng-6852	134	135	84	84	NUM
fumecheng-6852	134	136	20	20	NUM
fumecheng-6852	134	137	20	20	NUM
fumecheng-6852	134	138	20	20	NUM
fumecheng-6852	134	139	65	65	NUM
fumecheng-6852	134	140	70	70	NUM
fumecheng-6852	134	141	2.7	2.7	NUM
fumecheng-6852	134	142	2	2	NUM
fumecheng-6852	134	143	table	table	NOUN
fumecheng-6852	134	144	2	2	NUM
fumecheng-6852	134	145	material	material	NOUN
fumecheng-6852	134	146	properties	property	NOUN
fumecheng-6852	134	147	material	material	VERB
fumecheng-6852	134	148	air	air	NOUN
fumecheng-6852	134	149	aluminum	aluminum	NOUN
fumecheng-6852	134	150	struct	struct	NOUN
fumecheng-6852	134	151	.	.	PUNCT
fumecheng-6852	135	1	steel	steel	NOUN
fumecheng-6852	135	2	ndfe35	ndfe35	NOUN
fumecheng-6852	135	3	isotropic	isotropic	ADJ
fumecheng-6852	135	4	relative	relative	ADJ
fumecheng-6852	135	5	permeability	permeability	NOUN
fumecheng-6852	135	6	µr	µr	ADP
fumecheng-6852	135	7	[	[	X
fumecheng-6852	135	8	-	-	PUNCT
fumecheng-6852	135	9	]	]	X
fumecheng-6852	135	10	1.00	1.00	NUM
fumecheng-6852	135	11	1.00	1.00	NUM
fumecheng-6852	135	12	10000	10000	NUM
fumecheng-6852	135	13	1.10	1.10	NUM
fumecheng-6852	135	14	magnetic	magnetic	ADJ
fumecheng-6852	135	15	coercivity	coercivity	NOUN
fumecheng-6852	135	16	hm	hm	INTJ
fumecheng-6852	136	1	[	[	X
fumecheng-6852	136	2	kam-1	kam-1	X
fumecheng-6852	136	3	]	]	X
fumecheng-6852	136	4	0	0	NUM
fumecheng-6852	136	5	0	0	SYM
fumecheng-6852	136	6	0	0	NUM
fumecheng-6852	136	7	890	890	NUM
fumecheng-6852	136	8	fig	fig	NOUN
fumecheng-6852	136	9	.	.	PUNCT
fumecheng-6852	137	1	7	7	NUM
fumecheng-6852	137	2	shapes	shape	NOUN
fumecheng-6852	137	3	and	and	CCONJ
fumecheng-6852	137	4	dimensions	dimension	NOUN
fumecheng-6852	137	5	of	of	ADP
fumecheng-6852	137	6	investigated	investigate	VERB
fumecheng-6852	137	7	spring	spring	NOUN
fumecheng-6852	137	8	models	model	NOUN
fumecheng-6852	137	9	(	(	PUNCT
fumecheng-6852	137	10	up	up	ADP
fumecheng-6852	137	11	to	to	PART
fumecheng-6852	137	12	scale	scale	VERB
fumecheng-6852	137	13	)	)	PUNCT
fumecheng-6852	137	14	an	an	DET
fumecheng-6852	137	15	initial	initial	ADJ
fumecheng-6852	137	16	analysis	analysis	NOUN
fumecheng-6852	137	17	was	be	AUX
fumecheng-6852	137	18	performed	perform	VERB
fumecheng-6852	137	19	to	to	PART
fumecheng-6852	137	20	investigate	investigate	VERB
fumecheng-6852	137	21	the	the	DET
fumecheng-6852	137	22	impact	impact	NOUN
fumecheng-6852	137	23	of	of	ADP
fumecheng-6852	137	24	rings	ring	NOUN
fumecheng-6852	137	25	material	material	NOUN
fumecheng-6852	137	26	on	on	ADP
fumecheng-6852	137	27	magnetic	magnetic	ADJ
fumecheng-6852	137	28	flux	flux	PROPN
fumecheng-6852	137	29	density	density	PROPN
fumecheng-6852	137	30	.	.	PUNCT
fumecheng-6852	138	1	the	the	DET
fumecheng-6852	138	2	results	result	NOUN
fumecheng-6852	138	3	are	be	AUX
fumecheng-6852	138	4	presented	present	VERB
fumecheng-6852	138	5	in	in	ADP
fumecheng-6852	138	6	fig	fig	NOUN
fumecheng-6852	138	7	.	.	PUNCT
fumecheng-6852	139	1	8	8	NUM
fumecheng-6852	139	2	,	,	PUNCT
fumecheng-6852	139	3	and	and	CCONJ
fumecheng-6852	139	4	they	they	PRON
fumecheng-6852	139	5	confirm	confirm	VERB
fumecheng-6852	139	6	the	the	DET
fumecheng-6852	139	7	theses	theses	PROPN
fumecheng-6852	139	8	stated	state	VERB
fumecheng-6852	139	9	in	in	ADP
fumecheng-6852	139	10	section	section	NOUN
fumecheng-6852	139	11	4	4	NUM
fumecheng-6852	139	12	.	.	PUNCT
fumecheng-6852	140	1	hence	hence	ADV
fumecheng-6852	140	2	,	,	PUNCT
fumecheng-6852	140	3	the	the	DET
fumecheng-6852	140	4	material	material	NOUN
fumecheng-6852	140	5	of	of	ADP
fumecheng-6852	140	6	supporting	support	VERB
fumecheng-6852	140	7	rings	ring	NOUN
fumecheng-6852	140	8	was	be	AUX
fumecheng-6852	140	9	set	set	VERB
fumecheng-6852	140	10	as	as	ADP
fumecheng-6852	140	11	structural	structural	ADJ
fumecheng-6852	140	12	steel	steel	NOUN
fumecheng-6852	140	13	.	.	PUNCT
fumecheng-6852	141	1	in	in	ADP
fumecheng-6852	141	2	the	the	DET
fumecheng-6852	141	3	following	follow	VERB
fumecheng-6852	141	4	analyses	analysis	NOUN
fumecheng-6852	141	5	,	,	PUNCT
fumecheng-6852	141	6	the	the	DET
fumecheng-6852	141	7	investigated	investigate	VERB
fumecheng-6852	141	8	quantities	quantity	NOUN
fumecheng-6852	141	9	were	be	AUX
fumecheng-6852	141	10	torque	torque	NOUN
fumecheng-6852	141	11	and	and	CCONJ
fumecheng-6852	141	12	axial	axial	ADJ
fumecheng-6852	141	13	force	force	NOUN
fumecheng-6852	141	14	between	between	ADP
fumecheng-6852	141	15	the	the	DET
fumecheng-6852	141	16	rings	ring	NOUN
fumecheng-6852	141	17	calculated	calculate	VERB
fumecheng-6852	141	18	using	use	VERB
fumecheng-6852	141	19	the	the	DET
fumecheng-6852	141	20	virtual	virtual	ADJ
fumecheng-6852	141	21	work	work	NOUN
fumecheng-6852	141	22	principle	principle	NOUN
fumecheng-6852	141	23	[	[	X
fumecheng-6852	141	24	48	48	NUM
fumecheng-6852	141	25	]	]	PUNCT
fumecheng-6852	141	26	for	for	ADP
fumecheng-6852	141	27	different	different	ADJ
fumecheng-6852	141	28	values	value	NOUN
fumecheng-6852	141	29	of	of	ADP
fumecheng-6852	141	30	relative	relative	ADJ
fumecheng-6852	141	31	angle	angle	NOUN
fumecheng-6852	141	32	and	and	CCONJ
fumecheng-6852	141	33	distance	distance	NOUN
fumecheng-6852	141	34	.	.	PUNCT
fumecheng-6852	142	1	fig	fig	NOUN
fumecheng-6852	142	2	.	.	PUNCT
fumecheng-6852	143	1	9a	9a	PROPN
fumecheng-6852	143	2	presents	present	NOUN
fumecheng-6852	143	3	resultant	resultant	VERB
fumecheng-6852	143	4	torque	torque	NOUN
fumecheng-6852	143	5	-	-	PUNCT
fumecheng-6852	143	6	angle	angle	NOUN
fumecheng-6852	143	7	characteristics	characteristic	NOUN
fumecheng-6852	143	8	obtained	obtain	VERB
fumecheng-6852	143	9	in	in	ADP
fumecheng-6852	143	10	a	a	DET
fumecheng-6852	143	11	configuration	configuration	NOUN
fumecheng-6852	143	12	of	of	ADP
fumecheng-6852	143	13	maximal	maximal	ADJ
fumecheng-6852	143	14	stiffness	stiffness	NOUN
fumecheng-6852	143	15	(	(	PUNCT
fumecheng-6852	143	16	d	d	NOUN
fumecheng-6852	143	17	=	=	NOUN
fumecheng-6852	143	18	0	0	NUM
fumecheng-6852	143	19	)	)	PUNCT
fumecheng-6852	143	20	.	.	PUNCT
fumecheng-6852	144	1	examined	examine	VERB
fumecheng-6852	144	2	fmss	fmss	PROPN
fumecheng-6852	144	3	have	have	VERB
fumecheng-6852	144	4	lower	low	ADJ
fumecheng-6852	144	5	maximal	maximal	ADJ
fumecheng-6852	144	6	torque	torque	NOUN
fumecheng-6852	144	7	and	and	CCONJ
fumecheng-6852	144	8	stiffness	stiffness	NOUN
fumecheng-6852	144	9	than	than	ADP
fumecheng-6852	144	10	amss	amss	NOUN
fumecheng-6852	144	11	of	of	ADP
fumecheng-6852	144	12	the	the	DET
fumecheng-6852	144	13	same	same	ADJ
fumecheng-6852	144	14	number	number	NOUN
fumecheng-6852	144	15	of	of	ADP
fumecheng-6852	144	16	poles	pole	NOUN
fumecheng-6852	144	17	and	and	CCONJ
fumecheng-6852	144	18	similar	similar	ADJ
fumecheng-6852	144	19	dimensions	dimension	NOUN
fumecheng-6852	144	20	.	.	PUNCT
fumecheng-6852	145	1	the	the	PRON
fumecheng-6852	145	2	fewer	few	ADJ
fumecheng-6852	145	3	the	the	DET
fumecheng-6852	145	4	poles	pole	NOUN
fumecheng-6852	145	5	,	,	PUNCT
fumecheng-6852	145	6	the	the	DET
fumecheng-6852	145	7	difference	difference	NOUN
fumecheng-6852	145	8	becomes	become	VERB
fumecheng-6852	145	9	more	more	ADV
fumecheng-6852	145	10	significant	significant	ADJ
fumecheng-6852	145	11	.	.	PUNCT
fumecheng-6852	146	1	fig	fig	NOUN
fumecheng-6852	146	2	.	.	PUNCT
fumecheng-6852	147	1	9b	9b	PROPN
fumecheng-6852	147	2	visualizes	visualize	VERB
fumecheng-6852	147	3	the	the	DET
fumecheng-6852	147	4	data	datum	NOUN
fumecheng-6852	147	5	normalized	normalize	VERB
fumecheng-6852	147	6	–	–	PUNCT
fumecheng-6852	147	7	torque	torque	NOUN
fumecheng-6852	147	8	is	be	AUX
fumecheng-6852	147	9	described	describe	VERB
fumecheng-6852	147	10	as	as	ADP
fumecheng-6852	147	11	a	a	DET
fumecheng-6852	147	12	fraction	fraction	NOUN
fumecheng-6852	147	13	of	of	ADP
fumecheng-6852	147	14	maximal	maximal	ADJ
fumecheng-6852	147	15	torque	torque	NOUN
fumecheng-6852	147	16	and	and	CCONJ
fumecheng-6852	147	17	angle	angle	NOUN
fumecheng-6852	147	18	as	as	ADP
fumecheng-6852	147	19	a	a	DET
fumecheng-6852	147	20	fraction	fraction	NOUN
fumecheng-6852	147	21	of	of	ADP
fumecheng-6852	147	22	stability	stability	NOUN
fumecheng-6852	147	23	limit	limit	NOUN
fumecheng-6852	147	24	angle	angle	NOUN
fumecheng-6852	147	25	.	.	PUNCT
fumecheng-6852	148	1	such	such	ADJ
fumecheng-6852	148	2	representation	representation	NOUN
fumecheng-6852	148	3	enables	enable	VERB
fumecheng-6852	148	4	a	a	DET
fumecheng-6852	148	5	comparison	comparison	NOUN
fumecheng-6852	148	6	of	of	ADP
fumecheng-6852	148	7	characteristics	characteristic	NOUN
fumecheng-6852	148	8	shapes	shape	NOUN
fumecheng-6852	148	9	.	.	PUNCT
fumecheng-6852	149	1	spring	spring	NOUN
fumecheng-6852	149	2	based	base	VERB
fumecheng-6852	149	3	on	on	ADP
fumecheng-6852	149	4	flat	flat	ADJ
fumecheng-6852	149	5	permanent	permanent	ADJ
fumecheng-6852	149	6	magnets	magnet	NOUN
fumecheng-6852	149	7	:	:	PUNCT
fumecheng-6852	149	8	design	design	NOUN
fumecheng-6852	149	9	,	,	PUNCT
fumecheng-6852	149	10	analysis	analysis	NOUN
fumecheng-6852	149	11	and	and	CCONJ
fumecheng-6852	149	12	use	use	NOUN
fumecheng-6852	149	13	in	in	ADP
fumecheng-6852	149	14	variable	variable	ADJ
fumecheng-6852	149	15	stiffness	stiffness	ADJ
fumecheng-6852	149	16	actuator	actuator	NOUN
fumecheng-6852	149	17	109	109	NUM
fumecheng-6852	149	18	as	as	SCONJ
fumecheng-6852	149	19	expected	expect	VERB
fumecheng-6852	149	20	,	,	PUNCT
fumecheng-6852	149	21	investigated	investigate	VERB
fumecheng-6852	149	22	fmss	fmss	PROPN
fumecheng-6852	149	23	provide	provide	NOUN
fumecheng-6852	149	24	characteristics	characteristic	NOUN
fumecheng-6852	149	25	of	of	ADP
fumecheng-6852	149	26	more	more	ADJ
fumecheng-6852	149	27	triangular	triangular	NOUN
fumecheng-6852	149	28	form	form	NOUN
fumecheng-6852	149	29	than	than	ADP
fumecheng-6852	149	30	amss	amss	PROPN
fumecheng-6852	149	31	.	.	PUNCT
fumecheng-6852	150	1	again	again	ADV
fumecheng-6852	150	2	,	,	PUNCT
fumecheng-6852	150	3	the	the	PRON
fumecheng-6852	150	4	fewer	few	ADJ
fumecheng-6852	150	5	the	the	DET
fumecheng-6852	150	6	poles	pole	NOUN
fumecheng-6852	150	7	,	,	PUNCT
fumecheng-6852	150	8	the	the	DET
fumecheng-6852	150	9	difference	difference	NOUN
fumecheng-6852	150	10	becomes	become	VERB
fumecheng-6852	150	11	more	more	ADV
fumecheng-6852	150	12	significant	significant	ADJ
fumecheng-6852	150	13	.	.	PUNCT
fumecheng-6852	151	1	fig	fig	NOUN
fumecheng-6852	151	2	.	.	PUNCT
fumecheng-6852	152	1	8	8	NUM
fumecheng-6852	152	2	impact	impact	NOUN
fumecheng-6852	152	3	of	of	ADP
fumecheng-6852	152	4	rings	ring	NOUN
fumecheng-6852	152	5	material	material	NOUN
fumecheng-6852	152	6	on	on	ADP
fumecheng-6852	152	7	magnetic	magnetic	ADJ
fumecheng-6852	152	8	flux	flux	NOUN
fumecheng-6852	152	9	density	density	NOUN
fumecheng-6852	152	10	the	the	DET
fumecheng-6852	152	11	case	case	NOUN
fumecheng-6852	152	12	arbitrarily	arbitrarily	ADV
fumecheng-6852	152	13	selected	select	VERB
fumecheng-6852	152	14	for	for	ADP
fumecheng-6852	152	15	further	further	ADJ
fumecheng-6852	152	16	investigation	investigation	NOUN
fumecheng-6852	152	17	was	be	AUX
fumecheng-6852	152	18	6	6	NUM
fumecheng-6852	152	19	-	-	PUNCT
fumecheng-6852	152	20	pole	pole	NOUN
fumecheng-6852	152	21	fms	fms	PROPN
fumecheng-6852	152	22	.	.	PUNCT
fumecheng-6852	153	1	multiple	multiple	ADJ
fumecheng-6852	153	2	analyses	analysis	NOUN
fumecheng-6852	153	3	were	be	AUX
fumecheng-6852	153	4	performed	perform	VERB
fumecheng-6852	153	5	to	to	PART
fumecheng-6852	153	6	limit	limit	VERB
fumecheng-6852	153	7	maximal	maximal	ADJ
fumecheng-6852	153	8	torque	torque	NOUN
fumecheng-6852	153	9	of	of	ADP
fumecheng-6852	153	10	the	the	DET
fumecheng-6852	153	11	selected	select	VERB
fumecheng-6852	153	12	spring	spring	NOUN
fumecheng-6852	153	13	below	below	ADP
fumecheng-6852	153	14	stall	stall	NOUN
fumecheng-6852	153	15	torque	torque	NOUN
fumecheng-6852	153	16	of	of	ADP
fumecheng-6852	153	17	the	the	DET
fumecheng-6852	153	18	available	available	ADJ
fumecheng-6852	153	19	drive	drive	NOUN
fumecheng-6852	153	20	and	and	CCONJ
fumecheng-6852	153	21	to	to	PART
fumecheng-6852	153	22	maximize	maximize	VERB
fumecheng-6852	153	23	the	the	DET
fumecheng-6852	153	24	linear	linear	NOUN
fumecheng-6852	153	25	and	and	CCONJ
fumecheng-6852	153	26	the	the	DET
fumecheng-6852	153	27	safe	safe	ADJ
fumecheng-6852	153	28	range	range	NOUN
fumecheng-6852	153	29	of	of	ADP
fumecheng-6852	153	30	angles	angle	NOUN
fumecheng-6852	153	31	.	.	PUNCT
fumecheng-6852	154	1	the	the	DET
fumecheng-6852	154	2	optimization	optimization	NOUN
fumecheng-6852	154	3	variables	variable	NOUN
fumecheng-6852	154	4	were	be	AUX
fumecheng-6852	154	5	all	all	PRON
fumecheng-6852	154	6	dimensions	dimension	NOUN
fumecheng-6852	154	7	listed	list	VERB
fumecheng-6852	154	8	in	in	ADP
fumecheng-6852	154	9	table	table	NOUN
fumecheng-6852	154	10	1	1	NUM
fumecheng-6852	154	11	.	.	PUNCT
fumecheng-6852	155	1	the	the	DET
fumecheng-6852	155	2	constraints	constraint	NOUN
fumecheng-6852	155	3	were	be	AUX
fumecheng-6852	155	4	a	a	DET
fumecheng-6852	155	5	result	result	NOUN
fumecheng-6852	155	6	of	of	ADP
fumecheng-6852	155	7	space	space	NOUN
fumecheng-6852	155	8	limits	limit	NOUN
fumecheng-6852	155	9	and	and	CCONJ
fumecheng-6852	155	10	availability	availability	NOUN
fumecheng-6852	155	11	of	of	ADP
fumecheng-6852	155	12	prefabricated	prefabricate	VERB
fumecheng-6852	155	13	components	component	NOUN
fumecheng-6852	155	14	.	.	PUNCT
fumecheng-6852	156	1	the	the	DET
fumecheng-6852	156	2	resultant	resultant	NOUN
fumecheng-6852	156	3	characteristics	characteristic	NOUN
fumecheng-6852	156	4	are	be	AUX
fumecheng-6852	156	5	presented	present	VERB
fumecheng-6852	156	6	in	in	ADP
fumecheng-6852	156	7	fig	fig	NOUN
fumecheng-6852	156	8	.	.	PUNCT
fumecheng-6852	157	1	9	9	NUM
fumecheng-6852	157	2	(	(	PUNCT
fumecheng-6852	157	3	labeled	label	VERB
fumecheng-6852	157	4	as	as	ADP
fumecheng-6852	157	5	"	"	PUNCT
fumecheng-6852	157	6	final	final	ADJ
fumecheng-6852	157	7	"	"	PUNCT
fumecheng-6852	157	8	)	)	PUNCT
fumecheng-6852	157	9	.	.	PUNCT
fumecheng-6852	158	1	a	a	X
fumecheng-6852	158	2	)	)	PUNCT
fumecheng-6852	158	3	not	not	PART
fumecheng-6852	158	4	normalized	normalize	VERB
fumecheng-6852	158	5	b	b	NOUN
fumecheng-6852	158	6	)	)	PUNCT
fumecheng-6852	158	7	normalized	normalize	VERB
fumecheng-6852	158	8	fig	fig	NOUN
fumecheng-6852	158	9	.	.	PUNCT
fumecheng-6852	159	1	9	9	NUM
fumecheng-6852	159	2	fem	fem	NOUN
fumecheng-6852	159	3	analyses	analysis	NOUN
fumecheng-6852	159	4	results	result	NOUN
fumecheng-6852	159	5	:	:	PUNCT
fumecheng-6852	159	6	torque	torque	NOUN
fumecheng-6852	159	7	-	-	PUNCT
fumecheng-6852	159	8	angle	angle	NOUN
fumecheng-6852	159	9	characteristics	characteristic	NOUN
fumecheng-6852	159	10	for	for	ADP
fumecheng-6852	159	11	d	d	PROPN
fumecheng-6852	159	12	=	=	SYM
fumecheng-6852	159	13	0	0	PROPN
fumecheng-6852	159	14	110	110	NUM
fumecheng-6852	159	15	b.	b.	PROPN
fumecheng-6852	159	16	kozakiewicz	kozakiewicz	PROPN
fumecheng-6852	159	17	,	,	PUNCT
fumecheng-6852	159	18	t.	t.	PROPN
fumecheng-6852	159	19	winiarski	winiarski	PROPN
fumecheng-6852	159	20	6	6	NUM
fumecheng-6852	159	21	.	.	PUNCT
fumecheng-6852	159	22	experiments	experiment	NOUN
fumecheng-6852	159	23	the	the	DET
fumecheng-6852	159	24	conceptions	conception	NOUN
fumecheng-6852	159	25	presented	present	VERB
fumecheng-6852	159	26	in	in	ADP
fumecheng-6852	159	27	section	section	NOUN
fumecheng-6852	159	28	4	4	NUM
fumecheng-6852	159	29	and	and	CCONJ
fumecheng-6852	159	30	dimensions	dimension	NOUN
fumecheng-6852	159	31	optimized	optimize	VERB
fumecheng-6852	159	32	in	in	ADP
fumecheng-6852	159	33	section	section	NOUN
fumecheng-6852	159	34	5	5	NUM
fumecheng-6852	159	35	were	be	AUX
fumecheng-6852	159	36	used	use	VERB
fumecheng-6852	159	37	to	to	PART
fumecheng-6852	159	38	design	design	VERB
fumecheng-6852	159	39	and	and	CCONJ
fumecheng-6852	159	40	build	build	VERB
fumecheng-6852	159	41	magnetic	magnetic	ADJ
fumecheng-6852	159	42	spring	spring	NOUN
fumecheng-6852	159	43	(	(	PUNCT
fumecheng-6852	159	44	fig	fig	NOUN
fumecheng-6852	159	45	.	.	PUNCT
fumecheng-6852	160	1	10a	10a	NOUN
fumecheng-6852	160	2	)	)	PUNCT
fumecheng-6852	160	3	,	,	PUNCT
fumecheng-6852	160	4	as	as	ADV
fumecheng-6852	160	5	well	well	ADV
fumecheng-6852	160	6	as	as	ADP
fumecheng-6852	160	7	variable	variable	ADJ
fumecheng-6852	160	8	stiffness	stiffness	ADJ
fumecheng-6852	160	9	actuator	actuator	NOUN
fumecheng-6852	160	10	following	follow	VERB
fumecheng-6852	160	11	attractor	attractor	NOUN
fumecheng-6852	160	12	concept	concept	NOUN
fumecheng-6852	160	13	(	(	PUNCT
fumecheng-6852	160	14	fig	fig	NOUN
fumecheng-6852	160	15	.	.	PUNCT
fumecheng-6852	161	1	10b	10b	NOUN
fumecheng-6852	161	2	and	and	CCONJ
fumecheng-6852	161	3	fig	fig	NOUN
fumecheng-6852	161	4	.	.	PUNCT
fumecheng-6852	161	5	10c	10c	NOUN
fumecheng-6852	161	6	)	)	PUNCT
fumecheng-6852	161	7	.	.	PUNCT
fumecheng-6852	162	1	a	a	DET
fumecheng-6852	162	2	)	)	PUNCT
fumecheng-6852	162	3	outer	outer	ADJ
fumecheng-6852	162	4	and	and	CCONJ
fumecheng-6852	162	5	inner	inner	ADJ
fumecheng-6852	162	6	magnetic	magnetic	ADJ
fumecheng-6852	162	7	ring	ring	NOUN
fumecheng-6852	162	8	b	b	NOUN
fumecheng-6852	162	9	)	)	PUNCT
fumecheng-6852	162	10	attractor	attractor	NOUN
fumecheng-6852	162	11	c	c	NOUN
fumecheng-6852	162	12	)	)	PUNCT
fumecheng-6852	162	13	attractor	attractor	NOUN
fumecheng-6852	162	14	components	component	NOUN
fumecheng-6852	162	15	(	(	PUNCT
fumecheng-6852	162	16	numbers	number	NOUN
fumecheng-6852	162	17	correspond	correspond	VERB
fumecheng-6852	162	18	to	to	ADP
fumecheng-6852	162	19	fig	fig	VERB
fumecheng-6852	162	20	.	.	PUNCT
fumecheng-6852	163	1	6	6	NUM
fumecheng-6852	163	2	)	)	PUNCT
fumecheng-6852	163	3	d	d	NOUN
fumecheng-6852	163	4	)	)	PUNCT
fumecheng-6852	163	5	experimental	experimental	ADJ
fumecheng-6852	163	6	setup	setup	NOUN
fumecheng-6852	163	7	:	:	PUNCT
fumecheng-6852	163	8	1	1	X
fumecheng-6852	163	9	.	.	X
fumecheng-6852	163	10	attractor	attractor	NOUN
fumecheng-6852	163	11	,	,	PUNCT
fumecheng-6852	163	12	2	2	NUM
fumecheng-6852	163	13	.	.	X
fumecheng-6852	163	14	dc	dc	PROPN
fumecheng-6852	163	15	servomotors	servomotor	NOUN
fumecheng-6852	163	16	,	,	PUNCT
fumecheng-6852	163	17	3	3	X
fumecheng-6852	163	18	.	.	X
fumecheng-6852	163	19	driver	driver	NOUN
fumecheng-6852	163	20	,	,	PUNCT
fumecheng-6852	163	21	4	4	NUM
fumecheng-6852	163	22	.	.	X
fumecheng-6852	164	1	encoders	encoder	NOUN
fumecheng-6852	164	2	,	,	PUNCT
fumecheng-6852	164	3	5	5	NUM
fumecheng-6852	164	4	.	.	X
fumecheng-6852	164	5	controller	controller	NOUN
fumecheng-6852	164	6	gathering	gather	VERB
fumecheng-6852	164	7	data	datum	NOUN
fumecheng-6852	164	8	from	from	ADP
fumecheng-6852	164	9	encoders	encoder	NOUN
fumecheng-6852	164	10	,	,	PUNCT
fumecheng-6852	164	11	6	6	NUM
fumecheng-6852	164	12	.	.	X
fumecheng-6852	164	13	pc	pc	NOUN
fumecheng-6852	164	14	with	with	ADP
fumecheng-6852	164	15	rtos	rto	NOUN
fumecheng-6852	164	16	supervising	supervise	VERB
fumecheng-6852	164	17	the	the	DET
fumecheng-6852	164	18	experiments	experiment	NOUN
fumecheng-6852	164	19	,	,	PUNCT
fumecheng-6852	164	20	7	7	X
fumecheng-6852	164	21	.	.	X
fumecheng-6852	164	22	pc	pc	NOUN
fumecheng-6852	164	23	used	use	VERB
fumecheng-6852	164	24	to	to	PART
fumecheng-6852	164	25	design	design	VERB
fumecheng-6852	164	26	experiments	experiment	NOUN
fumecheng-6852	164	27	and	and	CCONJ
fumecheng-6852	164	28	analyze	analyze	VERB
fumecheng-6852	164	29	their	their	PRON
fumecheng-6852	164	30	results	result	NOUN
fumecheng-6852	164	31	,	,	PUNCT
fumecheng-6852	164	32	8	8	NUM
fumecheng-6852	164	33	.	.	PUNCT
fumecheng-6852	164	34	flywheel	flywheel	NOUN
fumecheng-6852	164	35	,	,	PUNCT
fumecheng-6852	164	36	9	9	NUM
fumecheng-6852	164	37	.	.	PUNCT
fumecheng-6852	164	38	removable	removable	ADJ
fumecheng-6852	164	39	lever	lever	NOUN
fumecheng-6852	164	40	arm	arm	NOUN
fumecheng-6852	164	41	,	,	PUNCT
fumecheng-6852	164	42	10	10	NUM
fumecheng-6852	164	43	.	.	PUNCT
fumecheng-6852	164	44	scale	scale	NOUN
fumecheng-6852	164	45	,	,	PUNCT
fumecheng-6852	164	46	11	11	NUM
fumecheng-6852	164	47	.	.	PUNCT
fumecheng-6852	164	48	mass	mass	PROPN
fumecheng-6852	164	49	hung	hang	VERB
fumecheng-6852	164	50	on	on	ADP
fumecheng-6852	164	51	a	a	DET
fumecheng-6852	164	52	cord	cord	NOUN
fumecheng-6852	164	53	wound	wound	NOUN
fumecheng-6852	164	54	on	on	ADP
fumecheng-6852	164	55	the	the	DET
fumecheng-6852	164	56	flywheel	flywheel	NOUN
fumecheng-6852	164	57	fig	fig	NOUN
fumecheng-6852	164	58	.	.	PUNCT
fumecheng-6852	165	1	10	10	NUM
fumecheng-6852	165	2	constructed	construct	VERB
fumecheng-6852	165	3	device	device	NOUN
fumecheng-6852	165	4	spring	spring	NOUN
fumecheng-6852	165	5	based	base	VERB
fumecheng-6852	165	6	on	on	ADP
fumecheng-6852	165	7	flat	flat	ADJ
fumecheng-6852	165	8	permanent	permanent	ADJ
fumecheng-6852	165	9	magnets	magnet	NOUN
fumecheng-6852	165	10	:	:	PUNCT
fumecheng-6852	165	11	design	design	NOUN
fumecheng-6852	165	12	,	,	PUNCT
fumecheng-6852	165	13	analysis	analysis	NOUN
fumecheng-6852	165	14	and	and	CCONJ
fumecheng-6852	165	15	use	use	NOUN
fumecheng-6852	165	16	in	in	ADP
fumecheng-6852	165	17	variable	variable	ADJ
fumecheng-6852	165	18	stiffness	stiffness	NOUN
fumecheng-6852	165	19	actuator	actuator	NOUN
fumecheng-6852	165	20	111	111	NUM
fumecheng-6852	165	21	some	some	DET
fumecheng-6852	165	22	additional	additional	ADJ
fumecheng-6852	165	23	equipment	equipment	NOUN
fumecheng-6852	165	24	mountable	mountable	NOUN
fumecheng-6852	165	25	to	to	ADP
fumecheng-6852	165	26	the	the	DET
fumecheng-6852	165	27	output	output	NOUN
fumecheng-6852	165	28	flange	flange	NOUN
fumecheng-6852	165	29	was	be	AUX
fumecheng-6852	165	30	prepared	prepare	VERB
fumecheng-6852	165	31	:	:	PUNCT
fumecheng-6852	165	32	flywheel	flywheel	NOUN
fumecheng-6852	165	33	used	use	VERB
fumecheng-6852	165	34	to	to	PART
fumecheng-6852	165	35	increase	increase	VERB
fumecheng-6852	165	36	inertia	inertia	NOUN
fumecheng-6852	165	37	in	in	ADP
fumecheng-6852	165	38	order	order	NOUN
fumecheng-6852	165	39	to	to	PART
fumecheng-6852	165	40	slow	slow	VERB
fumecheng-6852	165	41	down	down	ADP
fumecheng-6852	165	42	device	device	NOUN
fumecheng-6852	165	43	dynamics	dynamic	NOUN
fumecheng-6852	165	44	and	and	CCONJ
fumecheng-6852	165	45	lever	lever	NOUN
fumecheng-6852	165	46	arm	arm	NOUN
fumecheng-6852	165	47	used	use	VERB
fumecheng-6852	165	48	to	to	PART
fumecheng-6852	165	49	interact	interact	VERB
fumecheng-6852	165	50	with	with	ADP
fumecheng-6852	165	51	the	the	DET
fumecheng-6852	165	52	output	output	NOUN
fumecheng-6852	165	53	shaft	shaft	NOUN
fumecheng-6852	165	54	.	.	PUNCT
fumecheng-6852	166	1	the	the	DET
fumecheng-6852	166	2	whole	whole	ADJ
fumecheng-6852	166	3	experimental	experimental	ADJ
fumecheng-6852	166	4	setup	setup	NOUN
fumecheng-6852	166	5	is	be	AUX
fumecheng-6852	166	6	presented	present	VERB
fumecheng-6852	166	7	in	in	ADP
fumecheng-6852	166	8	fig	fig	NOUN
fumecheng-6852	166	9	.	.	PUNCT
fumecheng-6852	167	1	10d	10d	NUM
fumecheng-6852	167	2	.	.	PUNCT
fumecheng-6852	168	1	the	the	DET
fumecheng-6852	168	2	methodology	methodology	NOUN
fumecheng-6852	168	3	of	of	ADP
fumecheng-6852	168	4	conducted	conduct	VERB
fumecheng-6852	168	5	experiments	experiment	NOUN
fumecheng-6852	168	6	is	be	AUX
fumecheng-6852	168	7	described	describe	VERB
fumecheng-6852	168	8	in	in	ADP
fumecheng-6852	168	9	section	section	NOUN
fumecheng-6852	168	10	6.1	6.1	NUM
fumecheng-6852	168	11	,	,	PUNCT
fumecheng-6852	168	12	while	while	SCONJ
fumecheng-6852	168	13	their	their	PRON
fumecheng-6852	168	14	results	result	NOUN
fumecheng-6852	168	15	and	and	CCONJ
fumecheng-6852	168	16	analysis	analysis	NOUN
fumecheng-6852	168	17	are	be	AUX
fumecheng-6852	168	18	presented	present	VERB
fumecheng-6852	168	19	in	in	ADP
fumecheng-6852	168	20	section	section	NOUN
fumecheng-6852	168	21	6.2	6.2	NUM
fumecheng-6852	168	22	.	.	PUNCT
fumecheng-6852	169	1	6.1	6.1	NUM
fumecheng-6852	169	2	.	.	PUNCT
fumecheng-6852	169	3	methodology	methodology	NOUN
fumecheng-6852	169	4	the	the	DET
fumecheng-6852	169	5	experiments	experiment	NOUN
fumecheng-6852	169	6	conducted	conduct	VERB
fumecheng-6852	169	7	on	on	ADP
fumecheng-6852	169	8	attractor	attractor	NOUN
fumecheng-6852	169	9	mechanism	mechanism	NOUN
fumecheng-6852	169	10	can	can	AUX
fumecheng-6852	169	11	be	be	AUX
fumecheng-6852	169	12	divided	divide	VERB
fumecheng-6852	169	13	into	into	ADP
fumecheng-6852	169	14	three	three	NUM
fumecheng-6852	169	15	categories	category	NOUN
fumecheng-6852	169	16	:	:	PUNCT
fumecheng-6852	169	17	one	one	NUM
fumecheng-6852	169	18	examining	examine	VERB
fumecheng-6852	169	19	the	the	DET
fumecheng-6852	169	20	torque	torque	NOUN
fumecheng-6852	169	21	-	-	PUNCT
fumecheng-6852	169	22	angle	angle	NOUN
fumecheng-6852	169	23	relationship	relationship	NOUN
fumecheng-6852	169	24	of	of	ADP
fumecheng-6852	169	25	the	the	DET
fumecheng-6852	169	26	spring	spring	NOUN
fumecheng-6852	169	27	(	(	PUNCT
fumecheng-6852	169	28	experiment	experiment	NOUN
fumecheng-6852	169	29	a	a	NOUN
fumecheng-6852	169	30	)	)	PUNCT
fumecheng-6852	169	31	,	,	PUNCT
fumecheng-6852	169	32	one	one	NUM
fumecheng-6852	169	33	focused	focus	VERB
fumecheng-6852	169	34	on	on	ADP
fumecheng-6852	169	35	identifying	identify	VERB
fumecheng-6852	169	36	basic	basic	ADJ
fumecheng-6852	169	37	mechanical	mechanical	ADJ
fumecheng-6852	169	38	properties	property	NOUN
fumecheng-6852	169	39	of	of	ADP
fumecheng-6852	169	40	the	the	DET
fumecheng-6852	169	41	system	system	NOUN
fumecheng-6852	169	42	(	(	PUNCT
fumecheng-6852	169	43	experiment	experiment	NOUN
fumecheng-6852	169	44	b	b	NOUN
fumecheng-6852	169	45	)	)	PUNCT
fumecheng-6852	169	46	and	and	CCONJ
fumecheng-6852	169	47	the	the	DET
fumecheng-6852	169	48	last	last	ADJ
fumecheng-6852	169	49	oriented	orient	VERB
fumecheng-6852	169	50	on	on	ADP
fumecheng-6852	169	51	developing	develop	VERB
fumecheng-6852	169	52	a	a	DET
fumecheng-6852	169	53	model	model	NOUN
fumecheng-6852	169	54	of	of	ADP
fumecheng-6852	169	55	the	the	DET
fumecheng-6852	169	56	whole	whole	ADJ
fumecheng-6852	169	57	joint	joint	NOUN
fumecheng-6852	169	58	–	–	PUNCT
fumecheng-6852	169	59	understood	understand	VERB
fumecheng-6852	169	60	as	as	ADP
fumecheng-6852	169	61	a	a	DET
fumecheng-6852	169	62	relationship	relationship	NOUN
fumecheng-6852	169	63	between	between	ADP
fumecheng-6852	169	64	position	position	NOUN
fumecheng-6852	169	65	trajectories	trajectory	NOUN
fumecheng-6852	169	66	of	of	ADP
fumecheng-6852	169	67	output	output	NOUN
fumecheng-6852	169	68	shaft	shaft	NOUN
fumecheng-6852	169	69	φout(t	φout(t	NOUN
fumecheng-6852	169	70	)	)	PUNCT
fumecheng-6852	169	71	and	and	CCONJ
fumecheng-6852	169	72	input	input	NOUN
fumecheng-6852	169	73	shaft	shaft	NOUN
fumecheng-6852	169	74	φin(t	φin(t	NOUN
fumecheng-6852	169	75	)	)	PUNCT
fumecheng-6852	169	76	(	(	PUNCT
fumecheng-6852	169	77	experiment	experiment	NOUN
fumecheng-6852	169	78	c	c	NOUN
fumecheng-6852	169	79	)	)	PUNCT
fumecheng-6852	169	80	.	.	PUNCT
fumecheng-6852	170	1	a	a	DET
fumecheng-6852	170	2	methodology	methodology	NOUN
fumecheng-6852	170	3	of	of	ADP
fumecheng-6852	170	4	experiment	experiment	NOUN
fumecheng-6852	170	5	a	a	PRON
fumecheng-6852	170	6	was	be	AUX
fumecheng-6852	170	7	to	to	PART
fumecheng-6852	170	8	apply	apply	VERB
fumecheng-6852	170	9	torque	torque	NOUN
fumecheng-6852	170	10	to	to	PART
fumecheng-6852	170	11	input	input	NOUN
fumecheng-6852	170	12	shaft	shaft	NOUN
fumecheng-6852	170	13	using	use	VERB
fumecheng-6852	170	14	dc	dc	PROPN
fumecheng-6852	170	15	motor	motor	NOUN
fumecheng-6852	170	16	,	,	PUNCT
fumecheng-6852	170	17	to	to	PART
fumecheng-6852	170	18	estimate	estimate	VERB
fumecheng-6852	170	19	its	its	PRON
fumecheng-6852	170	20	value	value	NOUN
fumecheng-6852	170	21	τsp	τsp	PRON
fumecheng-6852	170	22	basing	base	VERB
fumecheng-6852	170	23	on	on	ADP
fumecheng-6852	170	24	indications	indication	NOUN
fumecheng-6852	170	25	of	of	ADP
fumecheng-6852	170	26	rigidly	rigidly	ADV
fumecheng-6852	170	27	fixed	fix	VERB
fumecheng-6852	170	28	scale	scale	NOUN
fumecheng-6852	170	29	pushed	push	VERB
fumecheng-6852	170	30	with	with	ADP
fumecheng-6852	170	31	lever	lever	NOUN
fumecheng-6852	170	32	arm	arm	NOUN
fumecheng-6852	170	33	and	and	CCONJ
fumecheng-6852	170	34	to	to	PART
fumecheng-6852	170	35	estimate	estimate	VERB
fumecheng-6852	170	36	relative	relative	ADJ
fumecheng-6852	170	37	angle	angle	NOUN
fumecheng-6852	170	38	φr	φr	ADP
fumecheng-6852	170	39	by	by	ADP
fumecheng-6852	170	40	subtracting	subtract	VERB
fumecheng-6852	170	41	readings	reading	NOUN
fumecheng-6852	170	42	of	of	ADP
fumecheng-6852	170	43	absolute	absolute	ADJ
fumecheng-6852	170	44	encoders	encoder	NOUN
fumecheng-6852	170	45	mounted	mount	VERB
fumecheng-6852	170	46	on	on	ADP
fumecheng-6852	170	47	shafts	shafts	ADJ
fumecheng-6852	170	48	φout	φout	NOUN
fumecheng-6852	170	49	-	-	PUNCT
fumecheng-6852	170	50	φin	φin	NOUN
fumecheng-6852	170	51	.	.	PUNCT
fumecheng-6852	171	1	the	the	DET
fumecheng-6852	171	2	whole	whole	ADJ
fumecheng-6852	171	3	procedure	procedure	NOUN
fumecheng-6852	171	4	was	be	AUX
fumecheng-6852	171	5	repeated	repeat	VERB
fumecheng-6852	171	6	for	for	ADP
fumecheng-6852	171	7	different	different	ADJ
fumecheng-6852	171	8	axial	axial	ADJ
fumecheng-6852	171	9	distances	distance	NOUN
fumecheng-6852	171	10	d	d	NOUN
fumecheng-6852	171	11	between	between	ADP
fumecheng-6852	171	12	the	the	DET
fumecheng-6852	171	13	magnetic	magnetic	ADJ
fumecheng-6852	171	14	rings	ring	NOUN
fumecheng-6852	171	15	and	and	CCONJ
fumecheng-6852	171	16	all	all	DET
fumecheng-6852	171	17	three	three	NUM
fumecheng-6852	171	18	stable	stable	ADJ
fumecheng-6852	171	19	equilibria	equilibrium	NOUN
fumecheng-6852	171	20	.	.	PUNCT
fumecheng-6852	172	1	due	due	ADP
fumecheng-6852	172	2	to	to	ADP
fumecheng-6852	172	3	the	the	DET
fumecheng-6852	172	4	instability	instability	NOUN
fumecheng-6852	172	5	described	describe	VERB
fumecheng-6852	172	6	in	in	ADP
fumecheng-6852	172	7	section	section	NOUN
fumecheng-6852	172	8	3	3	NUM
fumecheng-6852	172	9	,	,	PUNCT
fumecheng-6852	172	10	the	the	DET
fumecheng-6852	172	11	range	range	NOUN
fumecheng-6852	172	12	of	of	ADP
fumecheng-6852	172	13	examined	examine	VERB
fumecheng-6852	172	14	angles	angle	NOUN
fumecheng-6852	172	15	was	be	AUX
fumecheng-6852	172	16	limited	limit	VERB
fumecheng-6852	172	17	(	(	PUNCT
fumecheng-6852	172	18	-41	-41	PROPN
fumecheng-6852	172	19	°	°	NOUN
fumecheng-6852	172	20	÷	÷	NUM
fumecheng-6852	172	21	41	41	NUM
fumecheng-6852	172	22	°	°	NOUN
fumecheng-6852	172	23	from	from	ADP
fumecheng-6852	172	24	stable	stable	ADJ
fumecheng-6852	172	25	equilibrium	equilibrium	NOUN
fumecheng-6852	172	26	)	)	PUNCT
fumecheng-6852	172	27	,	,	PUNCT
fumecheng-6852	172	28	but	but	CCONJ
fumecheng-6852	172	29	it	it	PRON
fumecheng-6852	172	30	was	be	AUX
fumecheng-6852	172	31	broader	broad	ADJ
fumecheng-6852	172	32	than	than	ADP
fumecheng-6852	172	33	the	the	DET
fumecheng-6852	172	34	stable	stable	ADJ
fumecheng-6852	172	35	range	range	NOUN
fumecheng-6852	172	36	(	(	PUNCT
fumecheng-6852	172	37	-31.5	-31.5	PROPN
fumecheng-6852	172	38	°	°	NOUN
fumecheng-6852	172	39	÷	÷	NUM
fumecheng-6852	172	40	31.5	31.5	NUM
fumecheng-6852	172	41	°	°	NUM
fumecheng-6852	172	42	)	)	PUNCT
fumecheng-6852	172	43	because	because	SCONJ
fumecheng-6852	172	44	of	of	ADP
fumecheng-6852	172	45	static	static	ADJ
fumecheng-6852	172	46	friction	friction	NOUN
fumecheng-6852	172	47	.	.	PUNCT
fumecheng-6852	173	1	experiment	experiment	NOUN
fumecheng-6852	173	2	b	b	PROPN
fumecheng-6852	173	3	was	be	AUX
fumecheng-6852	173	4	performed	perform	VERB
fumecheng-6852	173	5	to	to	PART
fumecheng-6852	173	6	identify	identify	VERB
fumecheng-6852	173	7	aggregate	aggregate	ADJ
fumecheng-6852	173	8	inertia	inertia	NOUN
fumecheng-6852	173	9	j	j	PROPN
fumecheng-6852	173	10	of	of	ADP
fumecheng-6852	173	11	the	the	DET
fumecheng-6852	173	12	output	output	NOUN
fumecheng-6852	173	13	shaft	shaft	NOUN
fumecheng-6852	173	14	and	and	CCONJ
fumecheng-6852	173	15	all	all	DET
fumecheng-6852	173	16	components	component	NOUN
fumecheng-6852	173	17	rigidly	rigidly	ADV
fumecheng-6852	173	18	mounted	mount	VERB
fumecheng-6852	173	19	to	to	ADP
fumecheng-6852	173	20	it	it	PRON
fumecheng-6852	173	21	.	.	PUNCT
fumecheng-6852	174	1	different	different	ADJ
fumecheng-6852	174	2	masses	masse	NOUN
fumecheng-6852	174	3	m	m	VERB
fumecheng-6852	174	4	were	be	AUX
fumecheng-6852	174	5	hung	hang	VERB
fumecheng-6852	174	6	on	on	ADP
fumecheng-6852	174	7	a	a	DET
fumecheng-6852	174	8	cord	cord	NOUN
fumecheng-6852	174	9	wound	wound	NOUN
fumecheng-6852	174	10	on	on	ADP
fumecheng-6852	174	11	the	the	DET
fumecheng-6852	174	12	flywheel	flywheel	NOUN
fumecheng-6852	174	13	and	and	CCONJ
fumecheng-6852	174	14	dropped	drop	VERB
fumecheng-6852	174	15	.	.	PUNCT
fumecheng-6852	175	1	angular	angular	ADJ
fumecheng-6852	175	2	acceleration	acceleration	NOUN
fumecheng-6852	175	3	of	of	ADP
fumecheng-6852	175	4	output	output	NOUN
fumecheng-6852	175	5	shaft	shaft	NOUN
fumecheng-6852	175	6	(	(	PUNCT
fumecheng-6852	175	7	φöut	φöut	ADJ
fumecheng-6852	175	8	)	)	PUNCT
fumecheng-6852	175	9	was	be	AUX
fumecheng-6852	175	10	estimated	estimate	VERB
fumecheng-6852	175	11	by	by	ADP
fumecheng-6852	175	12	analyzing	analyze	VERB
fumecheng-6852	175	13	encoders	encoder	NOUN
fumecheng-6852	175	14	readings	reading	NOUN
fumecheng-6852	175	15	.	.	PUNCT
fumecheng-6852	176	1	the	the	DET
fumecheng-6852	176	2	experiment	experiment	NOUN
fumecheng-6852	176	3	was	be	AUX
fumecheng-6852	176	4	performed	perform	VERB
fumecheng-6852	176	5	with	with	ADP
fumecheng-6852	176	6	completely	completely	ADV
fumecheng-6852	176	7	decoupled	decouple	VERB
fumecheng-6852	176	8	shafts	shafts	ADJ
fumecheng-6852	176	9	,	,	PUNCT
fumecheng-6852	176	10	so	so	SCONJ
fumecheng-6852	176	11	only	only	ADV
fumecheng-6852	176	12	the	the	DET
fumecheng-6852	176	13	parts	part	NOUN
fumecheng-6852	176	14	connected	connect	VERB
fumecheng-6852	176	15	to	to	ADP
fumecheng-6852	176	16	the	the	DET
fumecheng-6852	176	17	output	output	NOUN
fumecheng-6852	176	18	shaft	shaft	NOUN
fumecheng-6852	176	19	were	be	AUX
fumecheng-6852	176	20	rotating	rotate	VERB
fumecheng-6852	176	21	.	.	PUNCT
fumecheng-6852	177	1	experiment	experiment	NOUN
fumecheng-6852	177	2	c	c	PROPN
fumecheng-6852	177	3	consisted	consist	VERB
fumecheng-6852	177	4	of	of	ADP
fumecheng-6852	177	5	multiple	multiple	ADJ
fumecheng-6852	177	6	trials	trial	NOUN
fumecheng-6852	177	7	.	.	PUNCT
fumecheng-6852	178	1	their	their	PRON
fumecheng-6852	178	2	goal	goal	NOUN
fumecheng-6852	178	3	was	be	AUX
fumecheng-6852	178	4	to	to	PART
fumecheng-6852	178	5	excite	excite	VERB
fumecheng-6852	178	6	system	system	NOUN
fumecheng-6852	178	7	in	in	ADP
fumecheng-6852	178	8	different	different	ADJ
fumecheng-6852	178	9	ways	way	NOUN
fumecheng-6852	178	10	by	by	ADP
fumecheng-6852	178	11	providing	provide	VERB
fumecheng-6852	178	12	current	current	ADJ
fumecheng-6852	178	13	profiles	profile	NOUN
fumecheng-6852	178	14	i(t	i(t	NOUN
fumecheng-6852	178	15	)	)	PUNCT
fumecheng-6852	178	16	of	of	ADP
fumecheng-6852	178	17	various	various	ADJ
fumecheng-6852	178	18	shapes	shape	NOUN
fumecheng-6852	178	19	(	(	PUNCT
fumecheng-6852	178	20	sinusoid	sinusoid	ADJ
fumecheng-6852	178	21	,	,	PUNCT
fumecheng-6852	178	22	square	square	ADJ
fumecheng-6852	178	23	,	,	PUNCT
fumecheng-6852	178	24	step	step	NOUN
fumecheng-6852	178	25	,	,	PUNCT
fumecheng-6852	178	26	impulse	impulse	ADJ
fumecheng-6852	178	27	function	function	NOUN
fumecheng-6852	178	28	)	)	PUNCT
fumecheng-6852	178	29	to	to	ADP
fumecheng-6852	178	30	the	the	DET
fumecheng-6852	178	31	motor	motor	NOUN
fumecheng-6852	178	32	and	and	CCONJ
fumecheng-6852	178	33	to	to	PART
fumecheng-6852	178	34	gather	gather	VERB
fumecheng-6852	178	35	information	information	NOUN
fumecheng-6852	178	36	about	about	ADP
fumecheng-6852	178	37	movements	movement	NOUN
fumecheng-6852	178	38	of	of	ADP
fumecheng-6852	178	39	both	both	CCONJ
fumecheng-6852	178	40	shafts	shafts	ADJ
fumecheng-6852	178	41	φout(t	φout(t	NOUN
fumecheng-6852	178	42	)	)	PUNCT
fumecheng-6852	178	43	,	,	PUNCT
fumecheng-6852	178	44	φin(t	φin(t	NOUN
fumecheng-6852	178	45	)	)	PUNCT
fumecheng-6852	178	46	for	for	ADP
fumecheng-6852	178	47	different	different	ADJ
fumecheng-6852	178	48	distances	distance	NOUN
fumecheng-6852	178	49	d.	d.	PROPN
fumecheng-6852	178	50	the	the	DET
fumecheng-6852	178	51	data	datum	NOUN
fumecheng-6852	178	52	were	be	AUX
fumecheng-6852	178	53	split	split	VERB
fumecheng-6852	178	54	into	into	ADP
fumecheng-6852	178	55	two	two	NUM
fumecheng-6852	178	56	equinumerous	equinumerous	ADJ
fumecheng-6852	178	57	sets	set	NOUN
fumecheng-6852	178	58	:	:	PUNCT
fumecheng-6852	178	59	teaching	teaching	NOUN
fumecheng-6852	178	60	and	and	CCONJ
fumecheng-6852	178	61	verifying	verifying	NOUN
fumecheng-6852	178	62	and	and	CCONJ
fumecheng-6852	178	63	were	be	AUX
fumecheng-6852	178	64	used	use	VERB
fumecheng-6852	178	65	to	to	PART
fumecheng-6852	178	66	develop	develop	VERB
fumecheng-6852	178	67	and	and	CCONJ
fumecheng-6852	178	68	fit	fit	VERB
fumecheng-6852	178	69	the	the	DET
fumecheng-6852	178	70	model	model	NOUN
fumecheng-6852	178	71	of	of	ADP
fumecheng-6852	178	72	the	the	DET
fumecheng-6852	178	73	joint	joint	NOUN
fumecheng-6852	178	74	.	.	PUNCT
fumecheng-6852	179	1	6.2	6.2	NUM
fumecheng-6852	179	2	.	.	PUNCT
fumecheng-6852	179	3	results	result	NOUN
fumecheng-6852	179	4	and	and	CCONJ
fumecheng-6852	179	5	analysis	analysis	NOUN
fumecheng-6852	179	6	data	datum	NOUN
fumecheng-6852	179	7	gathered	gather	VERB
fumecheng-6852	179	8	in	in	ADP
fumecheng-6852	179	9	experiment	experiment	NOUN
fumecheng-6852	179	10	a	a	PRON
fumecheng-6852	179	11	was	be	AUX
fumecheng-6852	179	12	used	use	VERB
fumecheng-6852	179	13	to	to	PART
fumecheng-6852	179	14	find	find	VERB
fumecheng-6852	179	15	a	a	DET
fumecheng-6852	179	16	model	model	NOUN
fumecheng-6852	179	17	of	of	ADP
fumecheng-6852	179	18	the	the	DET
fumecheng-6852	179	19	relationship	relationship	NOUN
fumecheng-6852	179	20	between	between	ADP
fumecheng-6852	179	21	spring	spring	NOUN
fumecheng-6852	179	22	torque	torque	NOUN
fumecheng-6852	179	23	τsp	τsp	ADJ
fumecheng-6852	179	24	and	and	CCONJ
fumecheng-6852	179	25	relative	relative	ADJ
fumecheng-6852	179	26	distance	distance	NOUN
fumecheng-6852	179	27	d	d	NOUN
fumecheng-6852	179	28	and	and	CCONJ
fumecheng-6852	179	29	angle	angle	NOUN
fumecheng-6852	179	30	φr	φr	ADP
fumecheng-6852	179	31	between	between	ADP
fumecheng-6852	179	32	the	the	DET
fumecheng-6852	179	33	rings	ring	NOUN
fumecheng-6852	179	34	.	.	PUNCT
fumecheng-6852	180	1	various	various	ADJ
fumecheng-6852	180	2	general	general	ADJ
fumecheng-6852	180	3	approximating	approximate	VERB
fumecheng-6852	180	4	functions	function	NOUN
fumecheng-6852	180	5	were	be	AUX
fumecheng-6852	180	6	considered	consider	VERB
fumecheng-6852	180	7	:	:	PUNCT
fumecheng-6852	180	8	polynomials	polynomial	NOUN
fumecheng-6852	180	9	of	of	ADP
fumecheng-6852	180	10	different	different	ADJ
fumecheng-6852	180	11	order	order	NOUN
fumecheng-6852	180	12	and	and	CCONJ
fumecheng-6852	180	13	number	number	NOUN
fumecheng-6852	180	14	of	of	ADP
fumecheng-6852	180	15	variables	variable	NOUN
fumecheng-6852	180	16	and	and	CCONJ
fumecheng-6852	180	17	fourier	fourier	ADJ
fumecheng-6852	180	18	series	series	NOUN
fumecheng-6852	180	19	terms	term	NOUN
fumecheng-6852	180	20	.	.	PUNCT
fumecheng-6852	181	1	the	the	DET
fumecheng-6852	181	2	best	good	ADJ
fumecheng-6852	181	3	results	result	NOUN
fumecheng-6852	181	4	were	be	AUX
fumecheng-6852	181	5	obtained	obtain	VERB
fumecheng-6852	181	6	for	for	ADP
fumecheng-6852	181	7	the	the	DET
fumecheng-6852	181	8	model	model	NOUN
fumecheng-6852	181	9	described	describe	VERB
fumecheng-6852	181	10	with	with	ADP
fumecheng-6852	181	11	eq	eq	PROPN
fumecheng-6852	181	12	.	.	PUNCT
fumecheng-6852	182	1	(	(	PUNCT
fumecheng-6852	182	2	1	1	NUM
fumecheng-6852	182	3	)	)	PUNCT
fumecheng-6852	182	4	and	and	CCONJ
fumecheng-6852	182	5	discussed	discuss	VERB
fumecheng-6852	182	6	in	in	ADP
fumecheng-6852	182	7	section	section	NOUN
fumecheng-6852	182	8	7.1	7.1	NUM
fumecheng-6852	182	9	:	:	PUNCT
fumecheng-6852	182	10	(	(	PUNCT
fumecheng-6852	182	11	)	)	SYM
fumecheng-6852	182	12	2	2	NUM
fumecheng-6852	182	13	3	3	NUM
fumecheng-6852	182	14	4	4	NUM
fumecheng-6852	182	15	1	1	NUM
fumecheng-6852	182	16	2	2	NUM
fumecheng-6852	182	17	3	3	NUM
fumecheng-6852	182	18	4	4	NUM
fumecheng-6852	182	19	1	1	NUM
fumecheng-6852	182	20	2	2	NUM
fumecheng-6852	182	21	3	3	NUM
fumecheng-6852	182	22	(	(	PUNCT
fumecheng-6852	182	23	,	,	PUNCT
fumecheng-6852	182	24	)	)	PUNCT
fumecheng-6852	182	25	1	1	NUM
fumecheng-6852	182	26	sin	sin	NOUN
fumecheng-6852	182	27	sin	sin	NOUN
fumecheng-6852	182	28	sin	sin	NOUN
fumecheng-6852	182	29	60	60	NUM
fumecheng-6852	182	30	30	30	NUM
fumecheng-6852	182	31	15	15	NUM
fumecheng-6852	182	32	sp	sp	ADP
fumecheng-6852	182	33	r	r	NOUN
fumecheng-6852	182	34	r	r	NOUN
fumecheng-6852	182	35	r	r	NOUN
fumecheng-6852	182	36	rd	rd	NOUN
fumecheng-6852	182	37	a	a	DET
fumecheng-6852	182	38	d	d	NOUN
fumecheng-6852	182	39	a	a	PROPN
fumecheng-6852	183	1	d	d	NOUN
fumecheng-6852	183	2	a	a	PROPN
fumecheng-6852	183	3	d	d	NOUN
fumecheng-6852	183	4	a	a	PROPN
fumecheng-6852	183	5	d	d	PROPN
fumecheng-6852	183	6	b	b	PROPN
fumecheng-6852	183	7	b	b	PROPN
fumecheng-6852	183	8	b	b	PROPN
fumecheng-6852	183	9			PROPN
fumecheng-6852	183	10			PROPN
fumecheng-6852	183	11			ADJ
fumecheng-6852	183	12			NOUN
fumecheng-6852	183	13			ADJ
fumecheng-6852	183	14			ADJ
fumecheng-6852	183	15			ADJ
fumecheng-6852	183	16			ADJ
fumecheng-6852	183	17			NOUN
fumecheng-6852	183	18			PROPN
fumecheng-6852	183	19			PROPN
fumecheng-6852	183	20			NOUN
fumecheng-6852	183	21			PROPN
fumecheng-6852	183	22			NOUN
fumecheng-6852	183	23			NOUN
fumecheng-6852	183	24	=	=	PUNCT
fumecheng-6852	184	1	−	−	PROPN
fumecheng-6852	185	1	+	+	CCONJ
fumecheng-6852	185	2	+	+	PUNCT
fumecheng-6852	186	1	+	+	PUNCT
fumecheng-6852	186	2	+	+	PUNCT
fumecheng-6852	186	3	+	+	CCONJ
fumecheng-6852	186	4	+	+	ADJ
fumecheng-6852	186	5			PROPN
fumecheng-6852	186	6			NOUN
fumecheng-6852	187	1			PROPN
fumecheng-6852	188	1			PROPN
fumecheng-6852	189	1			INTJ
fumecheng-6852	190	1			PROPN
fumecheng-6852	190	2			PROPN
fumecheng-6852	191	1			ADJ
fumecheng-6852	191	2			PROPN
fumecheng-6852	191	3			PROPN
fumecheng-6852	191	4			NOUN
fumecheng-6852	191	5			NOUN
fumecheng-6852	191	6			NOUN
fumecheng-6852	191	7			NOUN
fumecheng-6852	191	8	(	(	PUNCT
fumecheng-6852	191	9	1	1	NUM
fumecheng-6852	191	10	)	)	PUNCT
fumecheng-6852	191	11	where	where	SCONJ
fumecheng-6852	191	12	τsp	τsp	PRON
fumecheng-6852	191	13	denotes	denote	NOUN
fumecheng-6852	191	14	estimated	estimate	VERB
fumecheng-6852	191	15	spring	spring	NOUN
fumecheng-6852	191	16	torque	torque	NOUN
fumecheng-6852	191	17	,	,	PUNCT
fumecheng-6852	191	18	d	d	NOUN
fumecheng-6852	191	19	and	and	CCONJ
fumecheng-6852	191	20	φr	φr	SCONJ
fumecheng-6852	191	21	refer	refer	VERB
fumecheng-6852	191	22	to	to	ADP
fumecheng-6852	191	23	the	the	DET
fumecheng-6852	191	24	distance	distance	NOUN
fumecheng-6852	191	25	and	and	CCONJ
fumecheng-6852	191	26	the	the	DET
fumecheng-6852	191	27	angle	angle	NOUN
fumecheng-6852	191	28	between	between	ADP
fumecheng-6852	191	29	the	the	DET
fumecheng-6852	191	30	rings	ring	NOUN
fumecheng-6852	191	31	,	,	PUNCT
fumecheng-6852	191	32	and	and	CCONJ
fumecheng-6852	191	33	a	a	DET
fumecheng-6852	191	34	…	…	NUM
fumecheng-6852	191	35	,	,	PUNCT
fumecheng-6852	191	36	b	b	NOUN
fumecheng-6852	191	37	…	…	PUNCT
fumecheng-6852	191	38	are	be	AUX
fumecheng-6852	191	39	model	model	NOUN
fumecheng-6852	191	40	parameters	parameter	NOUN
fumecheng-6852	191	41	.	.	PUNCT
fumecheng-6852	192	1	an	an	DET
fumecheng-6852	192	2	excerpt	excerpt	NOUN
fumecheng-6852	192	3	of	of	ADP
fumecheng-6852	192	4	gathered	gather	VERB
fumecheng-6852	192	5	data	datum	NOUN
fumecheng-6852	192	6	(	(	PUNCT
fumecheng-6852	192	7	marked	mark	VERB
fumecheng-6852	192	8	as	as	ADP
fumecheng-6852	192	9	dots	dot	NOUN
fumecheng-6852	192	10	)	)	PUNCT
fumecheng-6852	192	11	and	and	CCONJ
fumecheng-6852	192	12	fitted	fit	VERB
fumecheng-6852	192	13	surface	surface	NOUN
fumecheng-6852	192	14	described	describe	VERB
fumecheng-6852	192	15	by	by	ADP
fumecheng-6852	192	16	eq	eq	PROPN
fumecheng-6852	192	17	.	.	PUNCT
fumecheng-6852	193	1	(	(	PUNCT
fumecheng-6852	193	2	1	1	X
fumecheng-6852	193	3	)	)	PUNCT
fumecheng-6852	193	4	are	be	AUX
fumecheng-6852	193	5	presented	present	VERB
fumecheng-6852	193	6	in	in	ADP
fumecheng-6852	193	7	fig	fig	NOUN
fumecheng-6852	193	8	.	.	PUNCT
fumecheng-6852	194	1	11	11	NUM
fumecheng-6852	194	2	.	.	PUNCT
fumecheng-6852	195	1	spring	spring	NOUN
fumecheng-6852	195	2	stiffness	stiffness	NOUN
fumecheng-6852	195	3	for	for	ADP
fumecheng-6852	195	4	small	small	ADJ
fumecheng-6852	195	5	angles	angle	NOUN
fumecheng-6852	195	6	φr	φr	ADP
fumecheng-6852	195	7	can	can	AUX
fumecheng-6852	195	8	be	be	AUX
fumecheng-6852	195	9	described	describe	VERB
fumecheng-6852	195	10	with	with	ADP
fumecheng-6852	195	11	eq	eq	NOUN
fumecheng-6852	195	12	.	.	PUNCT
fumecheng-6852	196	1	(	(	PUNCT
fumecheng-6852	196	2	2	2	X
fumecheng-6852	196	3	)	)	PUNCT
fumecheng-6852	196	4	obtained	obtain	VERB
fumecheng-6852	196	5	as	as	ADP
fumecheng-6852	196	6	a	a	DET
fumecheng-6852	196	7	partial	partial	ADJ
fumecheng-6852	196	8	derivative	derivative	NOUN
fumecheng-6852	196	9	of	of	ADP
fumecheng-6852	196	10	eq	eq	PROPN
fumecheng-6852	196	11	.	.	PUNCT
fumecheng-6852	197	1	(	(	PUNCT
fumecheng-6852	197	2	1	1	NUM
fumecheng-6852	197	3	)	)	PUNCT
fumecheng-6852	197	4	.	.	PUNCT
fumecheng-6852	198	1	112	112	NUM
fumecheng-6852	198	2	b.	b.	PROPN
fumecheng-6852	198	3	kozakiewicz	kozakiewicz	PROPN
fumecheng-6852	198	4	,	,	PUNCT
fumecheng-6852	198	5	t.	t.	PROPN
fumecheng-6852	198	6	winiarski	winiarski	PROPN
fumecheng-6852	198	7	(	(	PUNCT
fumecheng-6852	198	8	)	)	SYM
fumecheng-6852	198	9	2	2	NUM
fumecheng-6852	198	10	3	3	NUM
fumecheng-6852	198	11	4	4	NUM
fumecheng-6852	198	12	1	1	NUM
fumecheng-6852	198	13	2	2	NUM
fumecheng-6852	198	14	3	3	NUM
fumecheng-6852	198	15	1	1	NUM
fumecheng-6852	198	16	2	2	NUM
fumecheng-6852	198	17	3	3	NUM
fumecheng-6852	198	18	4	4	NUM
fumecheng-6852	198	19	0	0	NUM
fumecheng-6852	198	20	(	(	PUNCT
fumecheng-6852	198	21	,	,	PUNCT
fumecheng-6852	198	22	)	)	PUNCT
fumecheng-6852	198	23	(	(	PUNCT
fumecheng-6852	198	24	)	)	PUNCT
fumecheng-6852	198	25	1	1	NUM
fumecheng-6852	198	26	60	60	NUM
fumecheng-6852	198	27	30	30	NUM
fumecheng-6852	198	28	15	15	NUM
fumecheng-6852	198	29	sp	sp	ADP
fumecheng-6852	198	30	r	r	NOUN
fumecheng-6852	198	31	sp	sp	ADP
fumecheng-6852	198	32	r	r	NOUN
fumecheng-6852	198	33	r	r	NOUN
fumecheng-6852	198	34	d	d	NOUN
fumecheng-6852	198	35	k	k	PROPN
fumecheng-6852	199	1	d	d	PROPN
fumecheng-6852	199	2	b	b	PROPN
fumecheng-6852	199	3	b	b	PROPN
fumecheng-6852	199	4	b	b	PROPN
fumecheng-6852	199	5	a	a	PROPN
fumecheng-6852	199	6	d	d	X
fumecheng-6852	199	7	a	a	PROPN
fumecheng-6852	199	8	d	d	NOUN
fumecheng-6852	199	9	a	a	PROPN
fumecheng-6852	199	10	d	d	NOUN
fumecheng-6852	199	11	a	a	DET
fumecheng-6852	199	12	d	d	NOUN
fumecheng-6852	199	13			ADJ
fumecheng-6852	199	14			NOUN
fumecheng-6852	199	15			PROPN
fumecheng-6852	199	16			PROPN
fumecheng-6852	199	17			ADJ
fumecheng-6852	199	18			ADJ
fumecheng-6852	199	19			PROPN
fumecheng-6852	199	20	=	=	SYM
fumecheng-6852	199	21			ADJ
fumecheng-6852	199	22			NOUN
fumecheng-6852	199	23			NOUN
fumecheng-6852	199	24	=	=	PUNCT
fumecheng-6852	200	1	−	−	PROPN
fumecheng-6852	201	1	=	=	PUNCT
fumecheng-6852	202	1	+	+	PUNCT
fumecheng-6852	202	2	+	+	PUNCT
fumecheng-6852	202	3	+	+	PUNCT
fumecheng-6852	202	4	+	+	PUNCT
fumecheng-6852	202	5	+	+	CCONJ
fumecheng-6852	202	6	+	+	ADJ
fumecheng-6852	202	7			ADJ
fumecheng-6852	202	8			PRON
fumecheng-6852	202	9			ADJ
fumecheng-6852	202	10			PROPN
fumecheng-6852	202	11			NOUN
fumecheng-6852	202	12	(	(	PUNCT
fumecheng-6852	202	13	2	2	NUM
fumecheng-6852	202	14	)	)	PUNCT
fumecheng-6852	202	15	eq	eq	NOUN
fumecheng-6852	202	16	.	.	PUNCT
fumecheng-6852	203	1	(	(	PUNCT
fumecheng-6852	203	2	3	3	NUM
fumecheng-6852	203	3	)	)	PUNCT
fumecheng-6852	203	4	,	,	PUNCT
fumecheng-6852	203	5	which	which	PRON
fumecheng-6852	203	6	is	be	AUX
fumecheng-6852	203	7	derived	derive	VERB
fumecheng-6852	203	8	from	from	ADP
fumecheng-6852	203	9	the	the	DET
fumecheng-6852	203	10	euler	euler	NOUN
fumecheng-6852	203	11	equation	equation	NOUN
fumecheng-6852	203	12	of	of	ADP
fumecheng-6852	203	13	rotary	rotary	ADJ
fumecheng-6852	203	14	motion	motion	NOUN
fumecheng-6852	203	15	,	,	PUNCT
fumecheng-6852	203	16	represents	represent	VERB
fumecheng-6852	203	17	a	a	DET
fumecheng-6852	203	18	simple	simple	ADJ
fumecheng-6852	203	19	model	model	NOUN
fumecheng-6852	203	20	of	of	ADP
fumecheng-6852	203	21	a	a	DET
fumecheng-6852	203	22	relationship	relationship	NOUN
fumecheng-6852	203	23	between	between	ADP
fumecheng-6852	203	24	output	output	NOUN
fumecheng-6852	203	25	shaft	shaft	NOUN
fumecheng-6852	203	26	acceleration	acceleration	NOUN
fumecheng-6852	203	27	φöut	φöut	PROPN
fumecheng-6852	203	28	on	on	ADP
fumecheng-6852	203	29	dropped	drop	VERB
fumecheng-6852	203	30	mass	mass	ADJ
fumecheng-6852	203	31	m.	m.	NOUN
fumecheng-6852	204	1	2	2	NUM
fumecheng-6852	204	2	fr	fr	NOUN
fumecheng-6852	204	3	out	out	ADV
fumecheng-6852	204	4	mgr	mgr	PROPN
fumecheng-6852	204	5	mr	mr	PROPN
fumecheng-6852	204	6	j	j	PROPN
fumecheng-6852	204	7			VERB
fumecheng-6852	204	8			PROPN
fumecheng-6852	204	9	−	−	PROPN
fumecheng-6852	204	10	=	=	SYM
fumecheng-6852	205	1	+	+	CCONJ
fumecheng-6852	205	2	(	(	PUNCT
fumecheng-6852	205	3	3	3	NUM
fumecheng-6852	205	4	)	)	PUNCT
fumecheng-6852	205	5	φöut	φöut	NOUN
fumecheng-6852	205	6	denotes	denote	VERB
fumecheng-6852	205	7	an	an	DET
fumecheng-6852	205	8	angular	angular	ADJ
fumecheng-6852	205	9	acceleration	acceleration	NOUN
fumecheng-6852	205	10	of	of	ADP
fumecheng-6852	205	11	output	output	NOUN
fumecheng-6852	205	12	shaft	shaft	NOUN
fumecheng-6852	205	13	,	,	PUNCT
fumecheng-6852	205	14	m	m	PROPN
fumecheng-6852	205	15	–	–	PUNCT
fumecheng-6852	205	16	mass	mass	NOUN
fumecheng-6852	205	17	attached	attach	VERB
fumecheng-6852	205	18	to	to	ADP
fumecheng-6852	205	19	the	the	DET
fumecheng-6852	205	20	flywheel	flywheel	NOUN
fumecheng-6852	205	21	,	,	PUNCT
fumecheng-6852	205	22	g	g	NOUN
fumecheng-6852	205	23	–	–	PUNCT
fumecheng-6852	205	24	gravitational	gravitational	ADJ
fumecheng-6852	205	25	acceleration	acceleration	NOUN
fumecheng-6852	205	26	,	,	PUNCT
fumecheng-6852	205	27	r	r	NOUN
fumecheng-6852	205	28	–	–	PUNCT
fumecheng-6852	205	29	flywheel	flywheel	NOUN
fumecheng-6852	205	30	radius	radius	NOUN
fumecheng-6852	205	31	,	,	PUNCT
fumecheng-6852	205	32	τfr	τfr	PROPN
fumecheng-6852	205	33	–	–	PUNCT
fumecheng-6852	205	34	friction	friction	NOUN
fumecheng-6852	205	35	torque	torque	NOUN
fumecheng-6852	205	36	,	,	PUNCT
fumecheng-6852	205	37	j	j	NOUN
fumecheng-6852	205	38	–	–	PUNCT
fumecheng-6852	205	39	inertia	inertia	NOUN
fumecheng-6852	205	40	.	.	PUNCT
fumecheng-6852	206	1	fig	fig	NOUN
fumecheng-6852	206	2	.	.	PUNCT
fumecheng-6852	207	1	11	11	NUM
fumecheng-6852	207	2	torque	torque	NOUN
fumecheng-6852	207	3	-	-	PUNCT
fumecheng-6852	207	4	angle	angle	NOUN
fumecheng-6852	207	5	relationship	relationship	NOUN
fumecheng-6852	207	6	for	for	ADP
fumecheng-6852	207	7	different	different	ADJ
fumecheng-6852	207	8	distances	distance	NOUN
fumecheng-6852	207	9	between	between	ADP
fumecheng-6852	207	10	the	the	DET
fumecheng-6852	207	11	rings	ring	NOUN
fumecheng-6852	207	12	inertia	inertia	PROPN
fumecheng-6852	207	13	j	j	PROPN
fumecheng-6852	207	14	of	of	ADP
fumecheng-6852	207	15	output	output	NOUN
fumecheng-6852	207	16	shaft	shaft	NOUN
fumecheng-6852	207	17	was	be	AUX
fumecheng-6852	207	18	identified	identify	VERB
fumecheng-6852	207	19	by	by	ADP
fumecheng-6852	207	20	fitting	fitting	ADJ
fumecheng-6852	207	21	function	function	NOUN
fumecheng-6852	207	22	(	(	PUNCT
fumecheng-6852	207	23	3	3	NUM
fumecheng-6852	207	24	)	)	PUNCT
fumecheng-6852	207	25	to	to	ADP
fumecheng-6852	207	26	the	the	DET
fumecheng-6852	207	27	data	datum	NOUN
fumecheng-6852	207	28	gathered	gather	VERB
fumecheng-6852	207	29	in	in	ADP
fumecheng-6852	207	30	experiment	experiment	NOUN
fumecheng-6852	207	31	b.	b.	PROPN
fumecheng-6852	207	32	radius	radius	PROPN
fumecheng-6852	207	33	r	r	NOUN
fumecheng-6852	207	34	was	be	AUX
fumecheng-6852	207	35	known	know	VERB
fumecheng-6852	207	36	,	,	PUNCT
fumecheng-6852	207	37	and	and	CCONJ
fumecheng-6852	207	38	friction	friction	NOUN
fumecheng-6852	207	39	torque	torque	NOUN
fumecheng-6852	207	40	τfr	τfr	PROPN
fumecheng-6852	207	41	was	be	AUX
fumecheng-6852	207	42	assumed	assume	VERB
fumecheng-6852	207	43	to	to	PART
fumecheng-6852	207	44	be	be	AUX
fumecheng-6852	207	45	independent	independent	ADJ
fumecheng-6852	207	46	of	of	ADP
fumecheng-6852	207	47	angular	angular	ADJ
fumecheng-6852	207	48	position	position	NOUN
fumecheng-6852	207	49	and	and	CCONJ
fumecheng-6852	207	50	velocity	velocity	NOUN
fumecheng-6852	207	51	of	of	ADP
fumecheng-6852	207	52	output	output	NOUN
fumecheng-6852	207	53	shaft	shaft	NOUN
fumecheng-6852	207	54	(	(	PUNCT
fumecheng-6852	207	55	coulomb	coulomb	NOUN
fumecheng-6852	207	56	's	's	PART
fumecheng-6852	207	57	model	model	NOUN
fumecheng-6852	207	58	of	of	ADP
fumecheng-6852	207	59	solid	solid	ADJ
fumecheng-6852	207	60	friction	friction	NOUN
fumecheng-6852	207	61	)	)	PUNCT
fumecheng-6852	207	62	,	,	PUNCT
fumecheng-6852	207	63	and	and	CCONJ
fumecheng-6852	207	64	was	be	AUX
fumecheng-6852	207	65	identified	identify	VERB
fumecheng-6852	207	66	as	as	ADP
fumecheng-6852	207	67	a	a	DET
fumecheng-6852	207	68	second	second	ADJ
fumecheng-6852	207	69	parameter	parameter	NOUN
fumecheng-6852	207	70	of	of	ADP
fumecheng-6852	207	71	the	the	DET
fumecheng-6852	207	72	fitted	fit	VERB
fumecheng-6852	207	73	model	model	NOUN
fumecheng-6852	207	74	.	.	PUNCT
fumecheng-6852	208	1	the	the	DET
fumecheng-6852	208	2	fitted	fit	VERB
fumecheng-6852	208	3	curve	curve	NOUN
fumecheng-6852	208	4	is	be	AUX
fumecheng-6852	208	5	presented	present	VERB
fumecheng-6852	208	6	in	in	ADP
fumecheng-6852	208	7	fig	fig	NOUN
fumecheng-6852	208	8	.	.	PUNCT
fumecheng-6852	209	1	12	12	NUM
fumecheng-6852	209	2	.	.	PUNCT
fumecheng-6852	209	3	fig	fig	NOUN
fumecheng-6852	209	4	.	.	PUNCT
fumecheng-6852	210	1	12	12	NUM
fumecheng-6852	210	2	the	the	DET
fumecheng-6852	210	3	curve	curve	NOUN
fumecheng-6852	210	4	fitted	fit	VERB
fumecheng-6852	210	5	to	to	ADP
fumecheng-6852	210	6	the	the	DET
fumecheng-6852	210	7	results	result	NOUN
fumecheng-6852	210	8	of	of	ADP
fumecheng-6852	210	9	experiment	experiment	NOUN
fumecheng-6852	210	10	b	b	PROPN
fumecheng-6852	210	11	to	to	PART
fumecheng-6852	210	12	identify	identify	VERB
fumecheng-6852	210	13	inertia	inertia	NOUN
fumecheng-6852	210	14	and	and	CCONJ
fumecheng-6852	210	15	friction	friction	NOUN
fumecheng-6852	210	16	spring	spring	NOUN
fumecheng-6852	210	17	based	base	VERB
fumecheng-6852	210	18	on	on	ADP
fumecheng-6852	210	19	flat	flat	ADJ
fumecheng-6852	210	20	permanent	permanent	ADJ
fumecheng-6852	210	21	magnets	magnet	NOUN
fumecheng-6852	210	22	:	:	PUNCT
fumecheng-6852	210	23	design	design	NOUN
fumecheng-6852	210	24	,	,	PUNCT
fumecheng-6852	210	25	analysis	analysis	NOUN
fumecheng-6852	210	26	and	and	CCONJ
fumecheng-6852	210	27	use	use	NOUN
fumecheng-6852	210	28	in	in	ADP
fumecheng-6852	210	29	variable	variable	ADJ
fumecheng-6852	210	30	stiffness	stiffness	ADJ
fumecheng-6852	210	31	actuator	actuator	NOUN
fumecheng-6852	210	32	113	113	NUM
fumecheng-6852	210	33	if	if	SCONJ
fumecheng-6852	210	34	the	the	DET
fumecheng-6852	210	35	joint	joint	NOUN
fumecheng-6852	210	36	were	be	AUX
fumecheng-6852	210	37	rigid	rigid	ADJ
fumecheng-6852	210	38	,	,	PUNCT
fumecheng-6852	210	39	the	the	DET
fumecheng-6852	210	40	output	output	NOUN
fumecheng-6852	210	41	shaft	shaft	NOUN
fumecheng-6852	210	42	would	would	AUX
fumecheng-6852	210	43	always	always	ADV
fumecheng-6852	210	44	have	have	VERB
fumecheng-6852	210	45	the	the	DET
fumecheng-6852	210	46	same	same	ADJ
fumecheng-6852	210	47	angular	angular	ADJ
fumecheng-6852	210	48	position	position	NOUN
fumecheng-6852	210	49	φout	φout	NOUN
fumecheng-6852	210	50	as	as	ADP
fumecheng-6852	210	51	the	the	DET
fumecheng-6852	210	52	primary	primary	ADJ
fumecheng-6852	210	53	shaft	shaft	NOUN
fumecheng-6852	210	54	φin	φin	NOUN
fumecheng-6852	210	55	.	.	PUNCT
fumecheng-6852	211	1	compliance	compliance	NOUN
fumecheng-6852	211	2	introduces	introduce	VERB
fumecheng-6852	211	3	some	some	DET
fumecheng-6852	211	4	other	other	ADJ
fumecheng-6852	211	5	kind	kind	NOUN
fumecheng-6852	211	6	of	of	ADP
fumecheng-6852	211	7	relationship	relationship	NOUN
fumecheng-6852	211	8	between	between	ADP
fumecheng-6852	211	9	shaft	shaft	NOUN
fumecheng-6852	211	10	movements	movement	NOUN
fumecheng-6852	211	11	.	.	PUNCT
fumecheng-6852	212	1	its	its	PRON
fumecheng-6852	212	2	general	general	ADJ
fumecheng-6852	212	3	form	form	NOUN
fumecheng-6852	212	4	can	can	AUX
fumecheng-6852	212	5	be	be	AUX
fumecheng-6852	212	6	predicted	predict	VERB
fumecheng-6852	212	7	theoretically	theoretically	ADV
fumecheng-6852	212	8	by	by	ADP
fumecheng-6852	212	9	transforming	transform	VERB
fumecheng-6852	212	10	the	the	DET
fumecheng-6852	212	11	euler	euler	NOUN
fumecheng-6852	212	12	equation	equation	NOUN
fumecheng-6852	212	13	of	of	ADP
fumecheng-6852	212	14	rotary	rotary	ADJ
fumecheng-6852	212	15	motion	motion	NOUN
fumecheng-6852	212	16	written	write	VERB
fumecheng-6852	212	17	for	for	ADP
fumecheng-6852	212	18	the	the	DET
fumecheng-6852	212	19	output	output	NOUN
fumecheng-6852	212	20	shaft	shaft	NOUN
fumecheng-6852	212	21	(	(	PUNCT
fumecheng-6852	212	22	eq	eq	NOUN
fumecheng-6852	212	23	.	.	PROPN
fumecheng-6852	212	24	4	4	NUM
fumecheng-6852	212	25	)	)	PUNCT
fumecheng-6852	212	26	:	:	PUNCT
fumecheng-6852	212	27	(	(	PUNCT
fumecheng-6852	212	28	)	)	PUNCT
fumecheng-6852	212	29	(	(	PUNCT
fumecheng-6852	212	30	)	)	PUNCT
fumecheng-6852	212	31	(	(	PUNCT
fumecheng-6852	212	32	)	)	PUNCT
fumecheng-6852	212	33	,	,	PUNCT
fumecheng-6852	212	34	,	,	PUNCT
fumecheng-6852	212	35	...	...	PUNCT
fumecheng-6852	212	36	,	,	PUNCT
fumecheng-6852	212	37	...	...	PUNCT
fumecheng-6852	212	38	,	,	PUNCT
fumecheng-6852	212	39	,	,	PUNCT
fumecheng-6852	212	40	,	,	PUNCT
fumecheng-6852	212	41	,	,	PUNCT
fumecheng-6852	212	42	...	...	PUNCT
fumecheng-6852	212	43	ld	ld	PROPN
fumecheng-6852	212	44	sp	sp	VERB
fumecheng-6852	212	45	out	out	ADP
fumecheng-6852	212	46	in	in	ADP
fumecheng-6852	212	47	fr	fr	NOUN
fumecheng-6852	212	48	out	out	ADP
fumecheng-6852	212	49	out	out	ADV
fumecheng-6852	212	50	in	in	ADP
fumecheng-6852	212	51	out	out	ADV
fumecheng-6852	212	52	out	out	ADP
fumecheng-6852	212	53	d	d	PROPN
fumecheng-6852	212	54	d	d	X
fumecheng-6852	212	55	j	j	PROPN
fumecheng-6852	212	56			NOUN
fumecheng-6852	212	57			NOUN
fumecheng-6852	212	58			ADJ
fumecheng-6852	212	59			ADJ
fumecheng-6852	212	60			NOUN
fumecheng-6852	212	61			ADJ
fumecheng-6852	212	62			ADJ
fumecheng-6852	212	63			ADJ
fumecheng-6852	212	64			ADJ
fumecheng-6852	212	65			PROPN
fumecheng-6852	212	66	+	+	CCONJ
fumecheng-6852	212	67	−	−	PROPN
fumecheng-6852	213	1	+	+	CCONJ
fumecheng-6852	213	2	=	=	SYM
fumecheng-6852	213	3	(	(	PUNCT
fumecheng-6852	213	4	4	4	NUM
fumecheng-6852	213	5	)	)	PUNCT
fumecheng-6852	213	6	where	where	SCONJ
fumecheng-6852	213	7	φout	φout	PROPN
fumecheng-6852	213	8	denotes	denote	VERB
fumecheng-6852	213	9	an	an	DET
fumecheng-6852	213	10	angular	angular	ADJ
fumecheng-6852	213	11	position	position	NOUN
fumecheng-6852	213	12	of	of	ADP
fumecheng-6852	213	13	the	the	DET
fumecheng-6852	213	14	output	output	NOUN
fumecheng-6852	213	15	shaft	shaft	NOUN
fumecheng-6852	213	16	,	,	PUNCT
fumecheng-6852	213	17	φin	φin	NOUN
fumecheng-6852	213	18	–	–	PUNCT
fumecheng-6852	213	19	angular	angular	ADJ
fumecheng-6852	213	20	position	position	NOUN
fumecheng-6852	213	21	of	of	ADP
fumecheng-6852	213	22	the	the	DET
fumecheng-6852	213	23	input	input	NOUN
fumecheng-6852	213	24	shaft	shaft	NOUN
fumecheng-6852	213	25	,	,	PUNCT
fumecheng-6852	213	26	τld	τld	X
fumecheng-6852	213	27	–	–	PUNCT
fumecheng-6852	213	28	external	external	ADJ
fumecheng-6852	213	29	torque	torque	NOUN
fumecheng-6852	213	30	applied	apply	VERB
fumecheng-6852	213	31	to	to	ADP
fumecheng-6852	213	32	the	the	DET
fumecheng-6852	213	33	output	output	NOUN
fumecheng-6852	213	34	shaft	shaft	NOUN
fumecheng-6852	213	35	,	,	PUNCT
fumecheng-6852	213	36	τsp	τsp	NUM
fumecheng-6852	213	37	–	–	PUNCT
fumecheng-6852	213	38	spring	spring	NOUN
fumecheng-6852	213	39	torque	torque	NOUN
fumecheng-6852	213	40	,	,	PUNCT
fumecheng-6852	213	41	d	d	X
fumecheng-6852	213	42	–	–	PUNCT
fumecheng-6852	213	43	distance	distance	NOUN
fumecheng-6852	213	44	between	between	ADP
fumecheng-6852	213	45	the	the	DET
fumecheng-6852	213	46	rings	ring	NOUN
fumecheng-6852	213	47	,	,	PUNCT
fumecheng-6852	213	48	τfr	τfr	PROPN
fumecheng-6852	213	49	–	–	PUNCT
fumecheng-6852	213	50	friction	friction	NOUN
fumecheng-6852	213	51	torque	torque	NOUN
fumecheng-6852	213	52	,	,	PUNCT
fumecheng-6852	213	53	j	j	PROPN
fumecheng-6852	213	54	–	–	PUNCT
fumecheng-6852	213	55	inertia	inertia	NOUN
fumecheng-6852	213	56	of	of	ADP
fumecheng-6852	213	57	output	output	NOUN
fumecheng-6852	213	58	shaft	shaft	NOUN
fumecheng-6852	213	59	and	and	CCONJ
fumecheng-6852	213	60	parts	part	NOUN
fumecheng-6852	213	61	mounted	mount	VERB
fumecheng-6852	213	62	to	to	ADP
fumecheng-6852	213	63	it	it	PRON
fumecheng-6852	213	64	.	.	PUNCT
fumecheng-6852	214	1	in	in	ADP
fumecheng-6852	214	2	this	this	DET
fumecheng-6852	214	3	model	model	NOUN
fumecheng-6852	214	4	,	,	PUNCT
fumecheng-6852	214	5	external	external	ADJ
fumecheng-6852	214	6	load	load	NOUN
fumecheng-6852	214	7	τld	τld	PUNCT
fumecheng-6852	214	8	was	be	AUX
fumecheng-6852	214	9	treated	treat	VERB
fumecheng-6852	214	10	as	as	ADP
fumecheng-6852	214	11	known	know	VERB
fumecheng-6852	214	12	–	–	PUNCT
fumecheng-6852	214	13	its	its	PRON
fumecheng-6852	214	14	value	value	NOUN
fumecheng-6852	214	15	was	be	AUX
fumecheng-6852	214	16	zero	zero	NUM
fumecheng-6852	214	17	in	in	ADP
fumecheng-6852	214	18	the	the	DET
fumecheng-6852	214	19	experiments	experiment	NOUN
fumecheng-6852	214	20	.	.	PUNCT
fumecheng-6852	215	1	the	the	DET
fumecheng-6852	215	2	model	model	NOUN
fumecheng-6852	215	3	of	of	ADP
fumecheng-6852	215	4	spring	spring	NOUN
fumecheng-6852	215	5	torque	torque	NOUN
fumecheng-6852	215	6	τsp(d	τsp(d	PROPN
fumecheng-6852	215	7	,	,	PUNCT
fumecheng-6852	215	8	φout	φout	NOUN
fumecheng-6852	215	9	–	–	PUNCT
fumecheng-6852	215	10	φin	φin	NOUN
fumecheng-6852	215	11	)	)	PUNCT
fumecheng-6852	215	12	has	have	AUX
fumecheng-6852	215	13	already	already	ADV
fumecheng-6852	215	14	been	be	AUX
fumecheng-6852	215	15	found	find	VERB
fumecheng-6852	215	16	as	as	ADV
fumecheng-6852	215	17	well	well	ADV
fumecheng-6852	215	18	as	as	ADP
fumecheng-6852	215	19	the	the	DET
fumecheng-6852	215	20	value	value	NOUN
fumecheng-6852	215	21	of	of	ADP
fumecheng-6852	215	22	inertia	inertia	NOUN
fumecheng-6852	215	23	j.	j.	PROPN
fumecheng-6852	215	24	multiple	multiple	ADJ
fumecheng-6852	215	25	models	model	NOUN
fumecheng-6852	215	26	based	base	VERB
fumecheng-6852	215	27	on	on	ADP
fumecheng-6852	215	28	eqs	eqs	PROPN
fumecheng-6852	215	29	.	.	PUNCT
fumecheng-6852	216	1	(	(	PUNCT
fumecheng-6852	216	2	1	1	NUM
fumecheng-6852	216	3	)	)	PUNCT
fumecheng-6852	216	4	,	,	PUNCT
fumecheng-6852	216	5	(	(	PUNCT
fumecheng-6852	216	6	2	2	NUM
fumecheng-6852	216	7	)	)	PUNCT
fumecheng-6852	216	8	,	,	PUNCT
fumecheng-6852	216	9	(	(	PUNCT
fumecheng-6852	216	10	4	4	X
fumecheng-6852	216	11	)	)	PUNCT
fumecheng-6852	216	12	were	be	AUX
fumecheng-6852	216	13	developed	develop	VERB
fumecheng-6852	216	14	(	(	PUNCT
fumecheng-6852	216	15	most	most	ADV
fumecheng-6852	216	16	interesting	interesting	ADJ
fumecheng-6852	216	17	cases	case	NOUN
fumecheng-6852	216	18	are	be	AUX
fumecheng-6852	216	19	listed	list	VERB
fumecheng-6852	216	20	in	in	ADP
fumecheng-6852	216	21	table	table	NOUN
fumecheng-6852	216	22	3	3	NUM
fumecheng-6852	216	23	and	and	CCONJ
fumecheng-6852	216	24	interpreted	interpret	VERB
fumecheng-6852	216	25	in	in	ADP
fumecheng-6852	216	26	section	section	NOUN
fumecheng-6852	216	27	7.2	7.2	NUM
fumecheng-6852	216	28	)	)	PUNCT
fumecheng-6852	216	29	and	and	CCONJ
fumecheng-6852	216	30	investigated	investigate	VERB
fumecheng-6852	216	31	by	by	ADP
fumecheng-6852	216	32	fitting	fit	VERB
fumecheng-6852	216	33	their	their	PRON
fumecheng-6852	216	34	parameters	parameter	NOUN
fumecheng-6852	216	35	to	to	ADP
fumecheng-6852	216	36	teaching	teach	VERB
fumecheng-6852	216	37	set	set	NOUN
fumecheng-6852	216	38	(	(	PUNCT
fumecheng-6852	216	39	described	describe	VERB
fumecheng-6852	216	40	in	in	ADP
fumecheng-6852	216	41	section	section	NOUN
fumecheng-6852	216	42	6.1	6.1	NUM
fumecheng-6852	216	43	)	)	PUNCT
fumecheng-6852	216	44	and	and	CCONJ
fumecheng-6852	216	45	calculating	calculate	VERB
fumecheng-6852	216	46	different	different	ADJ
fumecheng-6852	216	47	goodness	goodness	NOUN
fumecheng-6852	216	48	of	of	ADP
fumecheng-6852	216	49	fit	fit	ADJ
fumecheng-6852	216	50	measures	measure	NOUN
fumecheng-6852	216	51	using	use	VERB
fumecheng-6852	216	52	verifying	verifying	NOUN
fumecheng-6852	216	53	dataset	dataset	NOUN
fumecheng-6852	216	54	:	:	PUNCT
fumecheng-6852	216	55	mean	mean	VERB
fumecheng-6852	216	56	square	square	ADJ
fumecheng-6852	216	57	error	error	NOUN
fumecheng-6852	216	58	(	(	PUNCT
fumecheng-6852	216	59	mse	mse	NOUN
fumecheng-6852	216	60	)	)	PUNCT
fumecheng-6852	216	61	,	,	PUNCT
fumecheng-6852	216	62	adjusted	adjust	VERB
fumecheng-6852	216	63	coefficient	coefficient	NOUN
fumecheng-6852	216	64	of	of	ADP
fumecheng-6852	216	65	determination	determination	NOUN
fumecheng-6852	216	66	(	(	PUNCT
fumecheng-6852	216	67	r2	r2	PROPN
fumecheng-6852	216	68	adj	adj	PROPN
fumecheng-6852	216	69	)	)	PUNCT
fumecheng-6852	216	70	standard	standard	ADJ
fumecheng-6852	216	71	error	error	NOUN
fumecheng-6852	216	72	(	(	PUNCT
fumecheng-6852	216	73	se	se	X
fumecheng-6852	216	74	)	)	PUNCT
fumecheng-6852	216	75	and	and	CCONJ
fumecheng-6852	216	76	bayesian	bayesian	NOUN
fumecheng-6852	216	77	information	information	NOUN
fumecheng-6852	216	78	criterion	criterion	NOUN
fumecheng-6852	216	79	(	(	PUNCT
fumecheng-6852	216	80	bic	bic	PROPN
fumecheng-6852	216	81	)	)	PUNCT
fumecheng-6852	216	82	.	.	PUNCT
fumecheng-6852	217	1	also	also	ADV
fumecheng-6852	217	2	,	,	PUNCT
fumecheng-6852	217	3	two	two	NUM
fumecheng-6852	217	4	partially	partially	ADV
fumecheng-6852	217	5	linearised	linearise	VERB
fumecheng-6852	217	6	models	model	NOUN
fumecheng-6852	217	7	were	be	AUX
fumecheng-6852	217	8	investigated	investigate	VERB
fumecheng-6852	217	9	:	:	PUNCT
fumecheng-6852	217	10	al	al	PROPN
fumecheng-6852	217	11	and	and	CCONJ
fumecheng-6852	217	12	fl	fl	PROPN
fumecheng-6852	217	13	.	.	PUNCT
fumecheng-6852	218	1	the	the	DET
fumecheng-6852	218	2	results	result	NOUN
fumecheng-6852	218	3	are	be	AUX
fumecheng-6852	218	4	listed	list	VERB
fumecheng-6852	218	5	in	in	ADP
fumecheng-6852	218	6	table	table	NOUN
fumecheng-6852	218	7	4	4	NUM
fumecheng-6852	218	8	.	.	PUNCT
fumecheng-6852	218	9	table	table	NOUN
fumecheng-6852	218	10	3	3	NUM
fumecheng-6852	218	11	models	model	NOUN
fumecheng-6852	218	12	of	of	ADP
fumecheng-6852	218	13	output	output	NOUN
fumecheng-6852	218	14	shaft	shaft	NOUN
fumecheng-6852	218	15	acceleration	acceleration	NOUN
fumecheng-6852	218	16	(	(	PUNCT
fumecheng-6852	218	17	bold	bold	ADJ
fumecheng-6852	218	18	symbols	symbol	NOUN
fumecheng-6852	218	19	denote	denote	VERB
fumecheng-6852	218	20	fitted	fit	VERB
fumecheng-6852	218	21	parameters	parameter	NOUN
fumecheng-6852	218	22	)	)	PUNCT
fumecheng-6852	219	1	i	i	PROPN
fumecheng-6852	219	2	d	d	PROPN
fumecheng-6852	219	3	equation	equation	NOUN
fumecheng-6852	219	4	a	a	DET
fumecheng-6852	219	5	(	(	PUNCT
fumecheng-6852	219	6	)	)	PUNCT
fumecheng-6852	219	7	(	(	PUNCT
fumecheng-6852	219	8	)	)	PUNCT
fumecheng-6852	219	9	1	1	NUM
fumecheng-6852	219	10	,	,	PUNCT
fumecheng-6852	219	11	out	out	ADP
fumecheng-6852	219	12	sp	sp	ADP
fumecheng-6852	219	13	out	out	ADP
fumecheng-6852	219	14	inj	inj	NOUN
fumecheng-6852	219	15	d	d	PROPN
fumecheng-6852	219	16			NOUN
fumecheng-6852	219	17			PROPN
fumecheng-6852	219	18	=	=	NUM
fumecheng-6852	219	19	−	−	PROPN
fumecheng-6852	219	20	b	b	PROPN
fumecheng-6852	219	21	(	(	PUNCT
fumecheng-6852	219	22	)	)	PUNCT
fumecheng-6852	219	23	(	(	PUNCT
fumecheng-6852	219	24	)	)	PUNCT
fumecheng-6852	219	25	(	(	PUNCT
fumecheng-6852	219	26	)	)	PUNCT
fumecheng-6852	219	27	1	1	NUM
fumecheng-6852	219	28	,	,	PUNCT
fumecheng-6852	219	29	signout	signout	X
fumecheng-6852	219	30	sp	sp	ADP
fumecheng-6852	219	31	out	out	ADP
fumecheng-6852	219	32	in	in	ADP
fumecheng-6852	219	33	outj	outj	NOUN
fumecheng-6852	219	34	d	d	NOUN
fumecheng-6852	219	35			VERB
fumecheng-6852	219	36			PROPN
fumecheng-6852	219	37			PROPN
fumecheng-6852	219	38	=	=	PROPN
fumecheng-6852	220	1	−	−	NOUN
fumecheng-6852	221	1	−	−	PROPN
fumecheng-6852	221	2	frτ	frτ	NOUN
fumecheng-6852	221	3	c	c	PROPN
fumecheng-6852	221	4	(	(	PUNCT
fumecheng-6852	221	5	)	)	PUNCT
fumecheng-6852	221	6	(	(	PUNCT
fumecheng-6852	221	7	)	)	PUNCT
fumecheng-6852	221	8	(	(	PUNCT
fumecheng-6852	221	9	)	)	PUNCT
fumecheng-6852	221	10	1	1	NUM
fumecheng-6852	221	11	,	,	PUNCT
fumecheng-6852	221	12	tanhout	tanhout	ADP
fumecheng-6852	221	13	sp	sp	ADP
fumecheng-6852	221	14	out	out	ADP
fumecheng-6852	221	15	in	in	ADP
fumecheng-6852	221	16	outj	outj	NOUN
fumecheng-6852	221	17	d	d	NOUN
fumecheng-6852	221	18			VERB
fumecheng-6852	221	19			PROPN
fumecheng-6852	221	20			PROPN
fumecheng-6852	221	21	=	=	PROPN
fumecheng-6852	221	22	−	−	NOUN
fumecheng-6852	221	23	−	−	PROPN
fumecheng-6852	221	24	frτ	frτ	NOUN
fumecheng-6852	221	25	v	v	PROPN
fumecheng-6852	221	26	d	d	PROPN
fumecheng-6852	221	27	(	(	PUNCT
fumecheng-6852	221	28	)	)	PUNCT
fumecheng-6852	221	29	(	(	PUNCT
fumecheng-6852	221	30	)	)	PUNCT
fumecheng-6852	221	31	(	(	PUNCT
fumecheng-6852	221	32	)	)	PUNCT
fumecheng-6852	221	33	(	(	PUNCT
fumecheng-6852	221	34	)	)	PUNCT
fumecheng-6852	221	35	1	1	NUM
fumecheng-6852	221	36	,	,	PUNCT
fumecheng-6852	221	37	tanh	tanh	PROPN
fumecheng-6852	221	38	sinout	sinout	NOUN
fumecheng-6852	221	39	sp	sp	VERB
fumecheng-6852	221	40	out	out	ADV
fumecheng-6852	221	41	in	in	ADP
fumecheng-6852	221	42	out	out	ADJ
fumecheng-6852	221	43	outj	outj	NOUN
fumecheng-6852	221	44	d	d	NOUN
fumecheng-6852	221	45			VERB
fumecheng-6852	221	46			PROPN
fumecheng-6852	221	47			PROPN
fumecheng-6852	221	48			PROPN
fumecheng-6852	221	49	=	=	NUM
fumecheng-6852	221	50	−	−	ADP
fumecheng-6852	221	51	−	−	PROPN
fumecheng-6852	222	1	+	+	CCONJ
fumecheng-6852	223	1	+	+	NUM
fumecheng-6852	223	2	frτ	frτ	NOUN
fumecheng-6852	223	3	v	v	NOUN
fumecheng-6852	223	4	w	w	NOUN
fumecheng-6852	223	5	x	x	X
fumecheng-6852	223	6	e	e	NOUN
fumecheng-6852	223	7	(	(	PUNCT
fumecheng-6852	223	8	)	)	PUNCT
fumecheng-6852	223	9	(	(	PUNCT
fumecheng-6852	223	10	)	)	PUNCT
fumecheng-6852	223	11	(	(	PUNCT
fumecheng-6852	223	12	)	)	PUNCT
fumecheng-6852	223	13	(	(	PUNCT
fumecheng-6852	223	14	)	)	PUNCT
fumecheng-6852	223	15	(	(	PUNCT
fumecheng-6852	223	16	)	)	PUNCT
fumecheng-6852	223	17	1	1	NUM
fumecheng-6852	223	18	,	,	PUNCT
fumecheng-6852	223	19	tanh	tanh	PROPN
fumecheng-6852	223	20	sinout	sinout	NOUN
fumecheng-6852	223	21	sp	sp	VERB
fumecheng-6852	223	22	out	out	ADV
fumecheng-6852	223	23	in	in	ADP
fumecheng-6852	223	24	out	out	ADP
fumecheng-6852	223	25	out	out	ADP
fumecheng-6852	223	26	inj	inj	NOUN
fumecheng-6852	223	27	d	d	PROPN
fumecheng-6852	223	28			VERB
fumecheng-6852	223	29			PROPN
fumecheng-6852	223	30			ADJ
fumecheng-6852	223	31			ADJ
fumecheng-6852	223	32			ADJ
fumecheng-6852	223	33	=	=	NUM
fumecheng-6852	223	34	−	−	ADP
fumecheng-6852	223	35	−	−	PROPN
fumecheng-6852	224	1	+	+	CCONJ
fumecheng-6852	224	2	+	+	CCONJ
fumecheng-6852	224	3	−frτ	−frτ	X
fumecheng-6852	224	4	v	v	NOUN
fumecheng-6852	224	5	w	w	NOUN
fumecheng-6852	224	6	x	x	X
fumecheng-6852	224	7	y	y	PROPN
fumecheng-6852	224	8	f	f	PROPN
fumecheng-6852	224	9	(	(	PUNCT
fumecheng-6852	224	10	)	)	PUNCT
fumecheng-6852	224	11	(	(	PUNCT
fumecheng-6852	224	12	)	)	PUNCT
fumecheng-6852	224	13	(	(	PUNCT
fumecheng-6852	224	14	)	)	PUNCT
fumecheng-6852	224	15	(	(	PUNCT
fumecheng-6852	224	16	)	)	PUNCT
fumecheng-6852	224	17	(	(	PUNCT
fumecheng-6852	224	18	)	)	PUNCT
fumecheng-6852	224	19	1	1	NUM
fumecheng-6852	224	20	,	,	PUNCT
fumecheng-6852	224	21	tanh	tanh	PROPN
fumecheng-6852	224	22	sinout	sinout	NOUN
fumecheng-6852	224	23	sp	sp	VERB
fumecheng-6852	224	24	out	out	ADV
fumecheng-6852	224	25	in	in	ADP
fumecheng-6852	224	26	out	out	ADV
fumecheng-6852	224	27	out	out	ADP
fumecheng-6852	224	28	out	out	ADP
fumecheng-6852	224	29	inj	inj	NOUN
fumecheng-6852	224	30	d	d	PROPN
fumecheng-6852	224	31			VERB
fumecheng-6852	224	32			PROPN
fumecheng-6852	224	33			ADJ
fumecheng-6852	224	34			ADJ
fumecheng-6852	224	35			ADJ
fumecheng-6852	224	36			ADJ
fumecheng-6852	224	37	=	=	NUM
fumecheng-6852	224	38	−	−	ADP
fumecheng-6852	224	39	−	−	PROPN
fumecheng-6852	225	1	+	+	CCONJ
fumecheng-6852	225	2	+	+	CCONJ
fumecheng-6852	225	3	−	−	PROPN
fumecheng-6852	225	4	−frτ	−frτ	NOUN
fumecheng-6852	225	5	v	v	NOUN
fumecheng-6852	225	6	w	w	NOUN
fumecheng-6852	225	7	x	x	PROPN
fumecheng-6852	225	8	z	z	PROPN
fumecheng-6852	225	9	al	al	PROPN
fumecheng-6852	225	10	(	(	PUNCT
fumecheng-6852	225	11	)	)	PUNCT
fumecheng-6852	225	12	(	(	PUNCT
fumecheng-6852	225	13	)	)	PUNCT
fumecheng-6852	225	14	(	(	PUNCT
fumecheng-6852	225	15	)	)	PUNCT
fumecheng-6852	225	16	(	(	PUNCT
fumecheng-6852	225	17	)	)	PUNCT
fumecheng-6852	225	18	1	1	NUM
fumecheng-6852	225	19	mod	mod	NOUN
fumecheng-6852	225	20	60	60	NUM
fumecheng-6852	225	21	,	,	PUNCT
fumecheng-6852	225	22	120	120	NUM
fumecheng-6852	225	23	60out	60out	NOUN
fumecheng-6852	225	24	sp	sp	ADP
fumecheng-6852	225	25	out	out	ADP
fumecheng-6852	225	26	inj	inj	NOUN
fumecheng-6852	225	27	k	k	PROPN
fumecheng-6852	225	28	d	d	PROPN
fumecheng-6852	226	1			PROPN
fumecheng-6852	226	2	=	=	PROPN
fumecheng-6852	226	3	−	−	ADP
fumecheng-6852	227	1	+	+	CCONJ
fumecheng-6852	227	2			X
fumecheng-6852	227	3			NOUN
fumecheng-6852	227	4	−	−	PROPN
fumecheng-6852	227	5			PROPN
fumecheng-6852	227	6	fl	fl	PROPN
fumecheng-6852	227	7	(	(	PUNCT
fumecheng-6852	227	8	)	)	PUNCT
fumecheng-6852	227	9	(	(	PUNCT
fumecheng-6852	227	10	)	)	PUNCT
fumecheng-6852	227	11	(	(	PUNCT
fumecheng-6852	227	12	)	)	PUNCT
fumecheng-6852	227	13	(	(	PUNCT
fumecheng-6852	227	14	)	)	PUNCT
fumecheng-6852	227	15	(	(	PUNCT
fumecheng-6852	227	16	(	(	PUNCT
fumecheng-6852	227	17	)	)	PUNCT
fumecheng-6852	227	18	(	(	PUNCT
fumecheng-6852	227	19	)	)	PUNCT
fumecheng-6852	227	20	)	)	PUNCT
fumecheng-6852	227	21	1	1	NUM
fumecheng-6852	227	22	mod	mod	NOUN
fumecheng-6852	227	23	60	60	NUM
fumecheng-6852	227	24	,	,	PUNCT
fumecheng-6852	227	25	120	120	NUM
fumecheng-6852	227	26	60	60	NUM
fumecheng-6852	227	27	tanh	tanh	NOUN
fumecheng-6852	227	28	sin	sin	VERB
fumecheng-6852	227	29	out	out	ADP
fumecheng-6852	227	30	sp	sp	ADP
fumecheng-6852	227	31	out	out	ADP
fumecheng-6852	227	32	in	in	ADP
fumecheng-6852	227	33	outj	outj	NOUN
fumecheng-6852	227	34	out	out	ADP
fumecheng-6852	227	35	out	out	ADV
fumecheng-6852	227	36	in	in	ADP
fumecheng-6852	227	37	k	k	PROPN
fumecheng-6852	227	38	d	d	PROPN
fumecheng-6852	228	1			ADJ
fumecheng-6852	228	2			PROPN
fumecheng-6852	228	3			ADJ
fumecheng-6852	228	4			ADJ
fumecheng-6852	228	5			ADJ
fumecheng-6852	228	6			PROPN
fumecheng-6852	228	7	=	=	SYM
fumecheng-6852	228	8	−	−	PROPN
fumecheng-6852	228	9	+	+	CCONJ
fumecheng-6852	228	10			X
fumecheng-6852	228	11			NOUN
fumecheng-6852	228	12	−	−	PROPN
fumecheng-6852	228	13			NOUN
fumecheng-6852	228	14	−	−	PROPN
fumecheng-6852	229	1	+	+	CCONJ
fumecheng-6852	230	1	+	+	CCONJ
fumecheng-6852	231	1	−	−	PROPN
fumecheng-6852	231	2	−	−	NUM
fumecheng-6852	231	3	frτ	frτ	NOUN
fumecheng-6852	231	4	v	v	NOUN
fumecheng-6852	231	5	+	+	CCONJ
fumecheng-6852	231	6	w	w	NOUN
fumecheng-6852	231	7	x	x	SYM
fumecheng-6852	231	8	z	z	PROPN
fumecheng-6852	231	9	114	114	NUM
fumecheng-6852	231	10	b.	b.	PROPN
fumecheng-6852	231	11	kozakiewicz	kozakiewicz	PROPN
fumecheng-6852	231	12	,	,	PUNCT
fumecheng-6852	231	13	t.	t.	PROPN
fumecheng-6852	231	14	winiarski	winiarski	PROPN
fumecheng-6852	231	15	table	table	NOUN
fumecheng-6852	231	16	4	4	NUM
fumecheng-6852	231	17	goodness	goodness	NOUN
fumecheng-6852	231	18	of	of	ADP
fumecheng-6852	231	19	fit	fit	NOUN
fumecheng-6852	231	20	of	of	ADP
fumecheng-6852	231	21	shaft	shaft	NOUN
fumecheng-6852	231	22	acceleration	acceleration	NOUN
fumecheng-6852	231	23	models	model	NOUN
fumecheng-6852	231	24	model	model	NOUN
fumecheng-6852	231	25	teaching	teaching	NOUN
fumecheng-6852	231	26	set	set	VERB
fumecheng-6852	231	27	verifying	verifying	NOUN
fumecheng-6852	231	28	set	set	VERB
fumecheng-6852	231	29	i	i	PROPN
fumecheng-6852	231	30	d	d	PROPN
fumecheng-6852	231	31	mse	mse	PROPN
fumecheng-6852	231	32	1r2	1r2	NUM
fumecheng-6852	231	33	adj	adj	PROPN
fumecheng-6852	231	34	se	se	PROPN
fumecheng-6852	231	35	bic	bic	PROPN
fumecheng-6852	231	36	mse	mse	PROPN
fumecheng-6852	231	37	1r2	1r2	NUM
fumecheng-6852	231	38	adj	adj	PROPN
fumecheng-6852	231	39	se	se	PROPN
fumecheng-6852	231	40	bic	bic	PROPN
fumecheng-6852	231	41	a	a	DET
fumecheng-6852	231	42	3522	3522	NUM
fumecheng-6852	231	43	1.895‰	1.895‰	NUM
fumecheng-6852	231	44	59.4	59.4	NUM
fumecheng-6852	231	45	164593	164593	NUM
fumecheng-6852	231	46	4175	4175	NUM
fumecheng-6852	231	47	3.046‰	3.046‰	NUM
fumecheng-6852	231	48	64.6	64.6	NUM
fumecheng-6852	231	49	179356	179356	NUM
fumecheng-6852	231	50	b	b	SYM
fumecheng-6852	231	51	2334	2334	NUM
fumecheng-6852	231	52	1.255‰	1.255‰	NOUN
fumecheng-6852	231	53	48.3	48.3	NUM
fumecheng-6852	231	54	156307	156307	NUM
fumecheng-6852	231	55	3051	3051	NUM
fumecheng-6852	231	56	2.223‰	2.223‰	NUM
fumecheng-6852	231	57	55.2	55.2	NUM
fumecheng-6852	231	58	172617	172617	NUM
fumecheng-6852	231	59	c	c	NOUN
fumecheng-6852	231	60	2270	2270	NUM
fumecheng-6852	231	61	1.221‰	1.221‰	NUM
fumecheng-6852	231	62	47.6	47.6	NUM
fumecheng-6852	231	63	155762	155762	NUM
fumecheng-6852	231	64	2976	2976	NUM
fumecheng-6852	231	65	2.169‰	2.169‰	NUM
fumecheng-6852	231	66	54.6	54.6	NUM
fumecheng-6852	231	67	172092	172092	NUM
fumecheng-6852	231	68	d	d	SYM
fumecheng-6852	231	69	1451	1451	NUM
fumecheng-6852	231	70	0.780‰	0.780‰	NUM
fumecheng-6852	231	71	38.1	38.1	NUM
fumecheng-6852	231	72	146763	146763	NUM
fumecheng-6852	231	73	2050	2050	NUM
fumecheng-6852	231	74	1.494‰	1.494‰	NUM
fumecheng-6852	231	75	45.3	45.3	NUM
fumecheng-6852	231	76	164094	164094	NUM
fumecheng-6852	231	77	e	e	NOUN
fumecheng-6852	231	78	1423	1423	NUM
fumecheng-6852	231	79	0.765‰	0.765‰	PROPN
fumecheng-6852	231	80	37.7	37.7	NUM
fumecheng-6852	231	81	146382	146382	NUM
fumecheng-6852	231	82	2021	2021	NUM
fumecheng-6852	231	83	1.473‰	1.473‰	NUM
fumecheng-6852	231	84	45.0	45.0	NUM
fumecheng-6852	231	85	163795	163795	NUM
fumecheng-6852	231	86	f	f	NOUN
fumecheng-6852	231	87	1365	1365	NUM
fumecheng-6852	231	88	0.734‰	0.734‰	NOUN
fumecheng-6852	231	89	36.9	36.9	NUM
fumecheng-6852	231	90	145536	145536	NUM
fumecheng-6852	231	91	2001	2001	NUM
fumecheng-6852	231	92	1.458‰	1.458‰	NUM
fumecheng-6852	231	93	44.7	44.7	NUM
fumecheng-6852	231	94	163590	163590	NUM
fumecheng-6852	231	95	al	al	PROPN
fumecheng-6852	231	96	4339	4339	NUM
fumecheng-6852	231	97	2.335‰	2.335‰	NUM
fumecheng-6852	232	1	65.9	65.9	NUM
fumecheng-6852	232	2	168784	168784	NUM
fumecheng-6852	232	3	148454	148454	NUM
fumecheng-6852	232	4	92.762‰	92.762‰	NUM
fumecheng-6852	232	5	344.2	344.2	NUM
fumecheng-6852	232	6	251313	251313	NUM
fumecheng-6852	232	7	fl	fl	PROPN
fumecheng-6852	232	8	2122	2122	NUM
fumecheng-6852	232	9	1.141‰	1.141‰	NUM
fumecheng-6852	233	1	46.1	46.1	NUM
fumecheng-6852	233	2	154429	154429	NUM
fumecheng-6852	233	3	153345	153345	NUM
fumecheng-6852	233	4	94.811‰	94.811‰	NUM
fumecheng-6852	233	5	391.6	391.6	NUM
fumecheng-6852	233	6	256919	256919	NUM
fumecheng-6852	233	7	fig	fig	NOUN
fumecheng-6852	233	8	.	.	PUNCT
fumecheng-6852	234	1	13	13	NUM
fumecheng-6852	234	2	long	long	ADJ
fumecheng-6852	234	3	-	-	PUNCT
fumecheng-6852	234	4	term	term	NOUN
fumecheng-6852	234	5	output	output	NOUN
fumecheng-6852	234	6	shaft	shaft	NOUN
fumecheng-6852	234	7	trajectory	trajectory	NOUN
fumecheng-6852	234	8	simulations	simulation	NOUN
fumecheng-6852	234	9	–	–	PUNCT
fumecheng-6852	234	10	not	not	PART
fumecheng-6852	234	11	exceeding	exceed	VERB
fumecheng-6852	234	12	the	the	DET
fumecheng-6852	234	13	critical	critical	ADJ
fumecheng-6852	234	14	angle	angle	NOUN
fumecheng-6852	234	15	fig	fig	NOUN
fumecheng-6852	234	16	.	.	PUNCT
fumecheng-6852	235	1	14	14	NUM
fumecheng-6852	235	2	short	short	ADJ
fumecheng-6852	235	3	-	-	PUNCT
fumecheng-6852	235	4	term	term	NOUN
fumecheng-6852	235	5	output	output	NOUN
fumecheng-6852	235	6	shaft	shaft	NOUN
fumecheng-6852	235	7	trajectory	trajectory	NOUN
fumecheng-6852	235	8	simulations	simulation	NOUN
fumecheng-6852	235	9	–	–	PUNCT
fumecheng-6852	235	10	not	not	PART
fumecheng-6852	235	11	exceeding	exceed	VERB
fumecheng-6852	235	12	the	the	DET
fumecheng-6852	235	13	critical	critical	ADJ
fumecheng-6852	235	14	angle	angle	NOUN
fumecheng-6852	235	15	spring	spring	NOUN
fumecheng-6852	235	16	based	base	VERB
fumecheng-6852	235	17	on	on	ADP
fumecheng-6852	235	18	flat	flat	ADJ
fumecheng-6852	235	19	permanent	permanent	ADJ
fumecheng-6852	235	20	magnets	magnet	NOUN
fumecheng-6852	235	21	:	:	PUNCT
fumecheng-6852	235	22	design	design	NOUN
fumecheng-6852	235	23	,	,	PUNCT
fumecheng-6852	235	24	analysis	analysis	NOUN
fumecheng-6852	235	25	and	and	CCONJ
fumecheng-6852	235	26	use	use	NOUN
fumecheng-6852	235	27	in	in	ADP
fumecheng-6852	235	28	variable	variable	ADJ
fumecheng-6852	235	29	stiffness	stiffness	NOUN
fumecheng-6852	235	30	actuator	actuator	NOUN
fumecheng-6852	235	31	115	115	NUM
fumecheng-6852	235	32	fig	fig	NOUN
fumecheng-6852	235	33	.	.	PUNCT
fumecheng-6852	236	1	15	15	NUM
fumecheng-6852	236	2	long	long	ADJ
fumecheng-6852	236	3	-	-	PUNCT
fumecheng-6852	236	4	term	term	NOUN
fumecheng-6852	236	5	output	output	NOUN
fumecheng-6852	236	6	shaft	shaft	NOUN
fumecheng-6852	236	7	trajectory	trajectory	NOUN
fumecheng-6852	236	8	simulations	simulation	NOUN
fumecheng-6852	236	9	–	–	PUNCT
fumecheng-6852	236	10	exceeding	exceed	VERB
fumecheng-6852	236	11	the	the	DET
fumecheng-6852	236	12	critical	critical	ADJ
fumecheng-6852	236	13	angle	angle	NOUN
fumecheng-6852	236	14	models	model	NOUN
fumecheng-6852	236	15	listed	list	VERB
fumecheng-6852	236	16	above	above	ADV
fumecheng-6852	236	17	describe	describe	VERB
fumecheng-6852	236	18	output	output	NOUN
fumecheng-6852	236	19	shaft	shaft	NOUN
fumecheng-6852	236	20	accelerations	acceleration	NOUN
fumecheng-6852	236	21	.	.	PUNCT
fumecheng-6852	237	1	simple	simple	ADJ
fumecheng-6852	237	2	approximations	approximation	NOUN
fumecheng-6852	237	3	(	(	PUNCT
fumecheng-6852	237	4	eqs	eqs	X
fumecheng-6852	237	5	.	.	PUNCT
fumecheng-6852	237	6	(	(	PUNCT
fumecheng-6852	237	7	5	5	NUM
fumecheng-6852	237	8	)	)	PUNCT
fumecheng-6852	237	9	and	and	CCONJ
fumecheng-6852	237	10	(	(	PUNCT
fumecheng-6852	237	11	6	6	NUM
fumecheng-6852	237	12	)	)	PUNCT
fumecheng-6852	237	13	)	)	PUNCT
fumecheng-6852	237	14	allow	allow	VERB
fumecheng-6852	237	15	deriving	derive	VERB
fumecheng-6852	237	16	differential	differential	ADJ
fumecheng-6852	237	17	models	model	NOUN
fumecheng-6852	237	18	of	of	ADP
fumecheng-6852	237	19	output	output	NOUN
fumecheng-6852	237	20	shaft	shaft	NOUN
fumecheng-6852	237	21	positions	position	NOUN
fumecheng-6852	237	22	.	.	PUNCT
fumecheng-6852	238	1	[	[	PUNCT
fumecheng-6852	238	2	]	]	X
fumecheng-6852	238	3	[	[	PUNCT
fumecheng-6852	238	4	1	1	NUM
fumecheng-6852	238	5	]	]	PUNCT
fumecheng-6852	238	6	[	[	PUNCT
fumecheng-6852	238	7	2	2	NUM
fumecheng-6852	238	8	]	]	SYM
fumecheng-6852	238	9	2	2	NUM
fumecheng-6852	238	10	2	2	NUM
fumecheng-6852	238	11	(	(	PUNCT
fumecheng-6852	238	12	)	)	PUNCT
fumecheng-6852	238	13	2	2	NUM
fumecheng-6852	238	14	(	(	PUNCT
fumecheng-6852	238	15	)	)	PUNCT
fumecheng-6852	238	16	(	(	PUNCT
fumecheng-6852	238	17	2	2	X
fumecheng-6852	238	18	)	)	SYM
fumecheng-6852	238	19	2	2	NUM
fumecheng-6852	238	20	(	(	PUNCT
fumecheng-6852	238	21	)	)	PUNCT
fumecheng-6852	238	22	n	n	CCONJ
fumecheng-6852	238	23	n	n	PRON
fumecheng-6852	238	24	ndeff	ndeff	NOUN
fumecheng-6852	238	25	t	t	PROPN
fumecheng-6852	238	26	f	f	PROPN
fumecheng-6852	238	27	t	t	PROPN
fumecheng-6852	238	28	t	t	PROPN
fumecheng-6852	239	1	f	f	PROPN
fumecheng-6852	239	2	t	t	PROPN
fumecheng-6852	239	3	t	t	PROPN
fumecheng-6852	239	4	f	f	PROPN
fumecheng-6852	239	5	f	f	PROPN
fumecheng-6852	239	6	f	f	PROPN
fumecheng-6852	239	7	f	f	PROPN
fumecheng-6852	239	8	t	t	PROPN
fumecheng-6852	239	9	t	t	PROPN
fumecheng-6852	239	10	t	t	PROPN
fumecheng-6852	239	11	−	−	PROPN
fumecheng-6852	239	12	−−	−−	NOUN
fumecheng-6852	239	13	−	−	PROPN
fumecheng-6852	240	1	+	+	CCONJ
fumecheng-6852	240	2	−	−	PROPN
fumecheng-6852	240	3	−	−	NOUN
fumecheng-6852	241	1	+	+	NUM
fumecheng-6852	241	2			PUNCT
fumecheng-6852	241	3	=	=	SYM
fumecheng-6852	241	4	(	(	PUNCT
fumecheng-6852	241	5	5	5	NUM
fumecheng-6852	241	6	)	)	PUNCT
fumecheng-6852	241	7	[	[	PUNCT
fumecheng-6852	241	8	]	]	X
fumecheng-6852	241	9	[	[	PUNCT
fumecheng-6852	241	10	1	1	NUM
fumecheng-6852	241	11	]	]	PUNCT
fumecheng-6852	241	12	(	(	PUNCT
fumecheng-6852	241	13	)	)	PUNCT
fumecheng-6852	241	14	(	(	PUNCT
fumecheng-6852	241	15	)	)	PUNCT
fumecheng-6852	241	16	(	(	PUNCT
fumecheng-6852	241	17	)	)	PUNCT
fumecheng-6852	241	18	n	n	PRON
fumecheng-6852	241	19	ndeff	ndeff	NOUN
fumecheng-6852	242	1	t	t	PROPN
fumecheng-6852	243	1	f	f	PROPN
fumecheng-6852	243	2	t	t	PROPN
fumecheng-6852	243	3	t	t	PROPN
fumecheng-6852	243	4	f	f	PROPN
fumecheng-6852	243	5	f	f	PROPN
fumecheng-6852	243	6	f	f	PROPN
fumecheng-6852	243	7	t	t	PROPN
fumecheng-6852	243	8	t	t	PROPN
fumecheng-6852	243	9	t	t	PROPN
fumecheng-6852	243	10	−−	−−	NOUN
fumecheng-6852	243	11	−	−	PROPN
fumecheng-6852	243	12	−	−	PROPN
fumecheng-6852	243	13			X
fumecheng-6852	243	14	=	=	SYM
fumecheng-6852	243	15	(	(	PUNCT
fumecheng-6852	243	16	6	6	NUM
fumecheng-6852	243	17	)	)	PUNCT
fumecheng-6852	243	18	for	for	ADP
fumecheng-6852	243	19	example	example	NOUN
fumecheng-6852	243	20	,	,	PUNCT
fumecheng-6852	243	21	the	the	DET
fumecheng-6852	243	22	position	position	NOUN
fumecheng-6852	243	23	model	model	NOUN
fumecheng-6852	243	24	obtained	obtain	VERB
fumecheng-6852	243	25	in	in	ADP
fumecheng-6852	243	26	case	case	NOUN
fumecheng-6852	243	27	f	f	PROPN
fumecheng-6852	243	28	is	be	AUX
fumecheng-6852	243	29	described	describe	VERB
fumecheng-6852	243	30	with	with	ADP
fumecheng-6852	243	31	eq	eq	NOUN
fumecheng-6852	243	32	.	.	PUNCT
fumecheng-6852	244	1	(	(	PUNCT
fumecheng-6852	244	2	7	7	NUM
fumecheng-6852	244	3	)	)	PUNCT
fumecheng-6852	244	4	.	.	PUNCT
fumecheng-6852	245	1	(	(	PUNCT
fumecheng-6852	245	2	)	)	PUNCT
fumecheng-6852	245	3	(	(	PUNCT
fumecheng-6852	245	4	)	)	PUNCT
fumecheng-6852	245	5	(	(	PUNCT
fumecheng-6852	245	6	)	)	PUNCT
fumecheng-6852	245	7	(	(	PUNCT
fumecheng-6852	245	8	)	)	PUNCT
fumecheng-6852	245	9	2	2	NUM
fumecheng-6852	245	10	[	[	PUNCT
fumecheng-6852	245	11	]	]	X
fumecheng-6852	245	12	[	[	PUNCT
fumecheng-6852	245	13	1	1	NUM
fumecheng-6852	245	14	]	]	PUNCT
fumecheng-6852	245	15	[	[	PUNCT
fumecheng-6852	245	16	2	2	NUM
fumecheng-6852	245	17	]	]	PUNCT
fumecheng-6852	245	18	[	[	PUNCT
fumecheng-6852	245	19	1	1	NUM
fumecheng-6852	245	20	]	]	PUNCT
fumecheng-6852	245	21	[	[	PUNCT
fumecheng-6852	245	22	1	1	NUM
fumecheng-6852	245	23	]	]	PUNCT
fumecheng-6852	245	24	[	[	PUNCT
fumecheng-6852	245	25	1	1	NUM
fumecheng-6852	245	26	]	]	PUNCT
fumecheng-6852	245	27	[	[	PUNCT
fumecheng-6852	245	28	1	1	NUM
fumecheng-6852	245	29	]	]	PUNCT
fumecheng-6852	245	30	[	[	PUNCT
fumecheng-6852	245	31	2	2	NUM
fumecheng-6852	245	32	]	]	PUNCT
fumecheng-6852	245	33	[	[	PUNCT
fumecheng-6852	245	34	1	1	NUM
fumecheng-6852	245	35	]	]	PUNCT
fumecheng-6852	245	36	[	[	PUNCT
fumecheng-6852	245	37	1	1	NUM
fumecheng-6852	245	38	]	]	PUNCT
fumecheng-6852	245	39	[	[	PUNCT
fumecheng-6852	245	40	2	2	NUM
fumecheng-6852	245	41	]	]	PUNCT
fumecheng-6852	245	42	[	[	PUNCT
fumecheng-6852	245	43	1	1	NUM
fumecheng-6852	245	44	]	]	PUNCT
fumecheng-6852	245	45	[	[	PUNCT
fumecheng-6852	245	46	2	2	NUM
fumecheng-6852	245	47	]	]	SYM
fumecheng-6852	245	48	2	2	NUM
fumecheng-6852	245	49	,	,	PUNCT
fumecheng-6852	245	50	tanh	tanh	PROPN
fumecheng-6852	245	51	sin	sin	VERB
fumecheng-6852	245	52	n	n	CCONJ
fumecheng-6852	245	53	n	n	CCONJ
fumecheng-6852	245	54	n	n	CCONJ
fumecheng-6852	245	55	n	n	CCONJ
fumecheng-6852	245	56	n	n	CCONJ
fumecheng-6852	245	57	n	n	CCONJ
fumecheng-6852	245	58	n	n	CCONJ
fumecheng-6852	245	59	n	n	ADV
fumecheng-6852	245	60	out	out	ADV
fumecheng-6852	245	61	out	out	ADV
fumecheng-6852	245	62	out	out	ADP
fumecheng-6852	245	63	sp	sp	ADP
fumecheng-6852	245	64	out	out	ADP
fumecheng-6852	245	65	in	in	ADP
fumecheng-6852	245	66	fr	fr	NOUN
fumecheng-6852	245	67	out	out	ADP
fumecheng-6852	245	68	out	out	ADP
fumecheng-6852	245	69	n	n	CCONJ
fumecheng-6852	245	70	n	n	CCONJ
fumecheng-6852	245	71	n	n	CCONJ
fumecheng-6852	245	72	n	n	CCONJ
fumecheng-6852	245	73	n	n	ADV
fumecheng-6852	245	74	out	out	ADV
fumecheng-6852	245	75	out	out	ADV
fumecheng-6852	245	76	out	out	ADV
fumecheng-6852	245	77	in	in	ADV
fumecheng-6852	245	78	in	in	ADP
fumecheng-6852	245	79	t	t	PROPN
fumecheng-6852	245	80	v	v	NOUN
fumecheng-6852	245	81	d	d	X
fumecheng-6852	245	82	j	j	PROPN
fumecheng-6852	245	83	t	t	PROPN
fumecheng-6852	245	84	z	z	PROPN
fumecheng-6852	245	85	w	w	PROPN
fumecheng-6852	245	86	x	x	X
fumecheng-6852	245	87	t	t	NOUN
fumecheng-6852	245	88			PROPN
fumecheng-6852	245	89			PROPN
fumecheng-6852	245	90			ADJ
fumecheng-6852	245	91			NOUN
fumecheng-6852	245	92			ADJ
fumecheng-6852	245	93			ADJ
fumecheng-6852	245	94			NOUN
fumecheng-6852	245	95			ADJ
fumecheng-6852	245	96			ADJ
fumecheng-6852	245	97			ADJ
fumecheng-6852	245	98			ADJ
fumecheng-6852	245	99			ADJ
fumecheng-6852	245	100			ADJ
fumecheng-6852	245	101			PROPN
fumecheng-6852	245	102	−	−	PROPN
fumecheng-6852	245	103	−	−	PROPN
fumecheng-6852	245	104	−	−	PROPN
fumecheng-6852	245	105	−	−	PROPN
fumecheng-6852	245	106	−	−	PROPN
fumecheng-6852	245	107	−	−	PROPN
fumecheng-6852	245	108	−	−	PROPN
fumecheng-6852	245	109	−	−	PROPN
fumecheng-6852	245	110	−	−	PROPN
fumecheng-6852	245	111	−	−	PROPN
fumecheng-6852	245	112	−	−	PROPN
fumecheng-6852	245	113	−	−	PROPN
fumecheng-6852	245	114			NOUN
fumecheng-6852	245	115			NOUN
fumecheng-6852	245	116			NOUN
fumecheng-6852	245	117	=	=	PUNCT
fumecheng-6852	246	1	−	−	PROPN
fumecheng-6852	247	1	+	+	CCONJ
fumecheng-6852	247	2	−	−	PROPN
fumecheng-6852	247	3	−	−	NUM
fumecheng-6852	248	1	−	−	PROPN
fumecheng-6852	249	1	+	+	NOUN
fumecheng-6852	249	2			PROPN
fumecheng-6852	249	3			PROPN
fumecheng-6852	249	4			PROPN
fumecheng-6852	249	5			PROPN
fumecheng-6852	249	6			NOUN
fumecheng-6852	249	7			PROPN
fumecheng-6852	249	8	+	+	CCONJ
fumecheng-6852	250	1	+	+	CCONJ
fumecheng-6852	250	2	−	−	ADP
fumecheng-6852	250	3	−	−	NUM
fumecheng-6852	250	4	−	−	PROPN
fumecheng-6852	250	5	+	+	CCONJ
fumecheng-6852	250	6			PROPN
fumecheng-6852	250	7			NOUN
fumecheng-6852	250	8	(	(	PUNCT
fumecheng-6852	250	9	7	7	NUM
fumecheng-6852	250	10	)	)	PUNCT
fumecheng-6852	250	11	position	position	NOUN
fumecheng-6852	250	12	models	model	NOUN
fumecheng-6852	250	13	based	base	VERB
fumecheng-6852	250	14	on	on	ADP
fumecheng-6852	250	15	acceleration	acceleration	NOUN
fumecheng-6852	250	16	models	model	NOUN
fumecheng-6852	250	17	were	be	AUX
fumecheng-6852	250	18	used	use	VERB
fumecheng-6852	250	19	to	to	PART
fumecheng-6852	250	20	simulate	simulate	VERB
fumecheng-6852	250	21	output	output	NOUN
fumecheng-6852	250	22	shaft	shaft	NOUN
fumecheng-6852	250	23	trajectories	trajectory	NOUN
fumecheng-6852	250	24	φout(t	φout(t	NOUN
fumecheng-6852	250	25	)	)	PUNCT
fumecheng-6852	250	26	(	(	PUNCT
fumecheng-6852	250	27	the	the	DET
fumecheng-6852	250	28	model	model	NOUN
fumecheng-6852	250	29	was	be	AUX
fumecheng-6852	250	30	fed	feed	VERB
fumecheng-6852	250	31	with	with	ADP
fumecheng-6852	250	32	its	its	PRON
fumecheng-6852	250	33	output	output	NOUN
fumecheng-6852	250	34	)	)	PUNCT
fumecheng-6852	250	35	.	.	PUNCT
fumecheng-6852	251	1	the	the	DET
fumecheng-6852	251	2	simulations	simulation	NOUN
fumecheng-6852	251	3	were	be	AUX
fumecheng-6852	251	4	performed	perform	VERB
fumecheng-6852	251	5	using	use	VERB
fumecheng-6852	251	6	data	datum	NOUN
fumecheng-6852	251	7	from	from	ADP
fumecheng-6852	251	8	a	a	DET
fumecheng-6852	251	9	verifying	verifying	NOUN
fumecheng-6852	251	10	set	set	VERB
fumecheng-6852	251	11	for	for	ADP
fumecheng-6852	251	12	two	two	NUM
fumecheng-6852	251	13	classes	class	NOUN
fumecheng-6852	251	14	of	of	ADP
fumecheng-6852	251	15	movements	movement	NOUN
fumecheng-6852	251	16	:	:	PUNCT
fumecheng-6852	251	17	not	not	PART
fumecheng-6852	251	18	exceeding	exceed	VERB
fumecheng-6852	251	19	(	(	PUNCT
fumecheng-6852	251	20	φr	φr	ADP
fumecheng-6852	251	21	≤	≤	NUM
fumecheng-6852	251	22	31.5	31.5	NUM
fumecheng-6852	251	23	°	°	NUM
fumecheng-6852	251	24	)	)	PUNCT
fumecheng-6852	251	25	and	and	CCONJ
fumecheng-6852	251	26	exceeding	exceed	VERB
fumecheng-6852	251	27	(	(	PUNCT
fumecheng-6852	251	28	φr	φr	ADP
fumecheng-6852	251	29	>	>	X
fumecheng-6852	251	30	31.5	31.5	NUM
fumecheng-6852	251	31	°	°	NOUN
fumecheng-6852	251	32	)	)	PUNCT
fumecheng-6852	251	33	the	the	DET
fumecheng-6852	251	34	critical	critical	ADJ
fumecheng-6852	251	35	angle	angle	NOUN
fumecheng-6852	251	36	.	.	PUNCT
fumecheng-6852	252	1	the	the	DET
fumecheng-6852	252	2	worst	bad	ADJ
fumecheng-6852	252	3	cases	case	NOUN
fumecheng-6852	252	4	are	be	AUX
fumecheng-6852	252	5	presented	present	VERB
fumecheng-6852	252	6	in	in	ADP
fumecheng-6852	252	7	figs	fig	NOUN
fumecheng-6852	252	8	.	.	PUNCT
fumecheng-6852	253	1	13	13	NUM
fumecheng-6852	253	2	,	,	PUNCT
fumecheng-6852	253	3	14	14	NUM
fumecheng-6852	253	4	and	and	CCONJ
fumecheng-6852	253	5	15	15	NUM
fumecheng-6852	254	1	and	and	CCONJ
fumecheng-6852	254	2	discussed	discuss	VERB
fumecheng-6852	254	3	in	in	ADP
fumecheng-6852	254	4	section	section	NOUN
fumecheng-6852	254	5	7.2	7.2	NUM
fumecheng-6852	254	6	(	(	PUNCT
fumecheng-6852	254	7	to	to	PART
fumecheng-6852	254	8	maintain	maintain	VERB
fumecheng-6852	254	9	readability	readability	NOUN
fumecheng-6852	254	10	of	of	ADP
fumecheng-6852	254	11	the	the	DET
fumecheng-6852	254	12	figures	figure	NOUN
fumecheng-6852	254	13	only	only	ADV
fumecheng-6852	254	14	models	model	VERB
fumecheng-6852	254	15	a	a	PRON
fumecheng-6852	254	16	,	,	PUNCT
fumecheng-6852	254	17	f	f	PROPN
fumecheng-6852	254	18	,	,	PUNCT
fumecheng-6852	254	19	al	al	PROPN
fumecheng-6852	254	20	and	and	CCONJ
fumecheng-6852	254	21	fl	fl	PROPN
fumecheng-6852	254	22	are	be	AUX
fumecheng-6852	254	23	included	include	VERB
fumecheng-6852	254	24	;	;	PUNCT
fumecheng-6852	254	25	none	none	NOUN
fumecheng-6852	254	26	of	of	ADP
fumecheng-6852	254	27	the	the	DET
fumecheng-6852	254	28	remaining	remain	VERB
fumecheng-6852	254	29	models	model	NOUN
fumecheng-6852	254	30	–	–	PUNCT
fumecheng-6852	254	31	b	b	X
fumecheng-6852	254	32	,	,	PUNCT
fumecheng-6852	254	33	c	c	NOUN
fumecheng-6852	254	34	,	,	PUNCT
fumecheng-6852	254	35	d	d	NOUN
fumecheng-6852	254	36	,	,	PUNCT
fumecheng-6852	254	37	e	e	PRON
fumecheng-6852	254	38	provided	provide	VERB
fumecheng-6852	254	39	better	well	ADJ
fumecheng-6852	254	40	performance	performance	NOUN
fumecheng-6852	254	41	than	than	ADP
fumecheng-6852	254	42	model	model	NOUN
fumecheng-6852	254	43	f	f	PROPN
fumecheng-6852	254	44	)	)	PUNCT
fumecheng-6852	254	45	.	.	PUNCT
fumecheng-6852	255	1	7	7	X
fumecheng-6852	255	2	.	.	X
fumecheng-6852	255	3	discussion	discussion	NOUN
fumecheng-6852	255	4	the	the	DET
fumecheng-6852	255	5	following	follow	VERB
fumecheng-6852	255	6	sections	section	NOUN
fumecheng-6852	255	7	present	present	VERB
fumecheng-6852	255	8	a	a	DET
fumecheng-6852	255	9	discussion	discussion	NOUN
fumecheng-6852	255	10	of	of	ADP
fumecheng-6852	255	11	the	the	DET
fumecheng-6852	255	12	obtained	obtain	VERB
fumecheng-6852	255	13	results	result	NOUN
fumecheng-6852	255	14	.	.	PUNCT
fumecheng-6852	256	1	section	section	NOUN
fumecheng-6852	256	2	7.1	7.1	NUM
fumecheng-6852	256	3	concerns	concern	NOUN
fumecheng-6852	256	4	spring	spring	NOUN
fumecheng-6852	256	5	characteristics	characteristic	NOUN
fumecheng-6852	256	6	shape	shape	NOUN
fumecheng-6852	256	7	and	and	CCONJ
fumecheng-6852	256	8	model	model	NOUN
fumecheng-6852	256	9	,	,	PUNCT
fumecheng-6852	256	10	while	while	SCONJ
fumecheng-6852	256	11	section	section	NOUN
fumecheng-6852	256	12	7.2	7.2	NUM
fumecheng-6852	256	13	describes	describe	VERB
fumecheng-6852	256	14	joint	joint	ADJ
fumecheng-6852	256	15	models	model	NOUN
fumecheng-6852	256	16	interpretation	interpretation	NOUN
fumecheng-6852	256	17	and	and	CCONJ
fumecheng-6852	256	18	usability	usability	NOUN
fumecheng-6852	256	19	.	.	PUNCT
fumecheng-6852	257	1	116	116	NUM
fumecheng-6852	257	2	b.	b.	PROPN
fumecheng-6852	257	3	kozakiewicz	kozakiewicz	PROPN
fumecheng-6852	257	4	,	,	PUNCT
fumecheng-6852	257	5	t.	t.	PROPN
fumecheng-6852	257	6	winiarski	winiarski	PROPN
fumecheng-6852	257	7	7.1	7.1	NUM
fumecheng-6852	257	8	.	.	PUNCT
fumecheng-6852	258	1	spring	spring	NOUN
fumecheng-6852	258	2	characteristics	characteristic	NOUN
fumecheng-6852	258	3	the	the	DET
fumecheng-6852	258	4	model	model	NOUN
fumecheng-6852	258	5	(	(	PUNCT
fumecheng-6852	258	6	eq	eq	NOUN
fumecheng-6852	258	7	.	.	PUNCT
fumecheng-6852	259	1	(	(	PUNCT
fumecheng-6852	259	2	1	1	NUM
fumecheng-6852	259	3	)	)	PUNCT
fumecheng-6852	259	4	)	)	PUNCT
fumecheng-6852	259	5	of	of	ADP
fumecheng-6852	259	6	torque	torque	NOUN
fumecheng-6852	259	7	τsp	τsp	PRON
fumecheng-6852	259	8	dependency	dependency	NOUN
fumecheng-6852	259	9	on	on	ADP
fumecheng-6852	259	10	relative	relative	ADJ
fumecheng-6852	259	11	angle	angle	NOUN
fumecheng-6852	259	12	φr	φr	ADP
fumecheng-6852	259	13	and	and	CCONJ
fumecheng-6852	259	14	distance	distance	NOUN
fumecheng-6852	259	15	d	d	NOUN
fumecheng-6852	259	16	,	,	PUNCT
fumecheng-6852	259	17	described	describe	VERB
fumecheng-6852	259	18	in	in	ADP
fumecheng-6852	259	19	section	section	NOUN
fumecheng-6852	259	20	6.2	6.2	NUM
fumecheng-6852	259	21	,	,	PUNCT
fumecheng-6852	259	22	has	have	VERB
fumecheng-6852	259	23	a	a	DET
fumecheng-6852	259	24	convenient	convenient	ADJ
fumecheng-6852	259	25	form	form	NOUN
fumecheng-6852	259	26	of	of	ADP
fumecheng-6852	259	27	a	a	DET
fumecheng-6852	259	28	product	product	NOUN
fumecheng-6852	259	29	of	of	ADP
fumecheng-6852	259	30	two	two	NUM
fumecheng-6852	259	31	functions	function	NOUN
fumecheng-6852	259	32	.	.	PUNCT
fumecheng-6852	260	1	one	one	NUM
fumecheng-6852	260	2	is	be	AUX
fumecheng-6852	260	3	a	a	DET
fumecheng-6852	260	4	polynomial	polynomial	ADJ
fumecheng-6852	260	5	dependent	dependent	NOUN
fumecheng-6852	260	6	on	on	ADP
fumecheng-6852	260	7	distance	distance	NOUN
fumecheng-6852	260	8	d	d	NOUN
fumecheng-6852	260	9	,	,	PUNCT
fumecheng-6852	260	10	and	and	CCONJ
fumecheng-6852	260	11	the	the	DET
fumecheng-6852	260	12	other	other	ADJ
fumecheng-6852	260	13	is	be	AUX
fumecheng-6852	260	14	composed	compose	VERB
fumecheng-6852	260	15	of	of	ADP
fumecheng-6852	260	16	the	the	DET
fumecheng-6852	260	17	first	first	ADJ
fumecheng-6852	260	18	three	three	NUM
fumecheng-6852	260	19	terms	term	NOUN
fumecheng-6852	260	20	of	of	ADP
fumecheng-6852	260	21	sinus	sinus	NOUN
fumecheng-6852	260	22	series	series	NOUN
fumecheng-6852	260	23	dependant	dependant	ADJ
fumecheng-6852	260	24	on	on	ADP
fumecheng-6852	260	25	relative	relative	ADJ
fumecheng-6852	260	26	angle	angle	NOUN
fumecheng-6852	260	27	φr	φr	ADP
fumecheng-6852	260	28	.	.	PUNCT
fumecheng-6852	261	1	the	the	DET
fumecheng-6852	261	2	model	model	NOUN
fumecheng-6852	261	3	is	be	AUX
fumecheng-6852	261	4	well	well	ADV
fumecheng-6852	261	5	defined	define	VERB
fumecheng-6852	261	6	,	,	PUNCT
fumecheng-6852	261	7	inherently	inherently	ADV
fumecheng-6852	261	8	periodical	periodical	ADJ
fumecheng-6852	261	9	,	,	PUNCT
fumecheng-6852	261	10	smooth	smooth	ADJ
fumecheng-6852	261	11	and	and	CCONJ
fumecheng-6852	261	12	easy	easy	ADJ
fumecheng-6852	261	13	to	to	PART
fumecheng-6852	261	14	analyze	analyze	VERB
fumecheng-6852	261	15	.	.	PUNCT
fumecheng-6852	262	1	fig	fig	NOUN
fumecheng-6852	262	2	.	.	PUNCT
fumecheng-6852	263	1	16	16	NUM
fumecheng-6852	263	2	presents	present	VERB
fumecheng-6852	263	3	a	a	DET
fumecheng-6852	263	4	comparison	comparison	NOUN
fumecheng-6852	263	5	of	of	ADP
fumecheng-6852	263	6	the	the	DET
fumecheng-6852	263	7	surface	surface	NOUN
fumecheng-6852	263	8	fitted	fit	VERB
fumecheng-6852	263	9	to	to	ADP
fumecheng-6852	263	10	experimental	experimental	ADJ
fumecheng-6852	263	11	data	datum	NOUN
fumecheng-6852	263	12	(	(	PUNCT
fumecheng-6852	263	13	eq	eq	NOUN
fumecheng-6852	263	14	.	.	PUNCT
fumecheng-6852	264	1	(	(	PUNCT
fumecheng-6852	264	2	1	1	NUM
fumecheng-6852	264	3	)	)	PUNCT
fumecheng-6852	264	4	)	)	PUNCT
fumecheng-6852	264	5	and	and	CCONJ
fumecheng-6852	264	6	results	result	NOUN
fumecheng-6852	264	7	of	of	ADP
fumecheng-6852	264	8	the	the	DET
fumecheng-6852	264	9	simulation	simulation	NOUN
fumecheng-6852	264	10	.	.	PUNCT
fumecheng-6852	265	1	curves	curve	NOUN
fumecheng-6852	265	2	in	in	ADP
fumecheng-6852	265	3	fig	fig	NOUN
fumecheng-6852	265	4	.	.	PUNCT
fumecheng-6852	266	1	16a	16a	PROPN
fumecheng-6852	266	2	represent	represent	VERB
fumecheng-6852	266	3	torque	torque	NOUN
fumecheng-6852	266	4	-	-	PUNCT
fumecheng-6852	266	5	angle	angle	NOUN
fumecheng-6852	266	6	relationship	relationship	NOUN
fumecheng-6852	266	7	for	for	ADP
fumecheng-6852	266	8	d	d	PROPN
fumecheng-6852	266	9	=	=	SYM
fumecheng-6852	266	10	0	0	NUM
fumecheng-6852	266	11	,	,	PUNCT
fumecheng-6852	266	12	while	while	SCONJ
fumecheng-6852	266	13	fig	fig	NOUN
fumecheng-6852	266	14	.	.	PUNCT
fumecheng-6852	267	1	16b	16b	PROPN
fumecheng-6852	267	2	depicts	depict	VERB
fumecheng-6852	267	3	torque	torque	NOUN
fumecheng-6852	267	4	-	-	PUNCT
fumecheng-6852	267	5	distance	distance	NOUN
fumecheng-6852	267	6	relationship	relationship	NOUN
fumecheng-6852	267	7	for	for	ADP
fumecheng-6852	267	8	φr	φr	ADP
fumecheng-6852	267	9	=	=	SYM
fumecheng-6852	267	10	31.5	31.5	NUM
fumecheng-6852	267	11	°	°	NOUN
fumecheng-6852	267	12	(	(	PUNCT
fumecheng-6852	267	13	points	point	NOUN
fumecheng-6852	267	14	representing	represent	VERB
fumecheng-6852	267	15	experimental	experimental	ADJ
fumecheng-6852	267	16	data	datum	NOUN
fumecheng-6852	267	17	are	be	AUX
fumecheng-6852	267	18	plotted	plot	VERB
fumecheng-6852	267	19	for	for	ADP
fumecheng-6852	267	20	31	31	NUM
fumecheng-6852	267	21	°	°	NOUN
fumecheng-6852	267	22	<	<	X
fumecheng-6852	267	23	φr	φr	ADP
fumecheng-6852	267	24	<	<	X
fumecheng-6852	267	25	32	32	NUM
fumecheng-6852	267	26	°	°	NUM
fumecheng-6852	267	27	)	)	PUNCT
fumecheng-6852	267	28	.	.	PUNCT
fumecheng-6852	268	1	the	the	DET
fumecheng-6852	268	2	differences	difference	NOUN
fumecheng-6852	268	3	in	in	ADP
fumecheng-6852	268	4	the	the	DET
fumecheng-6852	268	5	domain	domain	NOUN
fumecheng-6852	268	6	of	of	ADP
fumecheng-6852	268	7	angles	angle	NOUN
fumecheng-6852	268	8	φr	φr	SCONJ
fumecheng-6852	268	9	are	be	AUX
fumecheng-6852	268	10	negligible	negligible	ADJ
fumecheng-6852	268	11	within	within	ADP
fumecheng-6852	268	12	the	the	DET
fumecheng-6852	268	13	stable	stable	ADJ
fumecheng-6852	268	14	range	range	NOUN
fumecheng-6852	268	15	of	of	ADP
fumecheng-6852	268	16	angles	angle	NOUN
fumecheng-6852	268	17	(	(	PUNCT
fumecheng-6852	268	18	less	less	ADJ
fumecheng-6852	268	19	than	than	ADP
fumecheng-6852	268	20	2	2	NUM
fumecheng-6852	268	21	%	%	NOUN
fumecheng-6852	268	22	)	)	PUNCT
fumecheng-6852	268	23	;	;	PUNCT
fumecheng-6852	268	24	however	however	ADV
fumecheng-6852	268	25	,	,	PUNCT
fumecheng-6852	268	26	beyond	beyond	ADP
fumecheng-6852	268	27	this	this	DET
fumecheng-6852	268	28	range	range	NOUN
fumecheng-6852	268	29	,	,	PUNCT
fumecheng-6852	268	30	they	they	PRON
fumecheng-6852	268	31	can	can	AUX
fumecheng-6852	268	32	reach	reach	VERB
fumecheng-6852	268	33	about	about	ADV
fumecheng-6852	268	34	20	20	NUM
fumecheng-6852	268	35	%	%	NOUN
fumecheng-6852	268	36	.	.	PUNCT
fumecheng-6852	269	1	in	in	ADP
fumecheng-6852	269	2	the	the	DET
fumecheng-6852	269	3	domain	domain	NOUN
fumecheng-6852	269	4	of	of	ADP
fumecheng-6852	269	5	distances	distance	NOUN
fumecheng-6852	269	6	,	,	PUNCT
fumecheng-6852	269	7	they	they	PRON
fumecheng-6852	269	8	are	be	AUX
fumecheng-6852	269	9	much	much	ADV
fumecheng-6852	269	10	more	more	ADV
fumecheng-6852	269	11	distinct	distinct	ADJ
fumecheng-6852	269	12	and	and	CCONJ
fumecheng-6852	269	13	vary	vary	VERB
fumecheng-6852	269	14	from	from	ADP
fumecheng-6852	269	15	less	less	ADJ
fumecheng-6852	269	16	than	than	ADP
fumecheng-6852	269	17	5	5	NUM
fumecheng-6852	269	18	%	%	NOUN
fumecheng-6852	269	19	in	in	ADP
fumecheng-6852	269	20	stiff	stiff	ADJ
fumecheng-6852	269	21	configuration	configuration	NOUN
fumecheng-6852	269	22	to	to	ADP
fumecheng-6852	269	23	over	over	ADP
fumecheng-6852	269	24	40	40	NUM
fumecheng-6852	269	25	%	%	NOUN
fumecheng-6852	269	26	in	in	ADP
fumecheng-6852	269	27	compliant	compliant	ADJ
fumecheng-6852	269	28	one	one	NUM
fumecheng-6852	269	29	.	.	PUNCT
fumecheng-6852	270	1	the	the	DET
fumecheng-6852	270	2	possible	possible	ADJ
fumecheng-6852	270	3	reasons	reason	NOUN
fumecheng-6852	270	4	for	for	ADP
fumecheng-6852	270	5	the	the	DET
fumecheng-6852	270	6	differences	difference	NOUN
fumecheng-6852	270	7	are	be	AUX
fumecheng-6852	270	8	modeling	modeling	NOUN
fumecheng-6852	270	9	and	and	CCONJ
fumecheng-6852	270	10	numerical	numerical	ADJ
fumecheng-6852	270	11	errors	error	NOUN
fumecheng-6852	270	12	in	in	ADP
fumecheng-6852	270	13	fem	fem	NOUN
fumecheng-6852	270	14	analysis	analysis	NOUN
fumecheng-6852	270	15	,	,	PUNCT
fumecheng-6852	270	16	manufacturing	manufacturing	NOUN
fumecheng-6852	270	17	and	and	CCONJ
fumecheng-6852	270	18	mounting	mount	VERB
fumecheng-6852	270	19	inaccuracies	inaccuracy	NOUN
fumecheng-6852	270	20	,	,	PUNCT
fumecheng-6852	270	21	measurement	measurement	NOUN
fumecheng-6852	270	22	errors	error	NOUN
fumecheng-6852	270	23	,	,	PUNCT
fumecheng-6852	270	24	lack	lack	NOUN
fumecheng-6852	270	25	of	of	ADP
fumecheng-6852	270	26	experimental	experimental	ADJ
fumecheng-6852	270	27	data	datum	NOUN
fumecheng-6852	270	28	for	for	ADP
fumecheng-6852	270	29	angles	angle	NOUN
fumecheng-6852	270	30	between	between	ADP
fumecheng-6852	270	31	41	41	NUM
fumecheng-6852	270	32	°	°	NUM
fumecheng-6852	270	33	and	and	CCONJ
fumecheng-6852	270	34	60	60	NUM
fumecheng-6852	270	35	°	°	NUM
fumecheng-6852	270	36	and	and	CCONJ
fumecheng-6852	270	37	influence	influence	NOUN
fumecheng-6852	270	38	of	of	ADP
fumecheng-6852	270	39	static	static	ADJ
fumecheng-6852	270	40	friction	friction	NOUN
fumecheng-6852	270	41	.	.	PUNCT
fumecheng-6852	271	1	although	although	SCONJ
fumecheng-6852	271	2	the	the	DET
fumecheng-6852	271	3	last	last	ADJ
fumecheng-6852	271	4	factor	factor	NOUN
fumecheng-6852	271	5	is	be	AUX
fumecheng-6852	271	6	unmeasurable	unmeasurable	ADJ
fumecheng-6852	271	7	in	in	ADP
fumecheng-6852	271	8	direct	direct	ADJ
fumecheng-6852	271	9	ways	way	NOUN
fumecheng-6852	271	10	,	,	PUNCT
fumecheng-6852	271	11	its	its	PRON
fumecheng-6852	271	12	maximum	maximum	ADJ
fumecheng-6852	271	13	value	value	NOUN
fumecheng-6852	271	14	can	can	AUX
fumecheng-6852	271	15	be	be	AUX
fumecheng-6852	271	16	estimated	estimate	VERB
fumecheng-6852	271	17	based	base	VERB
fumecheng-6852	271	18	on	on	ADP
fumecheng-6852	271	19	the	the	DET
fumecheng-6852	271	20	measurements	measurement	NOUN
fumecheng-6852	271	21	gathered	gather	VERB
fumecheng-6852	271	22	in	in	ADP
fumecheng-6852	271	23	experiment	experiment	NOUN
fumecheng-6852	271	24	b	b	PROPN
fumecheng-6852	271	25	–	–	PUNCT
fumecheng-6852	271	26	it	it	PRON
fumecheng-6852	271	27	should	should	AUX
fumecheng-6852	271	28	be	be	AUX
fumecheng-6852	271	29	close	close	ADJ
fumecheng-6852	271	30	to	to	ADP
fumecheng-6852	271	31	kinetic	kinetic	ADJ
fumecheng-6852	271	32	friction	friction	NOUN
fumecheng-6852	271	33	identified	identify	VERB
fumecheng-6852	271	34	as	as	ADP
fumecheng-6852	271	35	about	about	ADP
fumecheng-6852	271	36	0.05	0.05	NUM
fumecheng-6852	271	37	nm	nm	NOUN
fumecheng-6852	271	38	.	.	PUNCT
fumecheng-6852	272	1	a	a	DET
fumecheng-6852	272	2	)	)	PUNCT
fumecheng-6852	272	3	torque	torque	NOUN
fumecheng-6852	272	4	-	-	PUNCT
fumecheng-6852	272	5	angle	angle	NOUN
fumecheng-6852	272	6	relationship	relationship	NOUN
fumecheng-6852	272	7	b	b	NOUN
fumecheng-6852	272	8	)	)	PUNCT
fumecheng-6852	272	9	torque	torque	NOUN
fumecheng-6852	272	10	-	-	PUNCT
fumecheng-6852	272	11	distance	distance	NOUN
fumecheng-6852	272	12	relationship	relationship	NOUN
fumecheng-6852	272	13	fig	fig	NOUN
fumecheng-6852	272	14	.	.	PUNCT
fumecheng-6852	273	1	16	16	NUM
fumecheng-6852	273	2	spring	spring	NOUN
fumecheng-6852	273	3	characteristics	characteristic	NOUN
fumecheng-6852	273	4	–	–	PUNCT
fumecheng-6852	273	5	comparison	comparison	NOUN
fumecheng-6852	273	6	of	of	ADP
fumecheng-6852	273	7	experiment	experiment	NOUN
fumecheng-6852	273	8	and	and	CCONJ
fumecheng-6852	273	9	simulation	simulation	NOUN
fumecheng-6852	273	10	fig	fig	PROPN
fumecheng-6852	273	11	.	.	PUNCT
fumecheng-6852	274	1	17	17	NUM
fumecheng-6852	274	2	presents	present	VERB
fumecheng-6852	274	3	the	the	DET
fumecheng-6852	274	4	spring	spring	NOUN
fumecheng-6852	274	5	characteristics	characteristic	NOUN
fumecheng-6852	274	6	(	(	PUNCT
fumecheng-6852	274	7	plotted	plot	VERB
fumecheng-6852	274	8	in	in	ADP
fumecheng-6852	274	9	the	the	DET
fumecheng-6852	274	10	stiff	stiff	ADJ
fumecheng-6852	274	11	configuration	configuration	NOUN
fumecheng-6852	274	12	:	:	PUNCT
fumecheng-6852	275	1	d	d	X
fumecheng-6852	275	2	=	=	PUNCT
fumecheng-6852	275	3	0	0	NUM
fumecheng-6852	275	4	)	)	PUNCT
fumecheng-6852	275	5	as	as	ADV
fumecheng-6852	275	6	well	well	ADV
fumecheng-6852	275	7	as	as	ADP
fumecheng-6852	275	8	its	its	PRON
fumecheng-6852	275	9	stable	stable	ADJ
fumecheng-6852	275	10	and	and	CCONJ
fumecheng-6852	275	11	linear	linear	ADJ
fumecheng-6852	275	12	range	range	NOUN
fumecheng-6852	275	13	of	of	ADP
fumecheng-6852	275	14	angles	angle	NOUN
fumecheng-6852	275	15	.	.	PUNCT
fumecheng-6852	276	1	it	it	PRON
fumecheng-6852	276	2	is	be	AUX
fumecheng-6852	276	3	shaped	shape	VERB
fumecheng-6852	276	4	as	as	ADP
fumecheng-6852	276	5	intended	intend	VERB
fumecheng-6852	276	6	,	,	PUNCT
fumecheng-6852	276	7	and	and	CCONJ
fumecheng-6852	276	8	both	both	DET
fumecheng-6852	276	9	ranges	range	NOUN
fumecheng-6852	276	10	are	be	AUX
fumecheng-6852	276	11	relatively	relatively	ADV
fumecheng-6852	276	12	wide	wide	ADJ
fumecheng-6852	276	13	:	:	PUNCT
fumecheng-6852	276	14	their	their	PRON
fumecheng-6852	276	15	limits	limit	NOUN
fumecheng-6852	276	16	are	be	AUX
fumecheng-6852	276	17	31.5	31.5	NUM
fumecheng-6852	276	18	°	°	NOUN
fumecheng-6852	276	19	(	(	PUNCT
fumecheng-6852	276	20	105	105	NUM
fumecheng-6852	276	21	%	%	NOUN
fumecheng-6852	276	22	of	of	ADP
fumecheng-6852	276	23	theoretical	theoretical	ADJ
fumecheng-6852	276	24	value	value	NOUN
fumecheng-6852	276	25	30	30	NUM
fumecheng-6852	276	26	°	°	NUM
fumecheng-6852	276	27	)	)	PUNCT
fumecheng-6852	276	28	and	and	CCONJ
fumecheng-6852	276	29	19.7	19.7	NUM
fumecheng-6852	276	30	°	°	NOUN
fumecheng-6852	276	31	(	(	PUNCT
fumecheng-6852	276	32	66	66	NUM
fumecheng-6852	276	33	%	%	NOUN
fumecheng-6852	276	34	)	)	PUNCT
fumecheng-6852	276	35	accordingly	accordingly	ADV
fumecheng-6852	276	36	.	.	PUNCT
fumecheng-6852	277	1	as	as	ADP
fumecheng-6852	277	2	a	a	DET
fumecheng-6852	277	3	reference	reference	NOUN
fumecheng-6852	277	4	,	,	PUNCT
fumecheng-6852	277	5	in	in	ADP
fumecheng-6852	277	6	paper	paper	NOUN
fumecheng-6852	277	7	[	[	X
fumecheng-6852	277	8	42	42	NUM
fumecheng-6852	277	9	]	]	PUNCT
fumecheng-6852	277	10	where	where	SCONJ
fumecheng-6852	277	11	the	the	DET
fumecheng-6852	277	12	same	same	ADJ
fumecheng-6852	277	13	number	number	NOUN
fumecheng-6852	277	14	of	of	ADP
fumecheng-6852	277	15	pole	pole	NOUN
fumecheng-6852	277	16	pairs	pair	NOUN
fumecheng-6852	277	17	was	be	AUX
fumecheng-6852	277	18	used	use	VERB
fumecheng-6852	277	19	these	these	DET
fumecheng-6852	277	20	values	value	NOUN
fumecheng-6852	277	21	were	be	AUX
fumecheng-6852	277	22	about	about	ADP
fumecheng-6852	277	23	:	:	PUNCT
fumecheng-6852	277	24	26	26	NUM
fumecheng-6852	277	25	°	°	NOUN
fumecheng-6852	277	26	(	(	PUNCT
fumecheng-6852	277	27	87	87	NUM
fumecheng-6852	277	28	%	%	NOUN
fumecheng-6852	277	29	)	)	PUNCT
fumecheng-6852	277	30	and	and	CCONJ
fumecheng-6852	277	31	11	11	NUM
fumecheng-6852	277	32	°	°	NOUN
fumecheng-6852	277	33	(	(	PUNCT
fumecheng-6852	277	34	37	37	NUM
fumecheng-6852	277	35	%	%	NOUN
fumecheng-6852	277	36	)	)	PUNCT
fumecheng-6852	277	37	.	.	PUNCT
fumecheng-6852	278	1	spring	spring	NOUN
fumecheng-6852	278	2	based	base	VERB
fumecheng-6852	278	3	on	on	ADP
fumecheng-6852	278	4	flat	flat	ADJ
fumecheng-6852	278	5	permanent	permanent	ADJ
fumecheng-6852	278	6	magnets	magnet	NOUN
fumecheng-6852	278	7	:	:	PUNCT
fumecheng-6852	278	8	design	design	NOUN
fumecheng-6852	278	9	,	,	PUNCT
fumecheng-6852	278	10	analysis	analysis	NOUN
fumecheng-6852	278	11	and	and	CCONJ
fumecheng-6852	278	12	use	use	NOUN
fumecheng-6852	278	13	in	in	ADP
fumecheng-6852	278	14	variable	variable	ADJ
fumecheng-6852	278	15	stiffness	stiffness	NOUN
fumecheng-6852	278	16	actuator	actuator	NOUN
fumecheng-6852	278	17	117	117	NUM
fumecheng-6852	278	18	fig	fig	NOUN
fumecheng-6852	278	19	.	.	PUNCT
fumecheng-6852	279	1	17	17	NUM
fumecheng-6852	279	2	resultant	resultant	NOUN
fumecheng-6852	279	3	torque	torque	NOUN
fumecheng-6852	279	4	-	-	PUNCT
fumecheng-6852	279	5	angle	angle	NOUN
fumecheng-6852	279	6	characteristics	characteristic	NOUN
fumecheng-6852	279	7	shape	shape	NOUN
fumecheng-6852	279	8	,	,	PUNCT
fumecheng-6852	279	9	linear	linear	ADJ
fumecheng-6852	279	10	and	and	CCONJ
fumecheng-6852	279	11	stable	stable	ADJ
fumecheng-6852	279	12	ranges	range	VERB
fumecheng-6852	279	13	7.2	7.2	NUM
fumecheng-6852	279	14	.	.	PUNCT
fumecheng-6852	280	1	joint	joint	ADJ
fumecheng-6852	280	2	model	model	NOUN
fumecheng-6852	280	3	all	all	DET
fumecheng-6852	280	4	the	the	DET
fumecheng-6852	280	5	models	model	NOUN
fumecheng-6852	280	6	examined	examine	VERB
fumecheng-6852	280	7	in	in	ADP
fumecheng-6852	280	8	section	section	NOUN
fumecheng-6852	280	9	6.2	6.2	NUM
fumecheng-6852	280	10	and	and	CCONJ
fumecheng-6852	280	11	listed	list	VERB
fumecheng-6852	280	12	in	in	ADP
fumecheng-6852	280	13	table	table	NOUN
fumecheng-6852	280	14	3	3	NUM
fumecheng-6852	280	15	have	have	VERB
fumecheng-6852	280	16	one	one	NUM
fumecheng-6852	280	17	vital	vital	ADJ
fumecheng-6852	280	18	feature	feature	NOUN
fumecheng-6852	280	19	in	in	ADP
fumecheng-6852	280	20	common	common	ADJ
fumecheng-6852	280	21	–	–	PUNCT
fumecheng-6852	280	22	all	all	PRON
fumecheng-6852	280	23	their	their	PRON
fumecheng-6852	280	24	terms	term	NOUN
fumecheng-6852	280	25	have	have	VERB
fumecheng-6852	280	26	a	a	DET
fumecheng-6852	280	27	clear	clear	ADJ
fumecheng-6852	280	28	interpretation	interpretation	NOUN
fumecheng-6852	280	29	.	.	PUNCT
fumecheng-6852	281	1	it	it	PRON
fumecheng-6852	281	2	is	be	AUX
fumecheng-6852	281	3	summarized	summarize	VERB
fumecheng-6852	281	4	in	in	ADP
fumecheng-6852	281	5	table	table	NOUN
fumecheng-6852	281	6	5	5	NUM
fumecheng-6852	281	7	.	.	PUNCT
fumecheng-6852	282	1	the	the	DET
fumecheng-6852	282	2	results	result	NOUN
fumecheng-6852	282	3	presented	present	VERB
fumecheng-6852	282	4	in	in	ADP
fumecheng-6852	282	5	table	table	NOUN
fumecheng-6852	282	6	4	4	NUM
fumecheng-6852	282	7	indicate	indicate	VERB
fumecheng-6852	282	8	that	that	SCONJ
fumecheng-6852	282	9	the	the	PRON
fumecheng-6852	282	10	including	include	VERB
fumecheng-6852	282	11	terms	term	NOUN
fumecheng-6852	282	12	corresponding	correspond	VERB
fumecheng-6852	282	13	to	to	ADP
fumecheng-6852	282	14	kinetic	kinetic	ADJ
fumecheng-6852	282	15	friction	friction	NOUN
fumecheng-6852	282	16	and	and	CCONJ
fumecheng-6852	282	17	wheel	wheel	NOUN
fumecheng-6852	282	18	unbalance	unbalance	NOUN
fumecheng-6852	282	19	have	have	VERB
fumecheng-6852	282	20	a	a	DET
fumecheng-6852	282	21	significant	significant	ADJ
fumecheng-6852	282	22	impact	impact	NOUN
fumecheng-6852	282	23	on	on	ADP
fumecheng-6852	282	24	the	the	DET
fumecheng-6852	282	25	goodness	goodness	NOUN
fumecheng-6852	282	26	of	of	ADP
fumecheng-6852	282	27	fit	fit	PROPN
fumecheng-6852	282	28	,	,	PUNCT
fumecheng-6852	282	29	which	which	PRON
fumecheng-6852	282	30	suggests	suggest	VERB
fumecheng-6852	282	31	a	a	DET
fumecheng-6852	282	32	profound	profound	ADJ
fumecheng-6852	282	33	role	role	NOUN
fumecheng-6852	282	34	of	of	ADP
fumecheng-6852	282	35	these	these	DET
fumecheng-6852	282	36	factors	factor	NOUN
fumecheng-6852	282	37	.	.	PUNCT
fumecheng-6852	283	1	implementing	implement	VERB
fumecheng-6852	283	2	damping	damp	VERB
fumecheng-6852	283	3	dependant	dependant	ADJ
fumecheng-6852	283	4	on	on	ADP
fumecheng-6852	283	5	output	output	NOUN
fumecheng-6852	283	6	angular	angular	ADJ
fumecheng-6852	283	7	velocity	velocity	NOUN
fumecheng-6852	283	8	results	result	NOUN
fumecheng-6852	283	9	in	in	ADP
fumecheng-6852	283	10	a	a	DET
fumecheng-6852	283	11	negligible	negligible	ADJ
fumecheng-6852	283	12	improvement	improvement	NOUN
fumecheng-6852	283	13	,	,	PUNCT
fumecheng-6852	283	14	so	so	SCONJ
fumecheng-6852	283	15	that	that	SCONJ
fumecheng-6852	283	16	it	it	PRON
fumecheng-6852	283	17	can	can	AUX
fumecheng-6852	283	18	be	be	AUX
fumecheng-6852	283	19	implied	imply	VERB
fumecheng-6852	283	20	that	that	SCONJ
fumecheng-6852	283	21	the	the	DET
fumecheng-6852	283	22	influence	influence	NOUN
fumecheng-6852	283	23	of	of	ADP
fumecheng-6852	283	24	viscous	viscous	ADJ
fumecheng-6852	283	25	friction	friction	NOUN
fumecheng-6852	283	26	on	on	ADP
fumecheng-6852	283	27	the	the	DET
fumecheng-6852	283	28	output	output	NOUN
fumecheng-6852	283	29	shaft	shaft	NOUN
fumecheng-6852	283	30	movement	movement	NOUN
fumecheng-6852	283	31	is	be	AUX
fumecheng-6852	283	32	relatively	relatively	ADV
fumecheng-6852	283	33	low	low	ADJ
fumecheng-6852	283	34	.	.	PUNCT
fumecheng-6852	283	35	including	include	VERB
fumecheng-6852	283	36	damping	damp	VERB
fumecheng-6852	283	37	dependant	dependant	ADJ
fumecheng-6852	283	38	on	on	ADP
fumecheng-6852	283	39	relative	relative	ADJ
fumecheng-6852	283	40	angular	angular	ADJ
fumecheng-6852	283	41	velocity	velocity	NOUN
fumecheng-6852	283	42	provides	provide	VERB
fumecheng-6852	283	43	a	a	DET
fumecheng-6852	283	44	noticeable	noticeable	ADJ
fumecheng-6852	283	45	but	but	CCONJ
fumecheng-6852	283	46	rather	rather	ADV
fumecheng-6852	283	47	small	small	ADJ
fumecheng-6852	283	48	improvement	improvement	NOUN
fumecheng-6852	283	49	of	of	ADP
fumecheng-6852	283	50	the	the	DET
fumecheng-6852	283	51	goodness	goodness	NOUN
fumecheng-6852	283	52	of	of	ADP
fumecheng-6852	283	53	fit	fit	PROPN
fumecheng-6852	283	54	.	.	PUNCT
fumecheng-6852	284	1	because	because	SCONJ
fumecheng-6852	284	2	there	there	PRON
fumecheng-6852	284	3	is	be	VERB
fumecheng-6852	284	4	no	no	DET
fumecheng-6852	284	5	contact	contact	NOUN
fumecheng-6852	284	6	between	between	ADP
fumecheng-6852	284	7	rotating	rotate	VERB
fumecheng-6852	284	8	rings	ring	NOUN
fumecheng-6852	284	9	,	,	PUNCT
fumecheng-6852	284	10	the	the	DET
fumecheng-6852	284	11	only	only	ADJ
fumecheng-6852	284	12	possible	possible	ADJ
fumecheng-6852	284	13	explanation	explanation	NOUN
fumecheng-6852	284	14	for	for	ADP
fumecheng-6852	284	15	such	such	ADJ
fumecheng-6852	284	16	damping	damp	VERB
fumecheng-6852	284	17	are	be	AUX
fumecheng-6852	284	18	magnetic	magnetic	ADJ
fumecheng-6852	284	19	interactions	interaction	NOUN
fumecheng-6852	284	20	–	–	PUNCT
fumecheng-6852	284	21	probably	probably	ADV
fumecheng-6852	284	22	related	relate	VERB
fumecheng-6852	284	23	to	to	ADP
fumecheng-6852	284	24	inducing	induce	VERB
fumecheng-6852	284	25	eddy	eddy	NOUN
fumecheng-6852	284	26	currents	current	NOUN
fumecheng-6852	284	27	in	in	ADP
fumecheng-6852	284	28	conducting	conduct	VERB
fumecheng-6852	284	29	components	component	NOUN
fumecheng-6852	284	30	of	of	ADP
fumecheng-6852	284	31	the	the	DET
fumecheng-6852	284	32	spring	spring	NOUN
fumecheng-6852	284	33	.	.	PUNCT
fumecheng-6852	285	1	the	the	DET
fumecheng-6852	285	2	results	result	NOUN
fumecheng-6852	285	3	indicate	indicate	VERB
fumecheng-6852	285	4	that	that	SCONJ
fumecheng-6852	285	5	–	–	PUNCT
fumecheng-6852	285	6	at	at	ADP
fumecheng-6852	285	7	least	least	ADJ
fumecheng-6852	285	8	for	for	ADP
fumecheng-6852	285	9	investigated	investigated	ADJ
fumecheng-6852	285	10	velocities	velocity	NOUN
fumecheng-6852	285	11	,	,	PUNCT
fumecheng-6852	285	12	dimensions	dimension	NOUN
fumecheng-6852	285	13	and	and	CCONJ
fumecheng-6852	285	14	mechanical	mechanical	ADJ
fumecheng-6852	285	15	parameters	parameter	NOUN
fumecheng-6852	285	16	–	–	PUNCT
fumecheng-6852	285	17	this	this	DET
fumecheng-6852	285	18	phenomenon	phenomenon	NOUN
fumecheng-6852	285	19	has	have	VERB
fumecheng-6852	285	20	a	a	DET
fumecheng-6852	285	21	relatively	relatively	ADV
fumecheng-6852	285	22	low	low	ADJ
fumecheng-6852	285	23	impact	impact	NOUN
fumecheng-6852	285	24	on	on	ADP
fumecheng-6852	285	25	output	output	NOUN
fumecheng-6852	285	26	shaft	shaft	NOUN
fumecheng-6852	285	27	behavior	behavior	NOUN
fumecheng-6852	285	28	.	.	PUNCT
fumecheng-6852	286	1	the	the	DET
fumecheng-6852	286	2	results	result	NOUN
fumecheng-6852	286	3	of	of	ADP
fumecheng-6852	286	4	long	long	ADJ
fumecheng-6852	286	5	-	-	PUNCT
fumecheng-6852	286	6	term	term	NOUN
fumecheng-6852	286	7	simulations	simulation	NOUN
fumecheng-6852	286	8	of	of	ADP
fumecheng-6852	286	9	output	output	NOUN
fumecheng-6852	286	10	shaft	shaft	NOUN
fumecheng-6852	286	11	movements	movement	NOUN
fumecheng-6852	286	12	(	(	PUNCT
fumecheng-6852	286	13	presented	present	VERB
fumecheng-6852	286	14	in	in	ADP
fumecheng-6852	286	15	section	section	NOUN
fumecheng-6852	286	16	6.2	6.2	NUM
fumecheng-6852	286	17	in	in	ADP
fumecheng-6852	286	18	fig	fig	NOUN
fumecheng-6852	286	19	.	.	PUNCT
fumecheng-6852	287	1	13	13	NUM
fumecheng-6852	287	2	)	)	PUNCT
fumecheng-6852	287	3	indicate	indicate	VERB
fumecheng-6852	287	4	that	that	PRON
fumecheng-6852	287	5	–	–	PUNCT
fumecheng-6852	287	6	provided	provide	VERB
fumecheng-6852	287	7	the	the	DET
fumecheng-6852	287	8	critical	critical	ADJ
fumecheng-6852	287	9	angle	angle	NOUN
fumecheng-6852	287	10	is	be	AUX
fumecheng-6852	287	11	not	not	PART
fumecheng-6852	287	12	exceeded	exceed	VERB
fumecheng-6852	287	13	–	–	PUNCT
fumecheng-6852	287	14	the	the	DET
fumecheng-6852	287	15	most	most	ADV
fumecheng-6852	287	16	complex	complex	ADJ
fumecheng-6852	287	17	model	model	NOUN
fumecheng-6852	287	18	f	f	PROPN
fumecheng-6852	287	19	can	can	AUX
fumecheng-6852	287	20	be	be	AUX
fumecheng-6852	287	21	successfully	successfully	ADV
fumecheng-6852	287	22	used	use	VERB
fumecheng-6852	287	23	as	as	ADP
fumecheng-6852	287	24	a	a	DET
fumecheng-6852	287	25	long	long	ADJ
fumecheng-6852	287	26	-	-	PUNCT
fumecheng-6852	287	27	term	term	NOUN
fumecheng-6852	287	28	simulator	simulator	NOUN
fumecheng-6852	287	29	.	.	PUNCT
fumecheng-6852	288	1	the	the	DET
fumecheng-6852	288	2	same	same	ADJ
fumecheng-6852	288	3	is	be	AUX
fumecheng-6852	288	4	true	true	ADJ
fumecheng-6852	288	5	even	even	ADV
fumecheng-6852	288	6	for	for	ADP
fumecheng-6852	288	7	its	its	PRON
fumecheng-6852	288	8	partially	partially	ADV
fumecheng-6852	288	9	linearised	linearise	VERB
fumecheng-6852	288	10	form	form	NOUN
fumecheng-6852	288	11	fl	fl	NOUN
fumecheng-6852	288	12	.	.	PUNCT
fumecheng-6852	289	1	if	if	SCONJ
fumecheng-6852	289	2	only	only	ADJ
fumecheng-6852	289	3	short	short	ADJ
fumecheng-6852	289	4	-	-	PUNCT
fumecheng-6852	289	5	term	term	NOUN
fumecheng-6852	289	6	predictions	prediction	NOUN
fumecheng-6852	289	7	are	be	AUX
fumecheng-6852	289	8	needed	need	VERB
fumecheng-6852	289	9	(	(	PUNCT
fumecheng-6852	289	10	fig	fig	NOUN
fumecheng-6852	289	11	.	.	PUNCT
fumecheng-6852	290	1	14	14	NUM
fumecheng-6852	290	2	)	)	PUNCT
fumecheng-6852	290	3	,	,	PUNCT
fumecheng-6852	290	4	even	even	ADV
fumecheng-6852	290	5	the	the	DET
fumecheng-6852	290	6	simplest	simple	ADJ
fumecheng-6852	290	7	models	model	NOUN
fumecheng-6852	290	8	a	a	PRON
fumecheng-6852	290	9	and	and	CCONJ
fumecheng-6852	290	10	al	al	PROPN
fumecheng-6852	290	11	are	be	AUX
fumecheng-6852	290	12	capable	capable	ADJ
fumecheng-6852	290	13	of	of	ADP
fumecheng-6852	290	14	providing	provide	VERB
fumecheng-6852	290	15	satisfactory	satisfactory	ADJ
fumecheng-6852	290	16	results	result	NOUN
fumecheng-6852	290	17	.	.	PUNCT
fumecheng-6852	291	1	if	if	SCONJ
fumecheng-6852	291	2	the	the	DET
fumecheng-6852	291	3	critical	critical	ADJ
fumecheng-6852	291	4	angle	angle	NOUN
fumecheng-6852	291	5	is	be	AUX
fumecheng-6852	291	6	exceeded	exceed	VERB
fumecheng-6852	291	7	(	(	PUNCT
fumecheng-6852	291	8	fig	fig	NOUN
fumecheng-6852	291	9	.	.	PUNCT
fumecheng-6852	291	10	15	15	NUM
fumecheng-6852	291	11	)	)	PUNCT
fumecheng-6852	291	12	,	,	PUNCT
fumecheng-6852	291	13	the	the	DET
fumecheng-6852	291	14	simulations	simulation	NOUN
fumecheng-6852	291	15	based	base	VERB
fumecheng-6852	291	16	on	on	ADP
fumecheng-6852	291	17	non	non	ADJ
fumecheng-6852	291	18	-	-	ADJ
fumecheng-6852	291	19	linearised	linearised	ADJ
fumecheng-6852	291	20	models	model	NOUN
fumecheng-6852	291	21	are	be	AUX
fumecheng-6852	291	22	not	not	PART
fumecheng-6852	291	23	satisfactorily	satisfactorily	ADV
fumecheng-6852	291	24	accurate	accurate	ADJ
fumecheng-6852	291	25	but	but	CCONJ
fumecheng-6852	291	26	–	–	PUNCT
fumecheng-6852	291	27	contrary	contrary	ADJ
fumecheng-6852	291	28	to	to	ADP
fumecheng-6852	291	29	linearised	linearised	ADJ
fumecheng-6852	291	30	ones	one	NOUN
fumecheng-6852	291	31	–	–	PUNCT
fumecheng-6852	291	32	they	they	PRON
fumecheng-6852	291	33	follow	follow	VERB
fumecheng-6852	291	34	the	the	DET
fumecheng-6852	291	35	general	general	ADJ
fumecheng-6852	291	36	trends	trend	NOUN
fumecheng-6852	291	37	of	of	ADP
fumecheng-6852	291	38	real	real	ADJ
fumecheng-6852	291	39	output	output	NOUN
fumecheng-6852	291	40	shaft	shaft	NOUN
fumecheng-6852	291	41	trajectory	trajectory	NOUN
fumecheng-6852	291	42	for	for	ADP
fumecheng-6852	291	43	some	some	DET
fumecheng-6852	291	44	period	period	NOUN
fumecheng-6852	291	45	of	of	ADP
fumecheng-6852	291	46	time	time	NOUN
fumecheng-6852	291	47	.	.	PUNCT
fumecheng-6852	292	1	this	this	DET
fumecheng-6852	292	2	period	period	NOUN
fumecheng-6852	292	3	is	be	AUX
fumecheng-6852	292	4	the	the	DET
fumecheng-6852	292	5	longest	long	ADJ
fumecheng-6852	292	6	in	in	ADP
fumecheng-6852	292	7	the	the	DET
fumecheng-6852	292	8	case	case	NOUN
fumecheng-6852	292	9	of	of	ADP
fumecheng-6852	292	10	model	model	NOUN
fumecheng-6852	292	11	f	f	PROPN
fumecheng-6852	292	12	(	(	PUNCT
fumecheng-6852	292	13	2.6	2.6	NUM
fumecheng-6852	292	14	seconds	second	NOUN
fumecheng-6852	292	15	in	in	ADP
fumecheng-6852	292	16	presented	present	VERB
fumecheng-6852	292	17	case	case	NOUN
fumecheng-6852	292	18	)	)	PUNCT
fumecheng-6852	292	19	.	.	PUNCT
fumecheng-6852	293	1	however	however	ADV
fumecheng-6852	293	2	,	,	PUNCT
fumecheng-6852	293	3	it	it	PRON
fumecheng-6852	293	4	is	be	AUX
fumecheng-6852	293	5	worth	worth	ADJ
fumecheng-6852	293	6	noting	note	VERB
fumecheng-6852	293	7	that	that	SCONJ
fumecheng-6852	293	8	due	due	ADP
fumecheng-6852	293	9	to	to	ADP
fumecheng-6852	293	10	the	the	DET
fumecheng-6852	293	11	unstable	unstable	ADJ
fumecheng-6852	293	12	behavior	behavior	NOUN
fumecheng-6852	293	13	of	of	ADP
fumecheng-6852	293	14	magnetic	magnetic	ADJ
fumecheng-6852	293	15	spring	spring	NOUN
fumecheng-6852	293	16	described	describe	VERB
fumecheng-6852	293	17	in	in	ADP
fumecheng-6852	293	18	section	section	NOUN
fumecheng-6852	293	19	3	3	NUM
fumecheng-6852	293	20	,	,	PUNCT
fumecheng-6852	293	21	the	the	DET
fumecheng-6852	293	22	predictability	predictability	NOUN
fumecheng-6852	293	23	of	of	ADP
fumecheng-6852	293	24	output	output	NOUN
fumecheng-6852	293	25	movement	movement	NOUN
fumecheng-6852	293	26	within	within	ADP
fumecheng-6852	293	27	the	the	DET
fumecheng-6852	293	28	unstable	unstable	ADJ
fumecheng-6852	293	29	range	range	NOUN
fumecheng-6852	293	30	of	of	ADP
fumecheng-6852	293	31	angles	angle	NOUN
fumecheng-6852	293	32	φr	φr	ADP
fumecheng-6852	293	33	may	may	AUX
fumecheng-6852	293	34	be	be	AUX
fumecheng-6852	293	35	inherently	inherently	ADV
fumecheng-6852	293	36	and	and	CCONJ
fumecheng-6852	293	37	inevitably	inevitably	ADV
fumecheng-6852	293	38	limited	limit	VERB
fumecheng-6852	293	39	.	.	PUNCT
fumecheng-6852	294	1	118	118	NUM
fumecheng-6852	294	2	b.	b.	PROPN
fumecheng-6852	294	3	kozakiewicz	kozakiewicz	PROPN
fumecheng-6852	294	4	,	,	PUNCT
fumecheng-6852	294	5	t.	t.	PROPN
fumecheng-6852	294	6	winiarski	winiarski	PROPN
fumecheng-6852	294	7	table	table	NOUN
fumecheng-6852	294	8	5	5	NUM
fumecheng-6852	294	9	interpretation	interpretation	NOUN
fumecheng-6852	294	10	of	of	ADP
fumecheng-6852	294	11	terms	term	NOUN
fumecheng-6852	294	12	used	use	VERB
fumecheng-6852	294	13	in	in	ADP
fumecheng-6852	294	14	examined	examine	VERB
fumecheng-6852	294	15	joint	joint	ADJ
fumecheng-6852	294	16	models	model	NOUN
fumecheng-6852	294	17	term	term	NOUN
fumecheng-6852	294	18	interpretation	interpretation	NOUN
fumecheng-6852	294	19	j	j	PROPN
fumecheng-6852	294	20	inertia	inertia	NOUN
fumecheng-6852	294	21	(	(	PUNCT
fumecheng-6852	294	22	)	)	PUNCT
fumecheng-6852	294	23	,	,	PUNCT
fumecheng-6852	294	24	sp	sp	ADP
fumecheng-6852	294	25	out	out	ADP
fumecheng-6852	294	26	ind	ind	PROPN
fumecheng-6852	294	27			PROPN
fumecheng-6852	294	28	−	−	PROPN
fumecheng-6852	294	29	static	static	ADJ
fumecheng-6852	294	30	characteristics	characteristic	NOUN
fumecheng-6852	294	31	of	of	ADP
fumecheng-6852	294	32	magnetic	magnetic	ADJ
fumecheng-6852	294	33	spring	spring	NOUN
fumecheng-6852	294	34	(	(	PUNCT
fumecheng-6852	294	35	)	)	PUNCT
fumecheng-6852	294	36	signfr	signfr	PROPN
fumecheng-6852	294	37	out	out	PROPN
fumecheng-6852	294	38	−	−	PROPN
fumecheng-6852	294	39	model	model	NOUN
fumecheng-6852	294	40	of	of	ADP
fumecheng-6852	294	41	dry	dry	ADJ
fumecheng-6852	294	42	kinetic	kinetic	ADJ
fumecheng-6852	294	43	friction	friction	NOUN
fumecheng-6852	294	44	(	(	PUNCT
fumecheng-6852	294	45	)	)	PUNCT
fumecheng-6852	294	46	tanhfr	tanhfr	PROPN
fumecheng-6852	294	47	outv	outv	PROPN
fumecheng-6852	294	48	−	−	PROPN
fumecheng-6852	294	49	differentiable	differentiable	ADJ
fumecheng-6852	294	50	approximation	approximation	NOUN
fumecheng-6852	294	51	of	of	ADP
fumecheng-6852	294	52	the	the	DET
fumecheng-6852	294	53	model	model	NOUN
fumecheng-6852	294	54	above	above	ADV
fumecheng-6852	294	55	(	(	PUNCT
fumecheng-6852	294	56	)	)	PUNCT
fumecheng-6852	294	57	sin	sin	NOUN
fumecheng-6852	294	58	outw	outw	NOUN
fumecheng-6852	294	59	x	x	PUNCT
fumecheng-6852	295	1	+	+	CCONJ
fumecheng-6852	295	2	eccentric	eccentric	ADJ
fumecheng-6852	295	3	mass	mass	NOUN
fumecheng-6852	295	4	model	model	NOUN
fumecheng-6852	295	5	of	of	ADP
fumecheng-6852	295	6	imperfect	imperfect	ADJ
fumecheng-6852	295	7	wheel	wheel	NOUN
fumecheng-6852	295	8	balance	balance	NOUN
fumecheng-6852	295	9	outy−	outy−	NOUN
fumecheng-6852	295	10	damping	damp	VERB
fumecheng-6852	295	11	dependant	dependant	ADJ
fumecheng-6852	295	12	on	on	ADP
fumecheng-6852	295	13	output	output	NOUN
fumecheng-6852	295	14	shaft	shaft	NOUN
fumecheng-6852	295	15	angular	angular	ADJ
fumecheng-6852	295	16	velocity	velocity	NOUN
fumecheng-6852	295	17	(	(	PUNCT
fumecheng-6852	295	18	)	)	PUNCT
fumecheng-6852	295	19	out	out	ADP
fumecheng-6852	295	20	inz	inz	PROPN
fumecheng-6852	295	21			PROPN
fumecheng-6852	295	22	−	−	PROPN
fumecheng-6852	295	23	−	−	NOUN
fumecheng-6852	295	24	damping	damp	VERB
fumecheng-6852	295	25	dependant	dependant	ADJ
fumecheng-6852	295	26	on	on	ADP
fumecheng-6852	295	27	relative	relative	ADJ
fumecheng-6852	295	28	angular	angular	ADJ
fumecheng-6852	295	29	velocity	velocity	NOUN
fumecheng-6852	295	30	(	(	PUNCT
fumecheng-6852	295	31	)	)	PUNCT
fumecheng-6852	295	32	spk	spk	PROPN
fumecheng-6852	296	1	d	d	X
fumecheng-6852	296	2	stiffness	stiffness	NOUN
fumecheng-6852	296	3	in	in	ADP
fumecheng-6852	296	4	stable	stable	ADJ
fumecheng-6852	296	5	equilibrium	equilibrium	NOUN
fumecheng-6852	296	6	(	(	PUNCT
fumecheng-6852	296	7	)	)	PUNCT
fumecheng-6852	296	8	mod	mod	PROPN
fumecheng-6852	296	9	60	60	NUM
fumecheng-6852	296	10	,	,	PUNCT
fumecheng-6852	296	11	120	120	NUM
fumecheng-6852	296	12	60out	60out	ADJ
fumecheng-6852	296	13	in	in	PROPN
fumecheng-6852	296	14	−	−	PROPN
fumecheng-6852	296	15	+	+	CCONJ
fumecheng-6852	296	16			X
fumecheng-6852	296	17			NOUN
fumecheng-6852	296	18	−	−	PROPN
fumecheng-6852	296	19			NOUN
fumecheng-6852	296	20	term	term	NOUN
fumecheng-6852	296	21	providing	provide	VERB
fumecheng-6852	296	22	periodicity	periodicity	NOUN
fumecheng-6852	296	23	of	of	ADP
fumecheng-6852	296	24	120	120	NUM
fumecheng-6852	296	25	°	°	NOUN
fumecheng-6852	296	26	8	8	NUM
fumecheng-6852	296	27	.	.	PUNCT
fumecheng-6852	297	1	conclusions	conclusion	NOUN
fumecheng-6852	297	2	the	the	DET
fumecheng-6852	297	3	experimentally	experimentally	ADV
fumecheng-6852	297	4	verified	verify	VERB
fumecheng-6852	297	5	results	result	NOUN
fumecheng-6852	297	6	of	of	ADP
fumecheng-6852	297	7	simulations	simulation	NOUN
fumecheng-6852	297	8	indicate	indicate	VERB
fumecheng-6852	297	9	that	that	SCONJ
fumecheng-6852	297	10	using	use	VERB
fumecheng-6852	297	11	flat	flat	ADJ
fumecheng-6852	297	12	magnets	magnet	NOUN
fumecheng-6852	297	13	instead	instead	ADV
fumecheng-6852	297	14	of	of	ADP
fumecheng-6852	297	15	arc	arc	NOUN
fumecheng-6852	297	16	ones	one	NOUN
fumecheng-6852	297	17	for	for	ADP
fumecheng-6852	297	18	the	the	DET
fumecheng-6852	297	19	magnetic	magnetic	ADJ
fumecheng-6852	297	20	spring	spring	NOUN
fumecheng-6852	297	21	construction	construction	NOUN
fumecheng-6852	297	22	enables	enable	VERB
fumecheng-6852	297	23	alteration	alteration	NOUN
fumecheng-6852	297	24	of	of	ADP
fumecheng-6852	297	25	its	its	PRON
fumecheng-6852	297	26	torqueangle	torqueangle	NOUN
fumecheng-6852	297	27	characteristics	characteristic	NOUN
fumecheng-6852	297	28	in	in	ADP
fumecheng-6852	297	29	a	a	DET
fumecheng-6852	297	30	beneficial	beneficial	ADJ
fumecheng-6852	297	31	way	way	NOUN
fumecheng-6852	297	32	by	by	ADP
fumecheng-6852	297	33	adjusting	adjust	VERB
fumecheng-6852	297	34	spring	spring	NOUN
fumecheng-6852	297	35	geometry	geometry	NOUN
fumecheng-6852	297	36	.	.	PUNCT
fumecheng-6852	298	1	in	in	ADP
fumecheng-6852	298	2	the	the	DET
fumecheng-6852	298	3	case	case	NOUN
fumecheng-6852	298	4	of	of	ADP
fumecheng-6852	298	5	a	a	DET
fumecheng-6852	298	6	low	low	ADJ
fumecheng-6852	298	7	number	number	NOUN
fumecheng-6852	298	8	of	of	ADP
fumecheng-6852	298	9	magnet	magnet	NOUN
fumecheng-6852	298	10	pairs	pair	NOUN
fumecheng-6852	298	11	,	,	PUNCT
fumecheng-6852	298	12	the	the	DET
fumecheng-6852	298	13	choice	choice	NOUN
fumecheng-6852	298	14	of	of	ADP
fumecheng-6852	298	15	optimized	optimize	VERB
fumecheng-6852	298	16	fms	fms	PROPN
fumecheng-6852	298	17	in	in	ADP
fumecheng-6852	298	18	the	the	DET
fumecheng-6852	298	19	place	place	NOUN
fumecheng-6852	298	20	of	of	ADP
fumecheng-6852	298	21	ams	am	NOUN
fumecheng-6852	298	22	results	result	VERB
fumecheng-6852	298	23	in	in	ADP
fumecheng-6852	298	24	expanding	expand	VERB
fumecheng-6852	298	25	linear	linear	ADJ
fumecheng-6852	298	26	and	and	CCONJ
fumecheng-6852	298	27	stable	stable	ADJ
fumecheng-6852	298	28	ranges	range	NOUN
fumecheng-6852	298	29	of	of	ADP
fumecheng-6852	298	30	angles	angle	NOUN
fumecheng-6852	298	31	,	,	PUNCT
fumecheng-6852	298	32	what	what	PRON
fumecheng-6852	298	33	broadens	broaden	VERB
fumecheng-6852	298	34	a	a	DET
fumecheng-6852	298	35	space	space	NOUN
fumecheng-6852	298	36	of	of	ADP
fumecheng-6852	298	37	movements	movement	NOUN
fumecheng-6852	298	38	so	so	SCONJ
fumecheng-6852	298	39	that	that	SCONJ
fumecheng-6852	298	40	the	the	DET
fumecheng-6852	298	41	behavior	behavior	NOUN
fumecheng-6852	298	42	of	of	ADP
fumecheng-6852	298	43	the	the	DET
fumecheng-6852	298	44	spring	spring	NOUN
fumecheng-6852	298	45	is	be	AUX
fumecheng-6852	298	46	well	well	ADV
fumecheng-6852	298	47	-	-	PUNCT
fumecheng-6852	298	48	defined	define	VERB
fumecheng-6852	298	49	,	,	PUNCT
fumecheng-6852	298	50	predictable	predictable	ADJ
fumecheng-6852	298	51	and	and	CCONJ
fumecheng-6852	298	52	easy	easy	ADJ
fumecheng-6852	298	53	to	to	PART
fumecheng-6852	298	54	control	control	VERB
fumecheng-6852	298	55	.	.	PUNCT
fumecheng-6852	299	1	the	the	DET
fumecheng-6852	299	2	additional	additional	ADJ
fumecheng-6852	299	3	advantage	advantage	NOUN
fumecheng-6852	299	4	is	be	AUX
fumecheng-6852	299	5	lower	low	ADJ
fumecheng-6852	299	6	cost	cost	NOUN
fumecheng-6852	299	7	and	and	CCONJ
fumecheng-6852	299	8	much	much	ADV
fumecheng-6852	299	9	better	well	ADJ
fumecheng-6852	299	10	availability	availability	NOUN
fumecheng-6852	299	11	of	of	ADP
fumecheng-6852	299	12	flat	flat	ADJ
fumecheng-6852	299	13	magnets	magnet	NOUN
fumecheng-6852	299	14	as	as	SCONJ
fumecheng-6852	299	15	opposed	oppose	VERB
fumecheng-6852	299	16	to	to	ADP
fumecheng-6852	299	17	arc	arc	NOUN
fumecheng-6852	299	18	ones	one	NOUN
fumecheng-6852	299	19	.	.	PUNCT
fumecheng-6852	300	1	however	however	ADV
fumecheng-6852	300	2	,	,	PUNCT
fumecheng-6852	300	3	the	the	DET
fumecheng-6852	300	4	price	price	NOUN
fumecheng-6852	300	5	for	for	ADP
fumecheng-6852	300	6	all	all	DET
fumecheng-6852	300	7	the	the	DET
fumecheng-6852	300	8	advantages	advantage	NOUN
fumecheng-6852	300	9	mentioned	mention	VERB
fumecheng-6852	300	10	above	above	ADV
fumecheng-6852	300	11	is	be	AUX
fumecheng-6852	300	12	a	a	DET
fumecheng-6852	300	13	reduction	reduction	NOUN
fumecheng-6852	300	14	of	of	ADP
fumecheng-6852	300	15	spring	spring	NOUN
fumecheng-6852	300	16	maximal	maximal	ADJ
fumecheng-6852	300	17	torque	torque	NOUN
fumecheng-6852	300	18	and	and	CCONJ
fumecheng-6852	300	19	stiffness	stiffness	NOUN
fumecheng-6852	300	20	.	.	PUNCT
fumecheng-6852	301	1	hence	hence	ADV
fumecheng-6852	301	2	,	,	PUNCT
fumecheng-6852	301	3	the	the	DET
fumecheng-6852	301	4	best	good	ADJ
fumecheng-6852	301	5	applications	application	NOUN
fumecheng-6852	301	6	for	for	ADP
fumecheng-6852	301	7	implementing	implement	VERB
fumecheng-6852	301	8	fms	fms	PROPN
fumecheng-6852	301	9	are	be	AUX
fumecheng-6852	301	10	those	those	PRON
fumecheng-6852	301	11	,	,	PUNCT
fumecheng-6852	301	12	in	in	ADP
fumecheng-6852	301	13	the	the	DET
fumecheng-6852	301	14	case	case	NOUN
fumecheng-6852	301	15	of	of	ADP
fumecheng-6852	301	16	which	which	PRON
fumecheng-6852	301	17	the	the	DET
fumecheng-6852	301	18	wide	wide	ADJ
fumecheng-6852	301	19	range	range	NOUN
fumecheng-6852	301	20	of	of	ADP
fumecheng-6852	301	21	deflections	deflection	NOUN
fumecheng-6852	301	22	and	and	CCONJ
fumecheng-6852	301	23	convenient	convenient	ADJ
fumecheng-6852	301	24	control	control	NOUN
fumecheng-6852	301	25	is	be	AUX
fumecheng-6852	301	26	more	more	ADV
fumecheng-6852	301	27	important	important	ADJ
fumecheng-6852	301	28	than	than	ADP
fumecheng-6852	301	29	maximization	maximization	NOUN
fumecheng-6852	301	30	of	of	ADP
fumecheng-6852	301	31	available	available	ADJ
fumecheng-6852	301	32	torque	torque	NOUN
fumecheng-6852	301	33	.	.	PUNCT
fumecheng-6852	302	1	since	since	SCONJ
fumecheng-6852	302	2	the	the	DET
fumecheng-6852	302	3	more	more	ADJ
fumecheng-6852	302	4	pole	pole	NOUN
fumecheng-6852	302	5	pairs	pair	NOUN
fumecheng-6852	302	6	,	,	PUNCT
fumecheng-6852	302	7	the	the	PRON
fumecheng-6852	302	8	lower	low	ADJ
fumecheng-6852	302	9	the	the	DET
fumecheng-6852	302	10	differences	difference	NOUN
fumecheng-6852	302	11	between	between	ADP
fumecheng-6852	302	12	fms	fms	PROPN
fumecheng-6852	302	13	and	and	CCONJ
fumecheng-6852	302	14	ams	am	NOUN
fumecheng-6852	302	15	are	be	AUX
fumecheng-6852	302	16	,	,	PUNCT
fumecheng-6852	302	17	another	another	DET
fumecheng-6852	302	18	field	field	NOUN
fumecheng-6852	302	19	of	of	ADP
fumecheng-6852	302	20	fms	fms	PROPN
fumecheng-6852	302	21	application	application	NOUN
fumecheng-6852	302	22	may	may	AUX
fumecheng-6852	302	23	be	be	AUX
fumecheng-6852	302	24	constructions	construction	NOUN
fumecheng-6852	302	25	with	with	ADP
fumecheng-6852	302	26	high	high	ADJ
fumecheng-6852	302	27	pole	pole	NOUN
fumecheng-6852	302	28	pairs	pair	NOUN
fumecheng-6852	302	29	number	number	NOUN
fumecheng-6852	302	30	.	.	PUNCT
fumecheng-6852	303	1	the	the	DET
fumecheng-6852	303	2	device	device	NOUN
fumecheng-6852	303	3	constructed	construct	VERB
fumecheng-6852	303	4	accordingly	accordingly	ADV
fumecheng-6852	303	5	to	to	ADP
fumecheng-6852	303	6	attractor	attractor	NOUN
fumecheng-6852	303	7	concept	concept	NOUN
fumecheng-6852	303	8	is	be	AUX
fumecheng-6852	303	9	proven	prove	VERB
fumecheng-6852	303	10	in	in	ADP
fumecheng-6852	303	11	use	use	NOUN
fumecheng-6852	303	12	and	and	CCONJ
fumecheng-6852	303	13	constitutes	constitute	VERB
fumecheng-6852	303	14	an	an	DET
fumecheng-6852	303	15	example	example	NOUN
fumecheng-6852	303	16	of	of	ADP
fumecheng-6852	303	17	usability	usability	NOUN
fumecheng-6852	303	18	of	of	ADP
fumecheng-6852	303	19	fms	fms	PROPN
fumecheng-6852	303	20	arrangement	arrangement	NOUN
fumecheng-6852	303	21	in	in	ADP
fumecheng-6852	303	22	vsa	vsa	ADJ
fumecheng-6852	303	23	development	development	NOUN
fumecheng-6852	303	24	.	.	PUNCT
fumecheng-6852	304	1	the	the	DET
fumecheng-6852	304	2	movement	movement	NOUN
fumecheng-6852	304	3	of	of	ADP
fumecheng-6852	304	4	the	the	DET
fumecheng-6852	304	5	output	output	NOUN
fumecheng-6852	304	6	shaft	shaft	NOUN
fumecheng-6852	304	7	within	within	ADP
fumecheng-6852	304	8	the	the	DET
fumecheng-6852	304	9	stable	stable	ADJ
fumecheng-6852	304	10	range	range	NOUN
fumecheng-6852	304	11	of	of	ADP
fumecheng-6852	304	12	angles	angle	NOUN
fumecheng-6852	304	13	can	can	AUX
fumecheng-6852	304	14	be	be	AUX
fumecheng-6852	304	15	well	well	ADV
fumecheng-6852	304	16	predicted	predict	VERB
fumecheng-6852	304	17	by	by	ADP
fumecheng-6852	304	18	a	a	DET
fumecheng-6852	304	19	simple	simple	ADJ
fumecheng-6852	304	20	linearized	linearize	VERB
fumecheng-6852	304	21	model	model	NOUN
fumecheng-6852	304	22	and	and	CCONJ
fumecheng-6852	304	23	even	even	ADV
fumecheng-6852	304	24	simulated	simulate	VERB
fumecheng-6852	304	25	for	for	ADP
fumecheng-6852	304	26	a	a	DET
fumecheng-6852	304	27	more	more	ADV
fumecheng-6852	304	28	extended	extended	ADJ
fumecheng-6852	304	29	period	period	NOUN
fumecheng-6852	304	30	using	use	VERB
fumecheng-6852	304	31	a	a	DET
fumecheng-6852	304	32	model	model	NOUN
fumecheng-6852	304	33	,	,	PUNCT
fumecheng-6852	304	34	which	which	PRON
fumecheng-6852	304	35	is	be	AUX
fumecheng-6852	304	36	more	more	ADV
fumecheng-6852	304	37	complex	complex	ADJ
fumecheng-6852	304	38	but	but	CCONJ
fumecheng-6852	304	39	still	still	ADV
fumecheng-6852	304	40	easy	easy	ADJ
fumecheng-6852	304	41	to	to	PART
fumecheng-6852	304	42	interpret	interpret	VERB
fumecheng-6852	304	43	.	.	PUNCT
fumecheng-6852	305	1	there	there	PRON
fumecheng-6852	305	2	is	be	VERB
fumecheng-6852	305	3	a	a	DET
fumecheng-6852	305	4	large	large	ADJ
fumecheng-6852	305	5	potential	potential	NOUN
fumecheng-6852	305	6	of	of	ADP
fumecheng-6852	305	7	device	device	NOUN
fumecheng-6852	305	8	miniaturization	miniaturization	NOUN
fumecheng-6852	305	9	what	what	PRON
fumecheng-6852	305	10	–	–	PUNCT
fumecheng-6852	305	11	combined	combine	VERB
fumecheng-6852	305	12	with	with	ADP
fumecheng-6852	305	13	many	many	ADJ
fumecheng-6852	305	14	important	important	ADJ
fumecheng-6852	305	15	advantages	advantage	NOUN
fumecheng-6852	305	16	of	of	ADP
fumecheng-6852	305	17	magnetic	magnetic	ADJ
fumecheng-6852	305	18	mechanisms	mechanism	NOUN
fumecheng-6852	305	19	like	like	ADP
fumecheng-6852	305	20	reduced	reduce	VERB
fumecheng-6852	305	21	wear	wear	NOUN
fumecheng-6852	305	22	,	,	PUNCT
fumecheng-6852	305	23	zero	zero	NUM
fumecheng-6852	305	24	backlash	backlash	NOUN
fumecheng-6852	305	25	and	and	CCONJ
fumecheng-6852	305	26	possible	possible	ADJ
fumecheng-6852	305	27	zero	zero	NUM
fumecheng-6852	305	28	stiffness	stiffness	ADJ
fumecheng-6852	305	29	configuration	configuration	NOUN
fumecheng-6852	305	30	–	–	PUNCT
fumecheng-6852	305	31	justifies	justify	VERB
fumecheng-6852	305	32	considering	consider	VERB
fumecheng-6852	305	33	it	it	PRON
fumecheng-6852	305	34	as	as	ADP
fumecheng-6852	305	35	a	a	DET
fumecheng-6852	305	36	competitive	competitive	ADJ
fumecheng-6852	305	37	alternative	alternative	NOUN
fumecheng-6852	305	38	for	for	ADP
fumecheng-6852	305	39	conventional	conventional	ADJ
fumecheng-6852	305	40	mechanical	mechanical	ADJ
fumecheng-6852	305	41	variable	variable	ADJ
fumecheng-6852	305	42	stiffness	stiffness	NOUN
fumecheng-6852	305	43	actuators	actuator	NOUN
fumecheng-6852	305	44	.	.	PUNCT
fumecheng-6852	306	1	acknowledgements	acknowledgement	NOUN
fumecheng-6852	306	2	:	:	PUNCT
fumecheng-6852	306	3	this	this	DET
fumecheng-6852	306	4	work	work	NOUN
fumecheng-6852	306	5	was	be	AUX
fumecheng-6852	306	6	funded	fund	VERB
fumecheng-6852	306	7	within	within	ADP
fumecheng-6852	306	8	the	the	DET
fumecheng-6852	306	9	incare	incare	ADJ
fumecheng-6852	306	10	aal-2017	aal-2017	NOUN
fumecheng-6852	306	11	-	-	PUNCT
fumecheng-6852	306	12	059	059	NUM
fumecheng-6852	306	13	project	project	NOUN
fumecheng-6852	306	14	,	,	PUNCT
fumecheng-6852	306	15	,	,	PUNCT
fumecheng-6852	306	16	integrated	integrate	VERB
fumecheng-6852	306	17	solution	solution	NOUN
fumecheng-6852	306	18	for	for	ADP
fumecheng-6852	306	19	innovative	innovative	ADJ
fumecheng-6852	306	20	elderly	elderly	ADJ
fumecheng-6852	306	21	care	care	NOUN
fumecheng-6852	306	22	''	''	PUNCT
fumecheng-6852	306	23	by	by	ADP
fumecheng-6852	306	24	the	the	DET
fumecheng-6852	306	25	aal	aal	PROPN
fumecheng-6852	306	26	jp	jp	NOUN
fumecheng-6852	306	27	and	and	CCONJ
fumecheng-6852	306	28	co	co	VERB
fumecheng-6852	306	29	-	-	VERB
fumecheng-6852	306	30	funded	fund	VERB
fumecheng-6852	306	31	by	by	ADP
fumecheng-6852	306	32	the	the	DET
fumecheng-6852	306	33	aal	aal	PROPN
fumecheng-6852	306	34	jp	jp	NOUN
fumecheng-6852	306	35	countries	country	NOUN
fumecheng-6852	306	36	(	(	PUNCT
fumecheng-6852	306	37	national	national	ADJ
fumecheng-6852	306	38	centre	centre	NOUN
fumecheng-6852	306	39	for	for	ADP
fumecheng-6852	306	40	research	research	NOUN
fumecheng-6852	306	41	and	and	CCONJ
fumecheng-6852	306	42	development	development	NOUN
fumecheng-6852	306	43	,	,	PUNCT
fumecheng-6852	306	44	poland	poland	PROPN
fumecheng-6852	306	45	under	under	ADP
fumecheng-6852	306	46	grant	grant	NOUN
fumecheng-6852	306	47	aal2/2	aal2/2	PROPN
fumecheng-6852	306	48	/	/	SYM
fumecheng-6852	306	49	incare/2018	incare/2018	NOUN
fumecheng-6852	306	50	)	)	PUNCT
fumecheng-6852	306	51	.	.	PUNCT
fumecheng-6852	307	1	the	the	DET
fumecheng-6852	307	2	authors	author	NOUN
fumecheng-6852	307	3	would	would	AUX
fumecheng-6852	307	4	like	like	VERB
fumecheng-6852	307	5	to	to	PART
fumecheng-6852	307	6	thank	thank	VERB
fumecheng-6852	307	7	mateusz	mateusz	PROPN
fumecheng-6852	307	8	baczewski	baczewski	PROPN
fumecheng-6852	307	9	and	and	CCONJ
fumecheng-6852	307	10	adam	adam	PROPN
fumecheng-6852	307	11	kowalewski	kowalewski	PROPN
fumecheng-6852	307	12	for	for	ADP
fumecheng-6852	307	13	putting	put	VERB
fumecheng-6852	307	14	their	their	PRON
fumecheng-6852	307	15	effort	effort	NOUN
fumecheng-6852	307	16	in	in	ADP
fumecheng-6852	307	17	developing	develop	VERB
fumecheng-6852	307	18	hardware	hardware	NOUN
fumecheng-6852	307	19	and	and	CCONJ
fumecheng-6852	307	20	software	software	NOUN
fumecheng-6852	307	21	used	use	VERB
fumecheng-6852	307	22	to	to	PART
fumecheng-6852	307	23	control	control	VERB
fumecheng-6852	307	24	drives	drive	NOUN
fumecheng-6852	307	25	,	,	PUNCT
fumecheng-6852	307	26	register	register	VERB
fumecheng-6852	307	27	data	datum	NOUN
fumecheng-6852	307	28	from	from	ADP
fumecheng-6852	307	29	encoders	encoder	NOUN
fumecheng-6852	307	30	and	and	CCONJ
fumecheng-6852	307	31	conduct	conduct	VERB
fumecheng-6852	307	32	experiments	experiment	NOUN
fumecheng-6852	307	33	.	.	PUNCT
fumecheng-6852	308	1	the	the	DET
fumecheng-6852	308	2	authors	author	NOUN
fumecheng-6852	308	3	also	also	ADV
fumecheng-6852	308	4	wish	wish	VERB
fumecheng-6852	308	5	to	to	PART
fumecheng-6852	308	6	express	express	VERB
fumecheng-6852	308	7	appreciation	appreciation	NOUN
fumecheng-6852	308	8	to	to	ADP
fumecheng-6852	308	9	maciej	maciej	PROPN
fumecheng-6852	308	10	węgierek	węgierek	PROPN
fumecheng-6852	308	11	for	for	ADP
fumecheng-6852	308	12	his	his	PRON
fumecheng-6852	308	13	organisational	organisational	ADJ
fumecheng-6852	308	14	support	support	NOUN
fumecheng-6852	308	15	and	and	CCONJ
fumecheng-6852	308	16	to	to	ADP
fumecheng-6852	308	17	katarzyna	katarzyna	PROPN
fumecheng-6852	308	18	kozakiewicz	kozakiewicz	PROPN
fumecheng-6852	308	19	for	for	ADP
fumecheng-6852	308	20	her	her	PRON
fumecheng-6852	308	21	help	help	NOUN
fumecheng-6852	308	22	in	in	ADP
fumecheng-6852	308	23	gathering	gather	VERB
fumecheng-6852	308	24	experimental	experimental	ADJ
fumecheng-6852	308	25	data	datum	NOUN
fumecheng-6852	308	26	and	and	CCONJ
fumecheng-6852	308	27	formatting	format	VERB
fumecheng-6852	308	28	this	this	DET
fumecheng-6852	308	29	paper	paper	NOUN
fumecheng-6852	308	30	.	.	PUNCT
fumecheng-6852	309	1	spring	spring	NOUN
fumecheng-6852	309	2	based	base	VERB
fumecheng-6852	309	3	on	on	ADP
fumecheng-6852	309	4	flat	flat	ADJ
fumecheng-6852	309	5	permanent	permanent	ADJ
fumecheng-6852	309	6	magnets	magnet	NOUN
fumecheng-6852	309	7	:	:	PUNCT
fumecheng-6852	309	8	design	design	NOUN
fumecheng-6852	309	9	,	,	PUNCT
fumecheng-6852	309	10	analysis	analysis	NOUN
fumecheng-6852	309	11	and	and	CCONJ
fumecheng-6852	309	12	use	use	NOUN
fumecheng-6852	309	13	in	in	ADP
fumecheng-6852	309	14	variable	variable	ADJ
fumecheng-6852	309	15	stiffness	stiffness	NOUN
fumecheng-6852	309	16	actuator	actuator	NOUN
fumecheng-6852	309	17	119	119	NUM
fumecheng-6852	309	18	references	reference	NOUN
fumecheng-6852	309	19	1	1	NUM
fumecheng-6852	309	20	.	.	PUNCT
fumecheng-6852	309	21	tsirogiannis	tsirogiannis	PROPN
fumecheng-6852	309	22	,	,	PUNCT
fumecheng-6852	309	23	e.	e.	PROPN
fumecheng-6852	309	24	,	,	PUNCT
fumecheng-6852	309	25	vosniakos	vosniakos	ADJ
fumecheng-6852	309	26	,	,	PUNCT
fumecheng-6852	309	27	g.-c	g.-c	PROPN
fumecheng-6852	309	28	.	.	PUNCT
fumecheng-6852	309	29	,	,	PUNCT
fumecheng-6852	309	30	2019	2019	NUM
fumecheng-6852	309	31	,	,	PUNCT
fumecheng-6852	309	32	redesign	redesign	NOUN
fumecheng-6852	309	33	and	and	CCONJ
fumecheng-6852	309	34	topology	topology	NOUN
fumecheng-6852	309	35	optimization	optimization	NOUN
fumecheng-6852	309	36	of	of	ADP
fumecheng-6852	309	37	an	an	DET
fumecheng-6852	309	38	industrial	industrial	ADJ
fumecheng-6852	309	39	robot	robot	NOUN
fumecheng-6852	309	40	link	link	NOUN
fumecheng-6852	309	41	for	for	ADP
fumecheng-6852	309	42	additive	additive	ADJ
fumecheng-6852	309	43	manufacturing	manufacturing	NOUN
fumecheng-6852	309	44	,	,	PUNCT
fumecheng-6852	309	45	facta	facta	PROPN
fumecheng-6852	309	46	universitatis	universitatis	PROPN
fumecheng-6852	309	47	series	series	PROPN
fumecheng-6852	309	48	mechanical	mechanical	ADJ
fumecheng-6852	309	49	engineering	engineering	PROPN
fumecheng-6852	309	50	,	,	PUNCT
fumecheng-6852	309	51	17(3	17(3	NUM
fumecheng-6852	309	52	)	)	PUNCT
fumecheng-6852	309	53	,	,	PUNCT
fumecheng-6852	309	54	pp	pp	ADJ
fumecheng-6852	309	55	.	.	PUNCT
fumecheng-6852	310	1	415	415	NUM
fumecheng-6852	310	2	-	-	SYM
fumecheng-6852	310	3	424	424	NUM
fumecheng-6852	310	4	.	.	NOUN
fumecheng-6852	311	1	2	2	NUM
fumecheng-6852	311	2	.	.	X
fumecheng-6852	311	3	international	international	PROPN
fumecheng-6852	311	4	federation	federation	PROPN
fumecheng-6852	311	5	of	of	ADP
fumecheng-6852	311	6	robotics	robotic	NOUN
fumecheng-6852	311	7	,	,	PUNCT
fumecheng-6852	311	8	2017	2017	NUM
fumecheng-6852	311	9	,	,	PUNCT
fumecheng-6852	311	10	executive	executive	ADJ
fumecheng-6852	311	11	summary	summary	NOUN
fumecheng-6852	311	12	world	world	NOUN
fumecheng-6852	311	13	robotics	robotic	NOUN
fumecheng-6852	311	14	2017	2017	NUM
fumecheng-6852	311	15	industrial	industrial	ADJ
fumecheng-6852	311	16	robots	robot	NOUN
fumecheng-6852	311	17	,	,	PUNCT
fumecheng-6852	311	18	report	report	VERB
fumecheng-6852	311	19	world	world	NOUN
fumecheng-6852	311	20	robotics	robotic	NOUN
fumecheng-6852	311	21	2017	2017	NUM
fumecheng-6852	311	22	industrial	industrial	ADJ
fumecheng-6852	311	23	robots	robot	NOUN
fumecheng-6852	311	24	,	,	PUNCT
fumecheng-6852	311	25	frankfurt	frankfurt	PROPN
fumecheng-6852	311	26	am	be	AUX
fumecheng-6852	311	27	main	main	ADJ
fumecheng-6852	311	28	,	,	PUNCT
fumecheng-6852	311	29	germany	germany	PROPN
fumecheng-6852	311	30	,	,	PUNCT
fumecheng-6852	311	31	pp	pp	ADJ
fumecheng-6852	311	32	.	.	PUNCT
fumecheng-6852	312	1	15	15	NUM
fumecheng-6852	312	2	-	-	SYM
fumecheng-6852	312	3	24	24	NUM
fumecheng-6852	312	4	.	.	PUNCT
fumecheng-6852	313	1	3	3	X
fumecheng-6852	313	2	.	.	X
fumecheng-6852	313	3	van	van	PROPN
fumecheng-6852	313	4	damme	damme	PROPN
fumecheng-6852	313	5	,	,	PUNCT
fumecheng-6852	313	6	m.	m.	NOUN
fumecheng-6852	313	7	,	,	PUNCT
fumecheng-6852	313	8	beyl	beyl	VERB
fumecheng-6852	313	9	,	,	PUNCT
fumecheng-6852	313	10	p.	p.	NOUN
fumecheng-6852	313	11	,	,	PUNCT
fumecheng-6852	313	12	vanderborght	vanderborght	PROPN
fumecheng-6852	313	13	,	,	PUNCT
fumecheng-6852	313	14	b.	b.	PROPN
fumecheng-6852	313	15	,	,	PUNCT
fumecheng-6852	313	16	van	van	PROPN
fumecheng-6852	313	17	ham	ham	PROPN
fumecheng-6852	313	18	,	,	PUNCT
fumecheng-6852	313	19	r.	r.	PROPN
fumecheng-6852	313	20	,	,	PUNCT
fumecheng-6852	313	21	vanderniepen	vanderniepen	NOUN
fumecheng-6852	313	22	,	,	PUNCT
fumecheng-6852	313	23	i.	i.	PROPN
fumecheng-6852	313	24	,	,	PUNCT
fumecheng-6852	313	25	matthys	matthys	PROPN
fumecheng-6852	313	26	,	,	PUNCT
fumecheng-6852	313	27	a.	a.	NOUN
fumecheng-6852	313	28	,	,	PUNCT
fumecheng-6852	313	29	cherelle	cherelle	NOUN
fumecheng-6852	313	30	,	,	PUNCT
fumecheng-6852	313	31	p.	p.	NOUN
fumecheng-6852	313	32	,	,	PUNCT
fumecheng-6852	313	33	lefeber	lefeber	PROPN
fumecheng-6852	313	34	,	,	PUNCT
fumecheng-6852	313	35	d.	d.	PROPN
fumecheng-6852	313	36	,	,	PUNCT
fumecheng-6852	313	37	2010	2010	NUM
fumecheng-6852	313	38	,	,	PUNCT
fumecheng-6852	313	39	the	the	DET
fumecheng-6852	313	40	role	role	NOUN
fumecheng-6852	313	41	of	of	ADP
fumecheng-6852	313	42	compliance	compliance	NOUN
fumecheng-6852	313	43	in	in	ADP
fumecheng-6852	313	44	robot	robot	NOUN
fumecheng-6852	313	45	safety	safety	NOUN
fumecheng-6852	313	46	,	,	PUNCT
fumecheng-6852	313	47	proceedings	proceeding	NOUN
fumecheng-6852	313	48	of	of	ADP
fumecheng-6852	313	49	the	the	DET
fumecheng-6852	313	50	seventh	seventh	ADJ
fumecheng-6852	313	51	iarp	iarp	NOUN
fumecheng-6852	313	52	workshop	workshop	NOUN
fumecheng-6852	313	53	on	on	ADP
fumecheng-6852	313	54	technical	technical	ADJ
fumecheng-6852	313	55	challenges	challenge	NOUN
fumecheng-6852	313	56	for	for	ADP
fumecheng-6852	313	57	dependable	dependable	ADJ
fumecheng-6852	313	58	robots	robot	NOUN
fumecheng-6852	313	59	in	in	ADP
fumecheng-6852	313	60	human	human	ADJ
fumecheng-6852	313	61	environments	environment	NOUN
fumecheng-6852	313	62	,	,	PUNCT
fumecheng-6852	313	63	toulouse	toulouse	NOUN
fumecheng-6852	313	64	,	,	PUNCT
fumecheng-6852	313	65	france	france	PROPN
fumecheng-6852	313	66	,	,	PUNCT
fumecheng-6852	313	67	pp	pp	X
fumecheng-6852	313	68	.	.	PUNCT
fumecheng-6852	314	1	65	65	NUM
fumecheng-6852	314	2	-	-	SYM
fumecheng-6852	314	3	71	71	NUM
fumecheng-6852	314	4	.	.	NOUN
fumecheng-6852	315	1	4	4	NUM
fumecheng-6852	315	2	.	.	X
fumecheng-6852	315	3	walker	walker	PROPN
fumecheng-6852	315	4	,	,	PUNCT
fumecheng-6852	315	5	d.s	d.s	PROPN
fumecheng-6852	315	6	.	.	PROPN
fumecheng-6852	315	7	,	,	PUNCT
fumecheng-6852	315	8	niemeyer	niemeyer	PROPN
fumecheng-6852	315	9	,	,	PUNCT
fumecheng-6852	315	10	g.	g.	PROPN
fumecheng-6852	315	11	,	,	PUNCT
fumecheng-6852	315	12	2010	2010	NUM
fumecheng-6852	315	13	,	,	PUNCT
fumecheng-6852	315	14	examining	examine	VERB
fumecheng-6852	315	15	the	the	DET
fumecheng-6852	315	16	benefits	benefit	NOUN
fumecheng-6852	315	17	of	of	ADP
fumecheng-6852	315	18	variable	variable	ADJ
fumecheng-6852	315	19	impedance	impedance	NOUN
fumecheng-6852	315	20	actuation	actuation	NOUN
fumecheng-6852	315	21	,	,	PUNCT
fumecheng-6852	315	22	proc	proc	NOUN
fumecheng-6852	315	23	.	.	PUNCT
fumecheng-6852	316	1	2010	2010	NUM
fumecheng-6852	316	2	ieee	ieee	NOUN
fumecheng-6852	316	3	/	/	SYM
fumecheng-6852	316	4	rsj	rsj	NOUN
fumecheng-6852	316	5	international	international	ADJ
fumecheng-6852	316	6	conference	conference	NOUN
fumecheng-6852	316	7	on	on	ADP
fumecheng-6852	316	8	intelligent	intelligent	ADJ
fumecheng-6852	316	9	robots	robot	NOUN
fumecheng-6852	316	10	and	and	CCONJ
fumecheng-6852	316	11	systems	system	NOUN
fumecheng-6852	316	12	,	,	PUNCT
fumecheng-6852	316	13	taipei	taipei	PROPN
fumecheng-6852	316	14	,	,	PUNCT
fumecheng-6852	316	15	taiwan	taiwan	PROPN
fumecheng-6852	316	16	,	,	PUNCT
fumecheng-6852	316	17	pp	pp	ADP
fumecheng-6852	316	18	.	.	PUNCT
fumecheng-6852	317	1	4855	4855	NUM
fumecheng-6852	317	2	-	-	SYM
fumecheng-6852	317	3	4861	4861	NUM
fumecheng-6852	317	4	.	.	PUNCT
fumecheng-6852	318	1	5	5	X
fumecheng-6852	318	2	.	.	X
fumecheng-6852	318	3	haddadin	haddadin	PROPN
fumecheng-6852	318	4	,	,	PUNCT
fumecheng-6852	318	5	s.	s.	PROPN
fumecheng-6852	318	6	,	,	PUNCT
fumecheng-6852	318	7	laue	laue	NOUN
fumecheng-6852	318	8	,	,	PUNCT
fumecheng-6852	318	9	t.	t.	PROPN
fumecheng-6852	318	10	,	,	PUNCT
fumecheng-6852	318	11	frese	frese	PROPN
fumecheng-6852	318	12	,	,	PUNCT
fumecheng-6852	318	13	u.	u.	PROPN
fumecheng-6852	318	14	,	,	PUNCT
fumecheng-6852	318	15	wolf	wolf	PROPN
fumecheng-6852	318	16	,	,	PUNCT
fumecheng-6852	318	17	s.	s.	PROPN
fumecheng-6852	318	18	,	,	PUNCT
fumecheng-6852	318	19	albu	albu	PROPN
fumecheng-6852	318	20	-	-	PUNCT
fumecheng-6852	318	21	schäeffer	schäeffer	NOUN
fumecheng-6852	318	22	,	,	PUNCT
fumecheng-6852	318	23	a.	a.	NOUN
fumecheng-6852	318	24	,	,	PUNCT
fumecheng-6852	318	25	hirzinger	hirzinger	NOUN
fumecheng-6852	318	26	,	,	PUNCT
fumecheng-6852	318	27	g.	g.	PROPN
fumecheng-6852	318	28	,	,	PUNCT
fumecheng-6852	318	29	2009	2009	NUM
fumecheng-6852	318	30	,	,	PUNCT
fumecheng-6852	318	31	kick	kick	VERB
fumecheng-6852	318	32	it	it	PRON
fumecheng-6852	318	33	with	with	ADP
fumecheng-6852	318	34	elasticity	elasticity	NOUN
fumecheng-6852	318	35	:	:	PUNCT
fumecheng-6852	318	36	safety	safety	NOUN
fumecheng-6852	318	37	and	and	CCONJ
fumecheng-6852	318	38	performance	performance	NOUN
fumecheng-6852	318	39	in	in	ADP
fumecheng-6852	318	40	human	human	ADJ
fumecheng-6852	318	41	robot	robot	NOUN
fumecheng-6852	318	42	soccer	soccer	NOUN
fumecheng-6852	318	43	,	,	PUNCT
fumecheng-6852	318	44	robotics	robotic	NOUN
fumecheng-6852	318	45	and	and	CCONJ
fumecheng-6852	318	46	autonomous	autonomous	ADJ
fumecheng-6852	318	47	systems	system	NOUN
fumecheng-6852	318	48	,	,	PUNCT
fumecheng-6852	318	49	57(8	57(8	NUM
fumecheng-6852	318	50	)	)	PUNCT
fumecheng-6852	318	51	,	,	PUNCT
fumecheng-6852	318	52	pp	pp	ADJ
fumecheng-6852	318	53	.	.	PUNCT
fumecheng-6852	319	1	761	761	NUM
fumecheng-6852	319	2	-	-	SYM
fumecheng-6852	319	3	775	775	NUM
fumecheng-6852	319	4	.	.	PUNCT
fumecheng-6852	320	1	6	6	NUM
fumecheng-6852	320	2	.	.	X
fumecheng-6852	320	3	wolf	wolf	PROPN
fumecheng-6852	320	4	,	,	PUNCT
fumecheng-6852	320	5	s.	s.	PROPN
fumecheng-6852	320	6	,	,	PUNCT
fumecheng-6852	320	7	hirzinger	hirzinger	NOUN
fumecheng-6852	320	8	,	,	PUNCT
fumecheng-6852	320	9	g.	g.	PROPN
fumecheng-6852	320	10	,	,	PUNCT
fumecheng-6852	320	11	2008	2008	NUM
fumecheng-6852	320	12	,	,	PUNCT
fumecheng-6852	320	13	a	a	DET
fumecheng-6852	320	14	new	new	ADJ
fumecheng-6852	320	15	variable	variable	ADJ
fumecheng-6852	320	16	stiffness	stiffness	NOUN
fumecheng-6852	320	17	design	design	NOUN
fumecheng-6852	320	18	:	:	PUNCT
fumecheng-6852	320	19	matching	matching	NOUN
fumecheng-6852	320	20	requirements	requirement	NOUN
fumecheng-6852	320	21	of	of	ADP
fumecheng-6852	320	22	the	the	DET
fumecheng-6852	320	23	next	next	ADJ
fumecheng-6852	320	24	robot	robot	NOUN
fumecheng-6852	320	25	generation	generation	NOUN
fumecheng-6852	320	26	,	,	PUNCT
fumecheng-6852	320	27	proc	proc	NOUN
fumecheng-6852	320	28	.	.	PROPN
fumecheng-6852	320	29	2008	2008	NUM
fumecheng-6852	320	30	ieee	ieee	PROPN
fumecheng-6852	320	31	international	international	ADJ
fumecheng-6852	320	32	conference	conference	NOUN
fumecheng-6852	320	33	on	on	ADP
fumecheng-6852	320	34	robotics	robotic	NOUN
fumecheng-6852	320	35	and	and	CCONJ
fumecheng-6852	320	36	automation	automation	NOUN
fumecheng-6852	320	37	,	,	PUNCT
fumecheng-6852	320	38	pasadena	pasadena	PROPN
fumecheng-6852	320	39	,	,	PUNCT
fumecheng-6852	320	40	ca	ca	PROPN
fumecheng-6852	320	41	,	,	PUNCT
fumecheng-6852	320	42	usa	usa	PROPN
fumecheng-6852	320	43	,	,	PUNCT
fumecheng-6852	320	44	pp	pp	ADJ
fumecheng-6852	320	45	.	.	PUNCT
fumecheng-6852	321	1	1741	1741	NUM
fumecheng-6852	321	2	-	-	SYM
fumecheng-6852	321	3	1746	1746	NUM
fumecheng-6852	321	4	.	.	PUNCT
fumecheng-6852	322	1	7	7	NUM
fumecheng-6852	322	2	.	.	X
fumecheng-6852	322	3	bicchi	bicchi	ADV
fumecheng-6852	322	4	,	,	PUNCT
fumecheng-6852	322	5	a.	a.	NOUN
fumecheng-6852	322	6	,	,	PUNCT
fumecheng-6852	322	7	tonietti	tonietti	PROPN
fumecheng-6852	322	8	,	,	PUNCT
fumecheng-6852	322	9	g.	g.	PROPN
fumecheng-6852	322	10	,	,	PUNCT
fumecheng-6852	322	11	2004	2004	NUM
fumecheng-6852	322	12	,	,	PUNCT
fumecheng-6852	322	13	fast	fast	ADJ
fumecheng-6852	322	14	and	and	CCONJ
fumecheng-6852	322	15	soft	soft	ADJ
fumecheng-6852	322	16	arm	arm	NOUN
fumecheng-6852	322	17	tactics	tactic	NOUN
fumecheng-6852	322	18	:	:	PUNCT
fumecheng-6852	322	19	dealing	deal	VERB
fumecheng-6852	322	20	with	with	ADP
fumecheng-6852	322	21	the	the	DET
fumecheng-6852	322	22	safety	safety	NOUN
fumecheng-6852	322	23	-	-	PUNCT
fumecheng-6852	322	24	performance	performance	NOUN
fumecheng-6852	322	25	trade	trade	NOUN
fumecheng-6852	322	26	-	-	PUNCT
fumecheng-6852	322	27	off	off	NOUN
fumecheng-6852	322	28	in	in	ADP
fumecheng-6852	322	29	robot	robot	NOUN
fumecheng-6852	322	30	arms	arm	NOUN
fumecheng-6852	322	31	design	design	NOUN
fumecheng-6852	322	32	and	and	CCONJ
fumecheng-6852	322	33	control	control	NOUN
fumecheng-6852	322	34	,	,	PUNCT
fumecheng-6852	322	35	ieee	ieee	NOUN
fumecheng-6852	322	36	robotics	robotic	NOUN
fumecheng-6852	322	37	and	and	CCONJ
fumecheng-6852	322	38	automation	automation	NOUN
fumecheng-6852	322	39	magazine	magazine	NOUN
fumecheng-6852	322	40	,	,	PUNCT
fumecheng-6852	322	41	11(2	11(2	NUM
fumecheng-6852	322	42	)	)	PUNCT
fumecheng-6852	322	43	,	,	PUNCT
fumecheng-6852	323	1	pp	pp	PROPN
fumecheng-6852	323	2	.	.	PUNCT
fumecheng-6852	324	1	22	22	NUM
fumecheng-6852	324	2	-	-	SYM
fumecheng-6852	324	3	33	33	NUM
fumecheng-6852	324	4	.	.	NOUN
fumecheng-6852	325	1	8	8	NUM
fumecheng-6852	325	2	.	.	PUNCT
fumecheng-6852	326	1	wolf	wolf	PROPN
fumecheng-6852	326	2	,	,	PUNCT
fumecheng-6852	326	3	s.	s.	PROPN
fumecheng-6852	326	4	,	,	PUNCT
fumecheng-6852	326	5	grioli	grioli	PROPN
fumecheng-6852	326	6	,	,	PUNCT
fumecheng-6852	326	7	g.	g.	PROPN
fumecheng-6852	326	8	,	,	PUNCT
fumecheng-6852	326	9	eiberger	eiberger	NOUN
fumecheng-6852	326	10	,	,	PUNCT
fumecheng-6852	326	11	o.	o.	INTJ
fumecheng-6852	326	12	,	,	PUNCT
fumecheng-6852	326	13	friedl	friedl	ADJ
fumecheng-6852	326	14	,	,	PUNCT
fumecheng-6852	326	15	w.	w.	PROPN
fumecheng-6852	326	16	,	,	PUNCT
fumecheng-6852	326	17	grebenstein	grebenstein	ADV
fumecheng-6852	326	18	,	,	PUNCT
fumecheng-6852	326	19	m.	m.	NOUN
fumecheng-6852	326	20	,	,	PUNCT
fumecheng-6852	326	21	höppner	höppner	PROPN
fumecheng-6852	326	22	,	,	PUNCT
fumecheng-6852	326	23	h.	h.	PROPN
fumecheng-6852	326	24	,	,	PUNCT
fumecheng-6852	326	25	burdet	burdet	PROPN
fumecheng-6852	326	26	,	,	PUNCT
fumecheng-6852	326	27	e.	e.	PROPN
fumecheng-6852	326	28	,	,	PUNCT
fumecheng-6852	326	29	caldwell	caldwell	PROPN
fumecheng-6852	326	30	,	,	PUNCT
fumecheng-6852	326	31	d.g	d.g	PROPN
fumecheng-6852	326	32	.	.	PROPN
fumecheng-6852	326	33	,	,	PUNCT
fumecheng-6852	326	34	carloni	carloni	PROPN
fumecheng-6852	326	35	,	,	PUNCT
fumecheng-6852	326	36	r.	r.	PROPN
fumecheng-6852	326	37	,	,	PUNCT
fumecheng-6852	326	38	catalano	catalano	PROPN
fumecheng-6852	326	39	,	,	PUNCT
fumecheng-6852	326	40	m.g	m.g	PROPN
fumecheng-6852	326	41	.	.	PROPN
fumecheng-6852	326	42	,	,	PUNCT
fumecheng-6852	326	43	lefeber	lefeber	PROPN
fumecheng-6852	326	44	,	,	PUNCT
fumecheng-6852	326	45	d.	d.	PROPN
fumecheng-6852	326	46	,	,	PUNCT
fumecheng-6852	326	47	stramigioli	stramigioli	PROPN
fumecheng-6852	326	48	,	,	PUNCT
fumecheng-6852	326	49	s.	s.	PROPN
fumecheng-6852	326	50	,	,	PUNCT
fumecheng-6852	326	51	tsagarakis	tsagarakis	PROPN
fumecheng-6852	326	52	,	,	PUNCT
fumecheng-6852	326	53	n.	n.	NOUN
fumecheng-6852	326	54	,	,	PUNCT
fumecheng-6852	326	55	damme	damme	PROPN
fumecheng-6852	326	56	,	,	PUNCT
fumecheng-6852	326	57	m.v	m.v	PROPN
fumecheng-6852	326	58	.	.	PROPN
fumecheng-6852	326	59	,	,	PUNCT
fumecheng-6852	326	60	ham	ham	PROPN
fumecheng-6852	326	61	,	,	PUNCT
fumecheng-6852	326	62	r.v	r.v	PROPN
fumecheng-6852	326	63	.	.	PROPN
fumecheng-6852	326	64	,	,	PUNCT
fumecheng-6852	326	65	vanderborght	vanderborght	PROPN
fumecheng-6852	326	66	,	,	PUNCT
fumecheng-6852	326	67	b.	b.	PROPN
fumecheng-6852	326	68	,	,	PUNCT
fumecheng-6852	326	69	visser	visser	PROPN
fumecheng-6852	326	70	,	,	PUNCT
fumecheng-6852	326	71	l.c	l.c	PROPN
fumecheng-6852	326	72	.	.	PROPN
fumecheng-6852	326	73	,	,	PUNCT
fumecheng-6852	327	1	bicchi	bicchi	ADV
fumecheng-6852	327	2	,	,	PUNCT
fumecheng-6852	327	3	a.	a.	NOUN
fumecheng-6852	327	4	,	,	PUNCT
fumecheng-6852	327	5	albu	albu	PROPN
fumecheng-6852	327	6	-	-	PUNCT
fumecheng-6852	327	7	schäffer	schäffer	NOUN
fumecheng-6852	327	8	,	,	PUNCT
fumecheng-6852	327	9	a.	a.	NOUN
fumecheng-6852	327	10	,	,	PUNCT
fumecheng-6852	327	11	2016	2016	NUM
fumecheng-6852	327	12	,	,	PUNCT
fumecheng-6852	327	13	variable	variable	ADJ
fumecheng-6852	327	14	stiffness	stiffness	NOUN
fumecheng-6852	327	15	actuators	actuator	NOUN
fumecheng-6852	327	16	:	:	PUNCT
fumecheng-6852	327	17	review	review	VERB
fumecheng-6852	327	18	on	on	ADP
fumecheng-6852	327	19	design	design	NOUN
fumecheng-6852	327	20	and	and	CCONJ
fumecheng-6852	327	21	components	component	NOUN
fumecheng-6852	327	22	,	,	PUNCT
fumecheng-6852	327	23	ieee	ieee	NOUN
fumecheng-6852	327	24	/	/	SYM
fumecheng-6852	327	25	asme	asme	PROPN
fumecheng-6852	327	26	transactions	transaction	NOUN
fumecheng-6852	327	27	on	on	ADP
fumecheng-6852	327	28	mechatronics	mechatronic	NOUN
fumecheng-6852	327	29	,	,	PUNCT
fumecheng-6852	327	30	21(5	21(5	NUM
fumecheng-6852	327	31	)	)	PUNCT
fumecheng-6852	327	32	,	,	PUNCT
fumecheng-6852	327	33	pp	pp	ADJ
fumecheng-6852	327	34	.	.	PUNCT
fumecheng-6852	328	1	2418	2418	NUM
fumecheng-6852	328	2	-	-	SYM
fumecheng-6852	328	3	2430	2430	NUM
fumecheng-6852	328	4	.	.	PUNCT
fumecheng-6852	329	1	9	9	NUM
fumecheng-6852	329	2	.	.	NOUN
fumecheng-6852	329	3	braun	braun	NOUN
fumecheng-6852	329	4	,	,	PUNCT
fumecheng-6852	329	5	d.j	d.j	PROPN
fumecheng-6852	329	6	.	.	PROPN
fumecheng-6852	329	7	,	,	PUNCT
fumecheng-6852	329	8	howard	howard	PROPN
fumecheng-6852	329	9	,	,	PUNCT
fumecheng-6852	329	10	m.	m.	NOUN
fumecheng-6852	329	11	,	,	PUNCT
fumecheng-6852	329	12	vijayakumar	vijayakumar	PROPN
fumecheng-6852	329	13	,	,	PUNCT
fumecheng-6852	329	14	s.	s.	PROPN
fumecheng-6852	329	15	,	,	PUNCT
fumecheng-6852	329	16	2011	2011	NUM
fumecheng-6852	329	17	,	,	PUNCT
fumecheng-6852	329	18	exploiting	exploit	VERB
fumecheng-6852	329	19	variable	variable	ADJ
fumecheng-6852	329	20	stiffness	stiffness	NOUN
fumecheng-6852	329	21	in	in	ADP
fumecheng-6852	329	22	explosive	explosive	ADJ
fumecheng-6852	329	23	movement	movement	NOUN
fumecheng-6852	329	24	tasks	task	NOUN
fumecheng-6852	329	25	,	,	PUNCT
fumecheng-6852	329	26	proc	proc	NOUN
fumecheng-6852	329	27	.	.	PUNCT
fumecheng-6852	330	1	robotics	robotic	NOUN
fumecheng-6852	330	2	:	:	PUNCT
fumecheng-6852	330	3	science	science	NOUN
fumecheng-6852	330	4	and	and	CCONJ
fumecheng-6852	330	5	systems	system	NOUN
fumecheng-6852	330	6	vii	vii	PROPN
fumecheng-6852	330	7	,	,	PUNCT
fumecheng-6852	330	8	los	los	PROPN
fumecheng-6852	330	9	angeles	angeles	PROPN
fumecheng-6852	330	10	,	,	PUNCT
fumecheng-6852	330	11	ca	ca	PROPN
fumecheng-6852	330	12	,	,	PUNCT
fumecheng-6852	330	13	usa	usa	PROPN
fumecheng-6852	330	14	,	,	PUNCT
fumecheng-6852	330	15	pp	pp	PROPN
fumecheng-6852	330	16	.	.	PUNCT
fumecheng-6852	331	1	25	25	NUM
fumecheng-6852	331	2	-	-	SYM
fumecheng-6852	331	3	32	32	NUM
fumecheng-6852	331	4	.	.	PUNCT
fumecheng-6852	332	1	10	10	NUM
fumecheng-6852	332	2	.	.	PUNCT
fumecheng-6852	333	1	peacock	peacock	NOUN
fumecheng-6852	333	2	,	,	PUNCT
fumecheng-6852	333	3	j.c.a	j.c.a	NOUN
fumecheng-6852	333	4	.	.	PROPN
fumecheng-6852	333	5	,	,	PUNCT
fumecheng-6852	333	6	ball	ball	PROPN
fumecheng-6852	333	7	,	,	PUNCT
fumecheng-6852	333	8	k.	k.	PROPN
fumecheng-6852	333	9	,	,	PUNCT
fumecheng-6852	333	10	2018	2018	NUM
fumecheng-6852	333	11	,	,	PUNCT
fumecheng-6852	333	12	the	the	DET
fumecheng-6852	333	13	influence	influence	NOUN
fumecheng-6852	333	14	of	of	ADP
fumecheng-6852	333	15	joint	joint	ADJ
fumecheng-6852	333	16	rigidity	rigidity	NOUN
fumecheng-6852	333	17	on	on	ADP
fumecheng-6852	333	18	impact	impact	NOUN
fumecheng-6852	333	19	efficiency	efficiency	NOUN
fumecheng-6852	333	20	and	and	CCONJ
fumecheng-6852	333	21	ball	ball	NOUN
fumecheng-6852	333	22	velocity	velocity	NOUN
fumecheng-6852	333	23	in	in	ADP
fumecheng-6852	333	24	football	football	NOUN
fumecheng-6852	333	25	kicking	kicking	NOUN
fumecheng-6852	333	26	,	,	PUNCT
fumecheng-6852	333	27	journal	journal	NOUN
fumecheng-6852	333	28	of	of	ADP
fumecheng-6852	333	29	biomechanics	biomechanic	NOUN
fumecheng-6852	333	30	,	,	PUNCT
fumecheng-6852	333	31	71	71	NUM
fumecheng-6852	333	32	,	,	PUNCT
fumecheng-6852	333	33	pp	pp	ADJ
fumecheng-6852	333	34	.	.	PUNCT
fumecheng-6852	334	1	245	245	NUM
fumecheng-6852	334	2	-	-	SYM
fumecheng-6852	334	3	250	250	NUM
fumecheng-6852	334	4	.	.	PUNCT
fumecheng-6852	335	1	11	11	NUM
fumecheng-6852	335	2	.	.	X
fumecheng-6852	336	1	günther	günther	NOUN
fumecheng-6852	336	2	,	,	PUNCT
fumecheng-6852	336	3	m.	m.	NOUN
fumecheng-6852	336	4	,	,	PUNCT
fumecheng-6852	336	5	blickhan	blickhan	PROPN
fumecheng-6852	336	6	,	,	PUNCT
fumecheng-6852	336	7	r.	r.	PROPN
fumecheng-6852	336	8	,	,	PUNCT
fumecheng-6852	336	9	2002	2002	NUM
fumecheng-6852	336	10	,	,	PUNCT
fumecheng-6852	336	11	joint	joint	ADJ
fumecheng-6852	336	12	stiffness	stiffness	NOUN
fumecheng-6852	336	13	of	of	ADP
fumecheng-6852	336	14	the	the	DET
fumecheng-6852	336	15	ankle	ankle	NOUN
fumecheng-6852	336	16	and	and	CCONJ
fumecheng-6852	336	17	the	the	DET
fumecheng-6852	336	18	knee	knee	NOUN
fumecheng-6852	336	19	in	in	ADP
fumecheng-6852	336	20	running	running	NOUN
fumecheng-6852	336	21	,	,	PUNCT
fumecheng-6852	336	22	journal	journal	NOUN
fumecheng-6852	336	23	of	of	ADP
fumecheng-6852	336	24	biomechanics	biomechanic	NOUN
fumecheng-6852	336	25	,	,	PUNCT
fumecheng-6852	336	26	35(11	35(11	NUM
fumecheng-6852	336	27	)	)	PUNCT
fumecheng-6852	336	28	,	,	PUNCT
fumecheng-6852	336	29	pp	pp	ADJ
fumecheng-6852	336	30	.	.	PUNCT
fumecheng-6852	337	1	1459	1459	NUM
fumecheng-6852	337	2	-	-	SYM
fumecheng-6852	337	3	1474	1474	NUM
fumecheng-6852	337	4	.	.	PUNCT
fumecheng-6852	338	1	12	12	NUM
fumecheng-6852	338	2	.	.	PUNCT
fumecheng-6852	339	1	hurst	hurst	PROPN
fumecheng-6852	339	2	,	,	PUNCT
fumecheng-6852	339	3	j.w	j.w	PROPN
fumecheng-6852	339	4	.	.	PROPN
fumecheng-6852	339	5	,	,	PUNCT
fumecheng-6852	339	6	chestnutt	chestnutt	PROPN
fumecheng-6852	339	7	,	,	PUNCT
fumecheng-6852	339	8	j.e	j.e	PROPN
fumecheng-6852	339	9	.	.	PROPN
fumecheng-6852	339	10	,	,	PUNCT
fumecheng-6852	339	11	rizzi	rizzi	PROPN
fumecheng-6852	339	12	,	,	PUNCT
fumecheng-6852	339	13	a.a	a.a	PROPN
fumecheng-6852	339	14	.	.	PROPN
fumecheng-6852	339	15	,	,	PUNCT
fumecheng-6852	339	16	2004	2004	NUM
fumecheng-6852	339	17	,	,	PUNCT
fumecheng-6852	339	18	an	an	DET
fumecheng-6852	339	19	actuator	actuator	NOUN
fumecheng-6852	339	20	with	with	ADP
fumecheng-6852	339	21	physically	physically	ADV
fumecheng-6852	339	22	variable	variable	ADJ
fumecheng-6852	339	23	stiffness	stiffness	NOUN
fumecheng-6852	339	24	for	for	ADP
fumecheng-6852	339	25	highly	highly	ADV
fumecheng-6852	339	26	dynamic	dynamic	ADJ
fumecheng-6852	339	27	legged	legged	ADJ
fumecheng-6852	339	28	locomotion	locomotion	NOUN
fumecheng-6852	339	29	,	,	PUNCT
fumecheng-6852	339	30	proc	proc	NOUN
fumecheng-6852	339	31	.	.	PUNCT
fumecheng-6852	340	1	2004	2004	NUM
fumecheng-6852	340	2	ieee	ieee	PROPN
fumecheng-6852	340	3	international	international	PROPN
fumecheng-6852	340	4	conference	conference	NOUN
fumecheng-6852	340	5	on	on	ADP
fumecheng-6852	340	6	robotics	robotic	NOUN
fumecheng-6852	340	7	and	and	CCONJ
fumecheng-6852	340	8	automation	automation	NOUN
fumecheng-6852	340	9	,	,	PUNCT
fumecheng-6852	340	10	new	new	PROPN
fumecheng-6852	340	11	orleans	orleans	PROPN
fumecheng-6852	340	12	,	,	PUNCT
fumecheng-6852	340	13	la	la	PROPN
fumecheng-6852	340	14	,	,	PUNCT
fumecheng-6852	340	15	usa	usa	PROPN
fumecheng-6852	340	16	,	,	PUNCT
fumecheng-6852	340	17	5	5	NUM
fumecheng-6852	340	18	,	,	PUNCT
fumecheng-6852	340	19	pp	pp	ADJ
fumecheng-6852	340	20	.	.	PUNCT
fumecheng-6852	340	21	4662	4662	NUM
fumecheng-6852	340	22	-	-	SYM
fumecheng-6852	340	23	4667	4667	NUM
fumecheng-6852	340	24	.	.	PUNCT
fumecheng-6852	341	1	13	13	NUM
fumecheng-6852	341	2	.	.	PUNCT
fumecheng-6852	342	1	haddadin	haddadin	PROPN
fumecheng-6852	342	2	,	,	PUNCT
fumecheng-6852	342	3	s.	s.	PROPN
fumecheng-6852	342	4	,	,	PUNCT
fumecheng-6852	342	5	weis	weis	PROPN
fumecheng-6852	342	6	,	,	PUNCT
fumecheng-6852	342	7	m.	m.	NOUN
fumecheng-6852	342	8	,	,	PUNCT
fumecheng-6852	342	9	wolf	wolf	PROPN
fumecheng-6852	342	10	,	,	PUNCT
fumecheng-6852	342	11	s.	s.	PROPN
fumecheng-6852	342	12	,	,	PUNCT
fumecheng-6852	342	13	albu	albu	PROPN
fumecheng-6852	342	14	-	-	PUNCT
fumecheng-6852	342	15	schäffer	schäffer	NOUN
fumecheng-6852	342	16	,	,	PUNCT
fumecheng-6852	342	17	a.	a.	NOUN
fumecheng-6852	342	18	,	,	PUNCT
fumecheng-6852	342	19	2011	2011	NUM
fumecheng-6852	342	20	,	,	PUNCT
fumecheng-6852	342	21	optimal	optimal	ADJ
fumecheng-6852	342	22	control	control	NOUN
fumecheng-6852	342	23	for	for	ADP
fumecheng-6852	342	24	maximizing	maximize	VERB
fumecheng-6852	342	25	link	link	NOUN
fumecheng-6852	342	26	velocity	velocity	NOUN
fumecheng-6852	342	27	of	of	ADP
fumecheng-6852	342	28	robotic	robotic	ADJ
fumecheng-6852	342	29	variable	variable	ADJ
fumecheng-6852	342	30	stiffness	stiffness	ADJ
fumecheng-6852	342	31	joints	joint	NOUN
fumecheng-6852	342	32	,	,	PUNCT
fumecheng-6852	342	33	ifac	ifac	NOUN
fumecheng-6852	342	34	proceedings	proceeding	NOUN
fumecheng-6852	342	35	volumes	volume	NOUN
fumecheng-6852	342	36	,	,	PUNCT
fumecheng-6852	342	37	44(1	44(1	PROPN
fumecheng-6852	342	38	)	)	PUNCT
fumecheng-6852	342	39	,	,	PUNCT
fumecheng-6852	342	40	pp	pp	ADP
fumecheng-6852	342	41	.	.	PUNCT
fumecheng-6852	343	1	6863	6863	NUM
fumecheng-6852	343	2	-	-	SYM
fumecheng-6852	343	3	6871	6871	NUM
fumecheng-6852	343	4	.	.	PUNCT
fumecheng-6852	344	1	14	14	NUM
fumecheng-6852	344	2	.	.	PUNCT
fumecheng-6852	345	1	visser	visser	PROPN
fumecheng-6852	345	2	,	,	PUNCT
fumecheng-6852	345	3	l.c	l.c	PROPN
fumecheng-6852	345	4	.	.	PROPN
fumecheng-6852	345	5	,	,	PUNCT
fumecheng-6852	345	6	stramigioli	stramigioli	PROPN
fumecheng-6852	345	7	,	,	PUNCT
fumecheng-6852	345	8	s.	s.	PROPN
fumecheng-6852	345	9	,	,	PUNCT
fumecheng-6852	345	10	bicchi	bicchi	ADV
fumecheng-6852	345	11	,	,	PUNCT
fumecheng-6852	345	12	a.	a.	NOUN
fumecheng-6852	345	13	,	,	PUNCT
fumecheng-6852	345	14	2011	2011	NUM
fumecheng-6852	345	15	,	,	PUNCT
fumecheng-6852	345	16	embodying	embody	VERB
fumecheng-6852	345	17	desired	desire	VERB
fumecheng-6852	345	18	behavior	behavior	NOUN
fumecheng-6852	345	19	in	in	ADP
fumecheng-6852	345	20	variable	variable	ADJ
fumecheng-6852	345	21	stiffness	stiffness	NOUN
fumecheng-6852	345	22	actuators	actuator	NOUN
fumecheng-6852	345	23	,	,	PUNCT
fumecheng-6852	345	24	ifac	ifac	NOUN
fumecheng-6852	345	25	proceedings	proceeding	NOUN
fumecheng-6852	345	26	volumes	volume	NOUN
fumecheng-6852	345	27	,	,	PUNCT
fumecheng-6852	345	28	44(1	44(1	PROPN
fumecheng-6852	345	29	)	)	PUNCT
fumecheng-6852	345	30	,	,	PUNCT
fumecheng-6852	345	31	pp	pp	ADJ
fumecheng-6852	345	32	.	.	PUNCT
fumecheng-6852	346	1	9733	9733	NUM
fumecheng-6852	346	2	-	-	SYM
fumecheng-6852	346	3	9738	9738	NUM
fumecheng-6852	346	4	.	.	PUNCT
fumecheng-6852	347	1	15	15	NUM
fumecheng-6852	347	2	.	.	PUNCT
fumecheng-6852	348	1	visser	visser	PROPN
fumecheng-6852	348	2	,	,	PUNCT
fumecheng-6852	348	3	l.c	l.c	PROPN
fumecheng-6852	348	4	.	.	PROPN
fumecheng-6852	348	5	,	,	PUNCT
fumecheng-6852	348	6	carloni	carloni	PROPN
fumecheng-6852	348	7	,	,	PUNCT
fumecheng-6852	348	8	r.	r.	PROPN
fumecheng-6852	348	9	,	,	PUNCT
fumecheng-6852	348	10	stramigioli	stramigioli	PROPN
fumecheng-6852	348	11	,	,	PUNCT
fumecheng-6852	348	12	s.	s.	PROPN
fumecheng-6852	348	13	,	,	PUNCT
fumecheng-6852	348	14	2010	2010	NUM
fumecheng-6852	348	15	,	,	PUNCT
fumecheng-6852	348	16	energy	energy	NOUN
fumecheng-6852	348	17	efficient	efficient	ADJ
fumecheng-6852	348	18	control	control	NOUN
fumecheng-6852	348	19	of	of	ADP
fumecheng-6852	348	20	robots	robot	NOUN
fumecheng-6852	348	21	with	with	ADP
fumecheng-6852	348	22	variable	variable	ADJ
fumecheng-6852	348	23	stiffness	stiffness	NOUN
fumecheng-6852	348	24	actuators	actuator	NOUN
fumecheng-6852	348	25	,	,	PUNCT
fumecheng-6852	348	26	ifac	ifac	NOUN
fumecheng-6852	348	27	proceedings	proceeding	NOUN
fumecheng-6852	348	28	volumes	volume	NOUN
fumecheng-6852	348	29	,	,	PUNCT
fumecheng-6852	348	30	43(14	43(14	NOUN
fumecheng-6852	348	31	)	)	PUNCT
fumecheng-6852	348	32	,	,	PUNCT
fumecheng-6852	349	1	pp	pp	PROPN
fumecheng-6852	349	2	.	.	PUNCT
fumecheng-6852	350	1	1199	1199	NUM
fumecheng-6852	350	2	-	-	SYM
fumecheng-6852	350	3	1204	1204	NUM
fumecheng-6852	350	4	.	.	PUNCT
fumecheng-6852	351	1	16	16	NUM
fumecheng-6852	351	2	.	.	PUNCT
fumecheng-6852	352	1	hurst	hurst	PROPN
fumecheng-6852	352	2	,	,	PUNCT
fumecheng-6852	352	3	j.w	j.w	PROPN
fumecheng-6852	352	4	.	.	PROPN
fumecheng-6852	352	5	,	,	PUNCT
fumecheng-6852	352	6	chestnutt	chestnutt	PROPN
fumecheng-6852	352	7	,	,	PUNCT
fumecheng-6852	352	8	j.e	j.e	PROPN
fumecheng-6852	352	9	.	.	PROPN
fumecheng-6852	352	10	,	,	PUNCT
fumecheng-6852	352	11	rizzi	rizzi	PROPN
fumecheng-6852	352	12	,	,	PUNCT
fumecheng-6852	352	13	a.a	a.a	PROPN
fumecheng-6852	352	14	.	.	PROPN
fumecheng-6852	352	15	,	,	PUNCT
fumecheng-6852	352	16	2010	2010	NUM
fumecheng-6852	352	17	,	,	PUNCT
fumecheng-6852	352	18	the	the	DET
fumecheng-6852	352	19	actuator	actuator	NOUN
fumecheng-6852	352	20	with	with	ADP
fumecheng-6852	352	21	mechanically	mechanically	ADV
fumecheng-6852	352	22	adjustable	adjustable	ADJ
fumecheng-6852	352	23	series	series	NOUN
fumecheng-6852	352	24	compliance	compliance	NOUN
fumecheng-6852	352	25	,	,	PUNCT
fumecheng-6852	352	26	ieee	ieee	NOUN
fumecheng-6852	352	27	transactions	transaction	NOUN
fumecheng-6852	352	28	on	on	ADP
fumecheng-6852	352	29	robotics	robotic	NOUN
fumecheng-6852	352	30	,	,	PUNCT
fumecheng-6852	352	31	26(4	26(4	NUM
fumecheng-6852	352	32	)	)	PUNCT
fumecheng-6852	352	33	,	,	PUNCT
fumecheng-6852	352	34	pp	pp	ADJ
fumecheng-6852	352	35	.	.	PUNCT
fumecheng-6852	353	1	597	597	NUM
fumecheng-6852	353	2	-	-	NUM
fumecheng-6852	353	3	606	606	NUM
fumecheng-6852	353	4	.	.	PUNCT
fumecheng-6852	354	1	17	17	NUM
fumecheng-6852	354	2	.	.	PUNCT
fumecheng-6852	355	1	hogan	hogan	PROPN
fumecheng-6852	355	2	,	,	PUNCT
fumecheng-6852	355	3	n.	n.	NOUN
fumecheng-6852	355	4	,	,	PUNCT
fumecheng-6852	355	5	1984	1984	NUM
fumecheng-6852	355	6	,	,	PUNCT
fumecheng-6852	355	7	adaptive	adaptive	ADJ
fumecheng-6852	355	8	control	control	NOUN
fumecheng-6852	355	9	of	of	ADP
fumecheng-6852	355	10	mechanical	mechanical	ADJ
fumecheng-6852	355	11	impedance	impedance	NOUN
fumecheng-6852	355	12	by	by	ADP
fumecheng-6852	355	13	coactivation	coactivation	NOUN
fumecheng-6852	355	14	of	of	ADP
fumecheng-6852	355	15	antagonist	antagonist	NOUN
fumecheng-6852	355	16	muscles	muscle	NOUN
fumecheng-6852	355	17	,	,	PUNCT
fumecheng-6852	355	18	ieee	ieee	NOUN
fumecheng-6852	355	19	transactions	transaction	NOUN
fumecheng-6852	355	20	on	on	ADP
fumecheng-6852	355	21	automatic	automatic	ADJ
fumecheng-6852	355	22	control	control	NOUN
fumecheng-6852	355	23	,	,	PUNCT
fumecheng-6852	355	24	29(8	29(8	NOUN
fumecheng-6852	355	25	)	)	PUNCT
fumecheng-6852	355	26	,	,	PUNCT
fumecheng-6852	355	27	pp	pp	PROPN
fumecheng-6852	355	28	.	.	PUNCT
fumecheng-6852	356	1	681	681	NUM
fumecheng-6852	356	2	-	-	SYM
fumecheng-6852	356	3	690	690	NUM
fumecheng-6852	356	4	.	.	NOUN
fumecheng-6852	357	1	18	18	NUM
fumecheng-6852	357	2	.	.	PUNCT
fumecheng-6852	358	1	vanderborght	vanderborght	PROPN
fumecheng-6852	358	2	,	,	PUNCT
fumecheng-6852	358	3	b.	b.	PROPN
fumecheng-6852	358	4	,	,	PUNCT
fumecheng-6852	358	5	albu	albu	PROPN
fumecheng-6852	358	6	-	-	PUNCT
fumecheng-6852	358	7	schaeffer	schaeffer	PROPN
fumecheng-6852	358	8	,	,	PUNCT
fumecheng-6852	358	9	a.	a.	NOUN
fumecheng-6852	358	10	,	,	PUNCT
fumecheng-6852	358	11	bicchi	bicchi	ADV
fumecheng-6852	358	12	,	,	PUNCT
fumecheng-6852	358	13	a.	a.	NOUN
fumecheng-6852	358	14	,	,	PUNCT
fumecheng-6852	358	15	burdet	burdet	NOUN
fumecheng-6852	358	16	,	,	PUNCT
fumecheng-6852	358	17	e.	e.	PROPN
fumecheng-6852	358	18	,	,	PUNCT
fumecheng-6852	358	19	caldwell	caldwell	PROPN
fumecheng-6852	358	20	,	,	PUNCT
fumecheng-6852	358	21	d.g	d.g	PROPN
fumecheng-6852	358	22	.	.	PROPN
fumecheng-6852	358	23	,	,	PUNCT
fumecheng-6852	358	24	carloni	carloni	PROPN
fumecheng-6852	358	25	,	,	PUNCT
fumecheng-6852	358	26	r.	r.	PROPN
fumecheng-6852	358	27	,	,	PUNCT
fumecheng-6852	358	28	catalano	catalano	PROPN
fumecheng-6852	358	29	,	,	PUNCT
fumecheng-6852	358	30	m.	m.	NOUN
fumecheng-6852	358	31	,	,	PUNCT
fumecheng-6852	358	32	eiberger	eiberger	NOUN
fumecheng-6852	358	33	,	,	PUNCT
fumecheng-6852	358	34	o.	o.	INTJ
fumecheng-6852	358	35	,	,	PUNCT
fumecheng-6852	358	36	friedl	friedl	ADJ
fumecheng-6852	358	37	,	,	PUNCT
fumecheng-6852	358	38	w.	w.	PROPN
fumecheng-6852	358	39	,	,	PUNCT
fumecheng-6852	358	40	ganesh	ganesh	PROPN
fumecheng-6852	358	41	,	,	PUNCT
fumecheng-6852	358	42	g.	g.	PROPN
fumecheng-6852	358	43	,	,	PUNCT
fumecheng-6852	358	44	garabini	garabini	PROPN
fumecheng-6852	358	45	,	,	PUNCT
fumecheng-6852	358	46	m.	m.	NOUN
fumecheng-6852	358	47	,	,	PUNCT
fumecheng-6852	358	48	grebenstein	grebenstein	ADV
fumecheng-6852	358	49	,	,	PUNCT
fumecheng-6852	358	50	m.	m.	NOUN
fumecheng-6852	358	51	,	,	PUNCT
fumecheng-6852	358	52	grioli	grioli	PROPN
fumecheng-6852	358	53	,	,	PUNCT
fumecheng-6852	358	54	g.	g.	PROPN
fumecheng-6852	358	55	,	,	PUNCT
fumecheng-6852	358	56	haddadin	haddadin	PROPN
fumecheng-6852	358	57	,	,	PUNCT
fumecheng-6852	358	58	s.	s.	PROPN
fumecheng-6852	358	59	,	,	PUNCT
fumecheng-6852	358	60	hoppner	hoppner	NOUN
fumecheng-6852	358	61	,	,	PUNCT
fumecheng-6852	358	62	h.	h.	PROPN
fumecheng-6852	358	63	,	,	PUNCT
fumecheng-6852	358	64	jafari	jafari	PROPN
fumecheng-6852	358	65	,	,	PUNCT
fumecheng-6852	358	66	a.	a.	NOUN
fumecheng-6852	358	67	,	,	PUNCT
fumecheng-6852	358	68	laffranchi	laffranchi	PROPN
fumecheng-6852	358	69	,	,	PUNCT
fumecheng-6852	358	70	m.	m.	NOUN
fumecheng-6852	358	71	,	,	PUNCT
fumecheng-6852	358	72	lefeber	lefeber	PROPN
fumecheng-6852	358	73	,	,	PUNCT
fumecheng-6852	358	74	d.	d.	PROPN
fumecheng-6852	358	75	,	,	PUNCT
fumecheng-6852	358	76	petit	petit	PROPN
fumecheng-6852	358	77	,	,	PUNCT
fumecheng-6852	358	78	f.	f.	PROPN
fumecheng-6852	358	79	,	,	PUNCT
fumecheng-6852	358	80	stramigioli	stramigioli	PROPN
fumecheng-6852	358	81	,	,	PUNCT
fumecheng-6852	358	82	s.	s.	PROPN
fumecheng-6852	358	83	,	,	PUNCT
fumecheng-6852	358	84	tsagarakis	tsagarakis	PROPN
fumecheng-6852	358	85	,	,	PUNCT
fumecheng-6852	358	86	n.	n.	NOUN
fumecheng-6852	358	87	,	,	PUNCT
fumecheng-6852	358	88	van	van	PROPN
fumecheng-6852	358	89	damme	damme	PROPN
fumecheng-6852	358	90	,	,	PUNCT
fumecheng-6852	358	91	m.	m.	NOUN
fumecheng-6852	358	92	,	,	PUNCT
fumecheng-6852	358	93	van	van	PROPN
fumecheng-6852	358	94	ham	ham	PROPN
fumecheng-6852	358	95	,	,	PUNCT
fumecheng-6852	358	96	r.	r.	PROPN
fumecheng-6852	358	97	,	,	PUNCT
fumecheng-6852	358	98	visser	visser	PROPN
fumecheng-6852	358	99	,	,	PUNCT
fumecheng-6852	358	100	l.c	l.c	PROPN
fumecheng-6852	358	101	.	.	PROPN
fumecheng-6852	358	102	,	,	PUNCT
fumecheng-6852	358	103	wolf	wolf	PROPN
fumecheng-6852	358	104	,	,	PUNCT
fumecheng-6852	358	105	s.	s.	PROPN
fumecheng-6852	358	106	,	,	PUNCT
fumecheng-6852	358	107	2013	2013	NUM
fumecheng-6852	358	108	,	,	PUNCT
fumecheng-6852	358	109	variable	variable	ADJ
fumecheng-6852	358	110	impedance	impedance	NOUN
fumecheng-6852	358	111	actuators	actuator	NOUN
fumecheng-6852	358	112	:	:	PUNCT
fumecheng-6852	358	113	a	a	DET
fumecheng-6852	358	114	review	review	NOUN
fumecheng-6852	358	115	,	,	PUNCT
fumecheng-6852	358	116	robotics	robotic	NOUN
fumecheng-6852	358	117	and	and	CCONJ
fumecheng-6852	358	118	autonomous	autonomous	ADJ
fumecheng-6852	358	119	systems	system	NOUN
fumecheng-6852	358	120	,	,	PUNCT
fumecheng-6852	358	121	61(12	61(12	NOUN
fumecheng-6852	358	122	)	)	PUNCT
fumecheng-6852	358	123	,	,	PUNCT
fumecheng-6852	358	124	pp	pp	PROPN
fumecheng-6852	358	125	.	.	PUNCT
fumecheng-6852	359	1	1601	1601	NUM
fumecheng-6852	359	2	-	-	SYM
fumecheng-6852	359	3	1614	1614	NUM
fumecheng-6852	359	4	.	.	PUNCT
fumecheng-6852	360	1	19	19	NUM
fumecheng-6852	360	2	.	.	X
fumecheng-6852	360	3	winiarski	winiarski	PROPN
fumecheng-6852	360	4	,	,	PUNCT
fumecheng-6852	360	5	t.	t.	PROPN
fumecheng-6852	360	6	,	,	PUNCT
fumecheng-6852	360	7	dudek	dudek	PROPN
fumecheng-6852	360	8	,	,	PUNCT
fumecheng-6852	360	9	w.	w.	PROPN
fumecheng-6852	360	10	,	,	PUNCT
fumecheng-6852	360	11	stefańczyk	stefańczyk	NOUN
fumecheng-6852	360	12	,	,	PUNCT
fumecheng-6852	360	13	m.	m.	NOUN
fumecheng-6852	360	14	,	,	PUNCT
fumecheng-6852	360	15	zieliński	zieliński	NOUN
fumecheng-6852	360	16	,	,	PUNCT
fumecheng-6852	360	17	ł	ł	PROPN
fumecheng-6852	360	18	.	.	PROPN
fumecheng-6852	360	19	,	,	PUNCT
fumecheng-6852	360	20	giełdowski	giełdowski	PROPN
fumecheng-6852	360	21	,	,	PUNCT
fumecheng-6852	360	22	d.	d.	PROPN
fumecheng-6852	360	23	,	,	PUNCT
fumecheng-6852	360	24	seredyński	seredyński	PROPN
fumecheng-6852	360	25	,	,	PUNCT
fumecheng-6852	360	26	d.	d.	PROPN
fumecheng-6852	360	27	,	,	PUNCT
fumecheng-6852	360	28	2020	2020	NUM
fumecheng-6852	360	29	,	,	PUNCT
fumecheng-6852	360	30	an	an	DET
fumecheng-6852	360	31	intent	intent	NOUN
fumecheng-6852	360	32	-	-	PUNCT
fumecheng-6852	360	33	based	base	VERB
fumecheng-6852	360	34	approach	approach	NOUN
fumecheng-6852	360	35	for	for	ADP
fumecheng-6852	360	36	creating	create	VERB
fumecheng-6852	360	37	assistive	assistive	ADJ
fumecheng-6852	360	38	robots	robot	NOUN
fumecheng-6852	360	39	’	'	PUNCT
fumecheng-6852	360	40	control	control	NOUN
fumecheng-6852	360	41	systems	system	NOUN
fumecheng-6852	360	42	,	,	PUNCT
fumecheng-6852	360	43	arxiv	arxiv	PROPN
fumecheng-6852	360	44	preprint	preprint	VERB
fumecheng-6852	360	45	arxiv:2005.12106	arxiv:2005.12106	NOUN
fumecheng-6852	360	46	.	.	PUNCT
fumecheng-6852	361	1	20	20	NUM
fumecheng-6852	361	2	.	.	PUNCT
fumecheng-6852	362	1	dudek	dudek	PROPN
fumecheng-6852	362	2	,	,	PUNCT
fumecheng-6852	362	3	w.	w.	PROPN
fumecheng-6852	362	4	,	,	PUNCT
fumecheng-6852	362	5	winiarski	winiarski	VERB
fumecheng-6852	362	6	,	,	PUNCT
fumecheng-6852	362	7	t.	t.	PROPN
fumecheng-6852	362	8	,	,	PUNCT
fumecheng-6852	362	9	2020	2020	NUM
fumecheng-6852	362	10	,	,	PUNCT
fumecheng-6852	362	11	scheduling	scheduling	NOUN
fumecheng-6852	362	12	of	of	ADP
fumecheng-6852	362	13	a	a	DET
fumecheng-6852	362	14	robot	robot	NOUN
fumecheng-6852	362	15	’s	’s	PART
fumecheng-6852	362	16	tasks	task	NOUN
fumecheng-6852	362	17	with	with	ADP
fumecheng-6852	362	18	the	the	DET
fumecheng-6852	362	19	tasker	tasker	NOUN
fumecheng-6852	362	20	framework	framework	NOUN
fumecheng-6852	362	21	,	,	PUNCT
fumecheng-6852	362	22	ieee	ieee	NOUN
fumecheng-6852	362	23	access	access	NOUN
fumecheng-6852	362	24	,	,	PUNCT
fumecheng-6852	362	25	8	8	NUM
fumecheng-6852	362	26	,	,	PUNCT
fumecheng-6852	362	27	pp	pp	ADJ
fumecheng-6852	362	28	.	.	PUNCT
fumecheng-6852	362	29	161449	161449	NUM
fumecheng-6852	362	30	-	-	SYM
fumecheng-6852	362	31	161471	161471	NUM
fumecheng-6852	362	32	.	.	PUNCT
fumecheng-6852	363	1	21	21	NUM
fumecheng-6852	363	2	.	.	PUNCT
fumecheng-6852	364	1	guiochet	guiochet	PROPN
fumecheng-6852	364	2	,	,	PUNCT
fumecheng-6852	364	3	j.	j.	PROPN
fumecheng-6852	364	4	,	,	PUNCT
fumecheng-6852	364	5	machin	machin	PROPN
fumecheng-6852	364	6	,	,	PUNCT
fumecheng-6852	364	7	m.	m.	NOUN
fumecheng-6852	364	8	,	,	PUNCT
fumecheng-6852	364	9	waeselynck	waeselynck	NOUN
fumecheng-6852	364	10	,	,	PUNCT
fumecheng-6852	364	11	h.	h.	PROPN
fumecheng-6852	364	12	,	,	PUNCT
fumecheng-6852	364	13	2017	2017	NUM
fumecheng-6852	364	14	,	,	PUNCT
fumecheng-6852	364	15	safety	safety	NOUN
fumecheng-6852	364	16	-	-	PUNCT
fumecheng-6852	364	17	critical	critical	ADJ
fumecheng-6852	364	18	advanced	advanced	ADJ
fumecheng-6852	364	19	robots	robot	NOUN
fumecheng-6852	364	20	:	:	PUNCT
fumecheng-6852	364	21	a	a	DET
fumecheng-6852	364	22	survey	survey	NOUN
fumecheng-6852	364	23	,	,	PUNCT
fumecheng-6852	364	24	robotics	robotic	NOUN
fumecheng-6852	364	25	and	and	CCONJ
fumecheng-6852	364	26	autonomous	autonomous	ADJ
fumecheng-6852	364	27	systems	system	NOUN
fumecheng-6852	364	28	,	,	PUNCT
fumecheng-6852	364	29	94	94	NUM
fumecheng-6852	364	30	,	,	PUNCT
fumecheng-6852	364	31	pp	pp	ADJ
fumecheng-6852	364	32	.	.	PUNCT
fumecheng-6852	365	1	43	43	NUM
fumecheng-6852	365	2	-	-	SYM
fumecheng-6852	365	3	52	52	NUM
fumecheng-6852	365	4	.	.	PUNCT
fumecheng-6852	366	1	22	22	NUM
fumecheng-6852	366	2	.	.	PUNCT
fumecheng-6852	367	1	haddadin	haddadin	PROPN
fumecheng-6852	367	2	,	,	PUNCT
fumecheng-6852	367	3	s.	s.	PROPN
fumecheng-6852	367	4	,	,	PUNCT
fumecheng-6852	367	5	albu	albu	PROPN
fumecheng-6852	367	6	-	-	PUNCT
fumecheng-6852	367	7	schäffer	schäffer	NOUN
fumecheng-6852	367	8	,	,	PUNCT
fumecheng-6852	367	9	a.	a.	NOUN
fumecheng-6852	367	10	,	,	PUNCT
fumecheng-6852	367	11	hirzinger	hirzinger	NOUN
fumecheng-6852	367	12	,	,	PUNCT
fumecheng-6852	367	13	g.	g.	PROPN
fumecheng-6852	367	14	,	,	PUNCT
fumecheng-6852	367	15	2009	2009	NUM
fumecheng-6852	367	16	,	,	PUNCT
fumecheng-6852	367	17	requirements	requirement	NOUN
fumecheng-6852	367	18	for	for	ADP
fumecheng-6852	367	19	safe	safe	ADJ
fumecheng-6852	367	20	robots	robot	NOUN
fumecheng-6852	367	21	:	:	PUNCT
fumecheng-6852	367	22	measurements	measurement	NOUN
fumecheng-6852	367	23	,	,	PUNCT
fumecheng-6852	367	24	analysis	analysis	NOUN
fumecheng-6852	367	25	and	and	CCONJ
fumecheng-6852	367	26	new	new	ADJ
fumecheng-6852	367	27	insights	insight	NOUN
fumecheng-6852	367	28	,	,	PUNCT
fumecheng-6852	367	29	the	the	DET
fumecheng-6852	367	30	international	international	ADJ
fumecheng-6852	367	31	journal	journal	NOUN
fumecheng-6852	367	32	of	of	ADP
fumecheng-6852	367	33	robotics	robotic	NOUN
fumecheng-6852	367	34	research	research	NOUN
fumecheng-6852	367	35	,	,	PUNCT
fumecheng-6852	367	36	28(11	28(11	NUM
fumecheng-6852	367	37	-	-	SYM
fumecheng-6852	367	38	12	12	NUM
fumecheng-6852	367	39	)	)	PUNCT
fumecheng-6852	367	40	,	,	PUNCT
fumecheng-6852	367	41	pp	pp	ADP
fumecheng-6852	367	42	.	.	PUNCT
fumecheng-6852	367	43	1507	1507	NUM
fumecheng-6852	367	44	-	-	SYM
fumecheng-6852	367	45	1527	1527	NUM
fumecheng-6852	367	46	.	.	PUNCT
fumecheng-6852	368	1	23	23	NUM
fumecheng-6852	368	2	.	.	X
fumecheng-6852	369	1	winiarski	winiarski	VERB
fumecheng-6852	369	2	,	,	PUNCT
fumecheng-6852	369	3	t.	t.	PROPN
fumecheng-6852	369	4	,	,	PUNCT
fumecheng-6852	369	5	węgierek	węgierek	PROPN
fumecheng-6852	369	6	,	,	PUNCT
fumecheng-6852	369	7	m.	m.	NOUN
fumecheng-6852	369	8	,	,	PUNCT
fumecheng-6852	369	9	seredyński	seredyński	PROPN
fumecheng-6852	369	10	,	,	PUNCT
fumecheng-6852	369	11	d.	d.	PROPN
fumecheng-6852	369	12	,	,	PUNCT
fumecheng-6852	369	13	dudek	dudek	PROPN
fumecheng-6852	369	14	,	,	PUNCT
fumecheng-6852	369	15	w.	w.	PROPN
fumecheng-6852	369	16	,	,	PUNCT
fumecheng-6852	369	17	banachowicz	banachowicz	PROPN
fumecheng-6852	369	18	,	,	PUNCT
fumecheng-6852	369	19	k.	k.	PROPN
fumecheng-6852	369	20	,	,	PUNCT
fumecheng-6852	369	21	zieliński	zieliński	PROPN
fumecheng-6852	369	22	,	,	PUNCT
fumecheng-6852	369	23	c.	c.	NOUN
fumecheng-6852	369	24	,	,	PUNCT
fumecheng-6852	369	25	2020	2020	NUM
fumecheng-6852	369	26	,	,	PUNCT
fumecheng-6852	369	27	earl	earl	PROPN
fumecheng-6852	369	28	–	–	PUNCT
fumecheng-6852	369	29	embodied	embody	VERB
fumecheng-6852	369	30	agent	agent	NOUN
fumecheng-6852	369	31	-	-	PUNCT
fumecheng-6852	369	32	based	base	VERB
fumecheng-6852	369	33	robot	robot	NOUN
fumecheng-6852	369	34	control	control	NOUN
fumecheng-6852	369	35	systems	system	NOUN
fumecheng-6852	369	36	modelling	modelling	NOUN
fumecheng-6852	369	37	language	language	NOUN
fumecheng-6852	369	38	,	,	PUNCT
fumecheng-6852	369	39	electronics	electronic	NOUN
fumecheng-6852	369	40	,	,	PUNCT
fumecheng-6852	369	41	9(2	9(2	NUM
fumecheng-6852	369	42	)	)	PUNCT
fumecheng-6852	369	43	,	,	PUNCT
fumecheng-6852	369	44	379	379	NUM
fumecheng-6852	369	45	.	.	PUNCT
fumecheng-6852	370	1	24	24	NUM
fumecheng-6852	370	2	.	.	PUNCT
fumecheng-6852	371	1	seredyński	seredyński	PROPN
fumecheng-6852	371	2	,	,	PUNCT
fumecheng-6852	371	3	d.	d.	PROPN
fumecheng-6852	371	4	,	,	PUNCT
fumecheng-6852	371	5	winiarski	winiarski	VERB
fumecheng-6852	371	6	,	,	PUNCT
fumecheng-6852	371	7	t.	t.	PROPN
fumecheng-6852	371	8	,	,	PUNCT
fumecheng-6852	371	9	zieliński	zieliński	NOUN
fumecheng-6852	371	10	,	,	PUNCT
fumecheng-6852	371	11	c.	c.	NOUN
fumecheng-6852	371	12	,	,	PUNCT
fumecheng-6852	371	13	2019	2019	NUM
fumecheng-6852	371	14	,	,	PUNCT
fumecheng-6852	371	15	fabric	fabric	NOUN
fumecheng-6852	371	16	:	:	PUNCT
fumecheng-6852	371	17	framework	framework	NOUN
fumecheng-6852	371	18	for	for	ADP
fumecheng-6852	371	19	agent	agent	NOUN
fumecheng-6852	371	20	-	-	PUNCT
fumecheng-6852	371	21	based	base	VERB
fumecheng-6852	371	22	robot	robot	NOUN
fumecheng-6852	371	23	control	control	PROPN
fumecheng-6852	371	24	systems	systems	PROPN
fumecheng-6852	371	25	,	,	PUNCT
fumecheng-6852	371	26	proc	proc	NOUN
fumecheng-6852	371	27	.	.	PUNCT
fumecheng-6852	372	1	12th	12th	ADJ
fumecheng-6852	372	2	international	international	ADJ
fumecheng-6852	372	3	workshop	workshop	NOUN
fumecheng-6852	372	4	on	on	ADP
fumecheng-6852	372	5	robot	robot	NOUN
fumecheng-6852	372	6	motion	motion	NOUN
fumecheng-6852	372	7	and	and	CCONJ
fumecheng-6852	372	8	control	control	NOUN
fumecheng-6852	372	9	,	,	PUNCT
fumecheng-6852	372	10	poznań	poznań	NOUN
fumecheng-6852	372	11	,	,	PUNCT
fumecheng-6852	372	12	poland	poland	PROPN
fumecheng-6852	372	13	,	,	PUNCT
fumecheng-6852	372	14	pp	pp	ADP
fumecheng-6852	372	15	.	.	PUNCT
fumecheng-6852	373	1	215	215	NUM
fumecheng-6852	373	2	-	-	SYM
fumecheng-6852	373	3	222	222	NUM
fumecheng-6852	373	4	.	.	PUNCT
fumecheng-6852	374	1	120	120	NUM
fumecheng-6852	374	2	b.	b.	PROPN
fumecheng-6852	374	3	kozakiewicz	kozakiewicz	PROPN
fumecheng-6852	374	4	,	,	PUNCT
fumecheng-6852	374	5	t.	t.	PROPN
fumecheng-6852	374	6	winiarski	winiarski	PROPN
fumecheng-6852	374	7	25	25	NUM
fumecheng-6852	374	8	.	.	PUNCT
fumecheng-6852	374	9	de	de	PROPN
fumecheng-6852	374	10	schutter	schutter	NOUN
fumecheng-6852	374	11	,	,	PUNCT
fumecheng-6852	374	12	j.	j.	PROPN
fumecheng-6852	374	13	,	,	PUNCT
fumecheng-6852	374	14	bruyninckx	bruyninckx	PROPN
fumecheng-6852	374	15	,	,	PUNCT
fumecheng-6852	374	16	h.	h.	PROPN
fumecheng-6852	374	17	,	,	PUNCT
fumecheng-6852	374	18	zhu	zhu	PROPN
fumecheng-6852	374	19	,	,	PUNCT
fumecheng-6852	374	20	w.-h	w.-h	NOUN
fumecheng-6852	374	21	.	.	PROPN
fumecheng-6852	374	22	,	,	PUNCT
fumecheng-6852	374	23	spong	spong	PROPN
fumecheng-6852	374	24	,	,	PUNCT
fumecheng-6852	374	25	m.w	m.w	PROPN
fumecheng-6852	374	26	.	.	PROPN
fumecheng-6852	374	27	,	,	PUNCT
fumecheng-6852	374	28	1998	1998	NUM
fumecheng-6852	374	29	,	,	PUNCT
fumecheng-6852	374	30	force	force	NOUN
fumecheng-6852	374	31	control	control	PROPN
fumecheng-6852	374	32	:	:	PUNCT
fumecheng-6852	374	33	a	a	DET
fumecheng-6852	374	34	bird	bird	NOUN
fumecheng-6852	374	35	’s	’s	PART
fumecheng-6852	374	36	eye	eye	NOUN
fumecheng-6852	374	37	view	view	NOUN
fumecheng-6852	374	38	,	,	PUNCT
fumecheng-6852	374	39	proc	proc	NOUN
fumecheng-6852	374	40	.	.	PUNCT
fumecheng-6852	375	1	control	control	NOUN
fumecheng-6852	375	2	problems	problem	NOUN
fumecheng-6852	375	3	in	in	ADP
fumecheng-6852	375	4	robotics	robotic	NOUN
fumecheng-6852	375	5	and	and	CCONJ
fumecheng-6852	375	6	automation	automation	NOUN
fumecheng-6852	375	7	,	,	PUNCT
fumecheng-6852	375	8	san	san	PROPN
fumecheng-6852	375	9	diego	diego	PROPN
fumecheng-6852	375	10	,	,	PUNCT
fumecheng-6852	375	11	ca	ca	PROPN
fumecheng-6852	375	12	,	,	PUNCT
fumecheng-6852	375	13	usa	usa	PROPN
fumecheng-6852	375	14	,	,	PUNCT
fumecheng-6852	375	15	pp	pp	ADJ
fumecheng-6852	375	16	.	.	PUNCT
fumecheng-6852	376	1	1	1	NUM
fumecheng-6852	376	2	-	-	SYM
fumecheng-6852	376	3	17	17	NUM
fumecheng-6852	376	4	.	.	PUNCT
fumecheng-6852	377	1	26	26	NUM
fumecheng-6852	377	2	.	.	PUNCT
fumecheng-6852	378	1	kornuta	kornuta	PROPN
fumecheng-6852	378	2	,	,	PUNCT
fumecheng-6852	378	3	t.	t.	NOUN
fumecheng-6852	378	4	,	,	PUNCT
fumecheng-6852	378	5	zieliński	zieliński	NOUN
fumecheng-6852	378	6	,	,	PUNCT
fumecheng-6852	378	7	c.	c.	NOUN
fumecheng-6852	378	8	,	,	PUNCT
fumecheng-6852	378	9	winiarski	winiarski	NOUN
fumecheng-6852	378	10	,	,	PUNCT
fumecheng-6852	378	11	t.	t.	PROPN
fumecheng-6852	378	12	,	,	PUNCT
fumecheng-6852	378	13	2020	2020	NUM
fumecheng-6852	378	14	,	,	PUNCT
fumecheng-6852	378	15	a	a	DET
fumecheng-6852	378	16	universal	universal	ADJ
fumecheng-6852	378	17	architectural	architectural	ADJ
fumecheng-6852	378	18	pattern	pattern	NOUN
fumecheng-6852	378	19	and	and	CCONJ
fumecheng-6852	378	20	specification	specification	NOUN
fumecheng-6852	378	21	method	method	NOUN
fumecheng-6852	378	22	for	for	ADP
fumecheng-6852	378	23	robot	robot	NOUN
fumecheng-6852	378	24	control	control	NOUN
fumecheng-6852	378	25	system	system	NOUN
fumecheng-6852	378	26	design	design	NOUN
fumecheng-6852	378	27	,	,	PUNCT
fumecheng-6852	378	28	bulletin	bulletin	NOUN
fumecheng-6852	378	29	of	of	ADP
fumecheng-6852	378	30	the	the	DET
fumecheng-6852	378	31	polish	polish	PROPN
fumecheng-6852	378	32	academy	academy	PROPN
fumecheng-6852	378	33	of	of	ADP
fumecheng-6852	378	34	sciences	sciences	PROPN
fumecheng-6852	378	35	:	:	PUNCT
fumecheng-6852	378	36	technical	technical	ADJ
fumecheng-6852	378	37	sciences	science	NOUN
fumecheng-6852	378	38	,	,	PUNCT
fumecheng-6852	378	39	68(1	68(1	NOUN
fumecheng-6852	378	40	)	)	PUNCT
fumecheng-6852	378	41	,	,	PUNCT
fumecheng-6852	378	42	pp	pp	ADP
fumecheng-6852	378	43	.	.	PUNCT
fumecheng-6852	379	1	3	3	NUM
fumecheng-6852	379	2	-	-	SYM
fumecheng-6852	379	3	29	29	NUM
fumecheng-6852	379	4	.	.	PUNCT
fumecheng-6852	380	1	27	27	NUM
fumecheng-6852	380	2	.	.	X
fumecheng-6852	381	1	winiarski	winiarski	VERB
fumecheng-6852	381	2	,	,	PUNCT
fumecheng-6852	381	3	t.	t.	PROPN
fumecheng-6852	381	4	,	,	PUNCT
fumecheng-6852	381	5	woźniak	woźniak	PROPN
fumecheng-6852	381	6	,	,	PUNCT
fumecheng-6852	381	7	a.	a.	NOUN
fumecheng-6852	381	8	,	,	PUNCT
fumecheng-6852	381	9	2013	2013	NUM
fumecheng-6852	381	10	,	,	PUNCT
fumecheng-6852	381	11	indirect	indirect	ADJ
fumecheng-6852	381	12	force	force	NOUN
fumecheng-6852	381	13	control	control	NOUN
fumecheng-6852	381	14	development	development	NOUN
fumecheng-6852	381	15	procedure	procedure	NOUN
fumecheng-6852	381	16	,	,	PUNCT
fumecheng-6852	381	17	robotica	robotica	PROPN
fumecheng-6852	381	18	,	,	PUNCT
fumecheng-6852	381	19	31(3	31(3	NUM
fumecheng-6852	381	20	)	)	PUNCT
fumecheng-6852	381	21	,	,	PUNCT
fumecheng-6852	382	1	pp	pp	ADJ
fumecheng-6852	382	2	.	.	PUNCT
fumecheng-6852	383	1	465	465	NUM
fumecheng-6852	383	2	-	-	SYM
fumecheng-6852	383	3	478	478	NUM
fumecheng-6852	383	4	.	.	NOUN
fumecheng-6852	384	1	28	28	NUM
fumecheng-6852	384	2	.	.	PUNCT
fumecheng-6852	385	1	zieliński	zieliński	PROPN
fumecheng-6852	385	2	,	,	PUNCT
fumecheng-6852	385	3	c.	c.	NOUN
fumecheng-6852	385	4	,	,	PUNCT
fumecheng-6852	385	5	winiarski	winiarski	NOUN
fumecheng-6852	385	6	,	,	PUNCT
fumecheng-6852	385	7	t.	t.	PROPN
fumecheng-6852	385	8	,	,	PUNCT
fumecheng-6852	385	9	2010	2010	NUM
fumecheng-6852	385	10	,	,	PUNCT
fumecheng-6852	385	11	motion	motion	NOUN
fumecheng-6852	385	12	generation	generation	NOUN
fumecheng-6852	385	13	in	in	ADP
fumecheng-6852	385	14	the	the	DET
fumecheng-6852	385	15	mrroc++	mrroc++	NOUN
fumecheng-6852	385	16	robot	robot	NOUN
fumecheng-6852	385	17	programming	programming	NOUN
fumecheng-6852	385	18	framework	framework	NOUN
fumecheng-6852	385	19	,	,	PUNCT
fumecheng-6852	385	20	the	the	DET
fumecheng-6852	385	21	international	international	ADJ
fumecheng-6852	385	22	journal	journal	NOUN
fumecheng-6852	385	23	of	of	ADP
fumecheng-6852	385	24	robotics	robotic	NOUN
fumecheng-6852	385	25	research	research	NOUN
fumecheng-6852	385	26	,	,	PUNCT
fumecheng-6852	385	27	29(4	29(4	NOUN
fumecheng-6852	385	28	)	)	PUNCT
fumecheng-6852	385	29	,	,	PUNCT
fumecheng-6852	385	30	pp	pp	PROPN
fumecheng-6852	385	31	.	.	PUNCT
fumecheng-6852	386	1	386	386	NUM
fumecheng-6852	386	2	-	-	SYM
fumecheng-6852	386	3	413	413	NUM
fumecheng-6852	386	4	.	.	PUNCT
fumecheng-6852	387	1	29	29	NUM
fumecheng-6852	387	2	.	.	X
fumecheng-6852	388	1	winiarski	winiarski	VERB
fumecheng-6852	388	2	,	,	PUNCT
fumecheng-6852	388	3	t.	t.	PROPN
fumecheng-6852	388	4	,	,	PUNCT
fumecheng-6852	388	5	walęcki	walęcki	PROPN
fumecheng-6852	388	6	,	,	PUNCT
fumecheng-6852	388	7	m.	m.	NOUN
fumecheng-6852	388	8	,	,	PUNCT
fumecheng-6852	388	9	2014	2014	NUM
fumecheng-6852	388	10	,	,	PUNCT
fumecheng-6852	388	11	motor	motor	NOUN
fumecheng-6852	388	12	cascade	cascade	NOUN
fumecheng-6852	388	13	position	position	NOUN
fumecheng-6852	388	14	controllers	controller	NOUN
fumecheng-6852	388	15	for	for	ADP
fumecheng-6852	388	16	service	service	NOUN
fumecheng-6852	388	17	oriented	orient	VERB
fumecheng-6852	388	18	manipulators	manipulator	NOUN
fumecheng-6852	388	19	,	,	PUNCT
fumecheng-6852	388	20	proc	proc	NOUN
fumecheng-6852	388	21	.	.	PUNCT
fumecheng-6852	389	1	recent	recent	ADJ
fumecheng-6852	389	2	advances	advance	NOUN
fumecheng-6852	389	3	in	in	ADP
fumecheng-6852	389	4	automation	automation	NOUN
fumecheng-6852	389	5	,	,	PUNCT
fumecheng-6852	389	6	robotics	robotic	NOUN
fumecheng-6852	389	7	and	and	CCONJ
fumecheng-6852	389	8	measuring	measure	VERB
fumecheng-6852	389	9	techniques	technique	NOUN
fumecheng-6852	389	10	,	,	PUNCT
fumecheng-6852	389	11	warsaw	warsaw	PROPN
fumecheng-6852	389	12	,	,	PUNCT
fumecheng-6852	389	13	poland	poland	PROPN
fumecheng-6852	389	14	,	,	PUNCT
fumecheng-6852	389	15	pp	pp	ADP
fumecheng-6852	389	16	.	.	PUNCT
fumecheng-6852	390	1	533	533	NUM
fumecheng-6852	390	2	-	-	SYM
fumecheng-6852	390	3	542	542	NUM
fumecheng-6852	390	4	.	.	PUNCT
fumecheng-6852	391	1	30	30	NUM
fumecheng-6852	391	2	.	.	PUNCT
fumecheng-6852	392	1	albu	albu	PROPN
fumecheng-6852	392	2	-	-	PUNCT
fumecheng-6852	392	3	schaeffer	schaeffer	PROPN
fumecheng-6852	392	4	,	,	PUNCT
fumecheng-6852	392	5	a.	a.	NOUN
fumecheng-6852	392	6	,	,	PUNCT
fumecheng-6852	392	7	haddadin	haddadin	PROPN
fumecheng-6852	392	8	,	,	PUNCT
fumecheng-6852	392	9	s.	s.	PROPN
fumecheng-6852	392	10	,	,	PUNCT
fumecheng-6852	392	11	ott	ott	PROPN
fumecheng-6852	392	12	,	,	PUNCT
fumecheng-6852	392	13	c.	c.	PROPN
fumecheng-6852	392	14	,	,	PUNCT
fumecheng-6852	392	15	stemmer	stemmer	PROPN
fumecheng-6852	392	16	,	,	PUNCT
fumecheng-6852	392	17	a.	a.	NOUN
fumecheng-6852	392	18	,	,	PUNCT
fumecheng-6852	392	19	wimböck	wimböck	ADJ
fumecheng-6852	392	20	,	,	PUNCT
fumecheng-6852	392	21	t.	t.	PROPN
fumecheng-6852	392	22	,	,	PUNCT
fumecheng-6852	392	23	hirzinger	hirzinger	NOUN
fumecheng-6852	392	24	,	,	PUNCT
fumecheng-6852	392	25	g.	g.	PROPN
fumecheng-6852	392	26	,	,	PUNCT
fumecheng-6852	392	27	2007	2007	NUM
fumecheng-6852	392	28	,	,	PUNCT
fumecheng-6852	392	29	the	the	DET
fumecheng-6852	392	30	dlr	dlr	NOUN
fumecheng-6852	392	31	lightweight	lightweight	NOUN
fumecheng-6852	392	32	robot	robot	NOUN
fumecheng-6852	392	33	:	:	PUNCT
fumecheng-6852	392	34	design	design	NOUN
fumecheng-6852	392	35	and	and	CCONJ
fumecheng-6852	392	36	control	control	NOUN
fumecheng-6852	392	37	concepts	concept	NOUN
fumecheng-6852	392	38	for	for	ADP
fumecheng-6852	392	39	robots	robot	NOUN
fumecheng-6852	392	40	in	in	ADP
fumecheng-6852	392	41	human	human	ADJ
fumecheng-6852	392	42	environments	environment	NOUN
fumecheng-6852	392	43	,	,	PUNCT
fumecheng-6852	392	44	industrial	industrial	ADJ
fumecheng-6852	392	45	robot	robot	NOUN
fumecheng-6852	392	46	,	,	PUNCT
fumecheng-6852	392	47	34(5	34(5	PROPN
fumecheng-6852	392	48	)	)	PUNCT
fumecheng-6852	392	49	,	,	PUNCT
fumecheng-6852	392	50	pp	pp	PROPN
fumecheng-6852	392	51	.	.	PUNCT
fumecheng-6852	393	1	376	376	NUM
fumecheng-6852	393	2	-	-	SYM
fumecheng-6852	393	3	385	385	NUM
fumecheng-6852	393	4	.	.	PUNCT
fumecheng-6852	394	1	31	31	NUM
fumecheng-6852	394	2	.	.	PUNCT
fumecheng-6852	395	1	knox	knox	PROPN
fumecheng-6852	395	2	,	,	PUNCT
fumecheng-6852	395	3	b.t	b.t	PROPN
fumecheng-6852	395	4	.	.	PROPN
fumecheng-6852	395	5	,	,	PUNCT
fumecheng-6852	395	6	schmiedeler	schmiedeler	PROPN
fumecheng-6852	395	7	,	,	PUNCT
fumecheng-6852	395	8	j.p	j.p	PROPN
fumecheng-6852	395	9	.	.	PROPN
fumecheng-6852	395	10	,	,	PUNCT
fumecheng-6852	395	11	2009	2009	NUM
fumecheng-6852	395	12	,	,	PUNCT
fumecheng-6852	395	13	a	a	DET
fumecheng-6852	395	14	unidirectional	unidirectional	ADJ
fumecheng-6852	395	15	series	series	NOUN
fumecheng-6852	395	16	-	-	PUNCT
fumecheng-6852	395	17	elastic	elastic	ADJ
fumecheng-6852	395	18	actuator	actuator	NOUN
fumecheng-6852	395	19	design	design	NOUN
fumecheng-6852	395	20	using	use	VERB
fumecheng-6852	395	21	a	a	DET
fumecheng-6852	395	22	spiral	spiral	ADJ
fumecheng-6852	395	23	torsion	torsion	NOUN
fumecheng-6852	395	24	spring	spring	NOUN
fumecheng-6852	395	25	,	,	PUNCT
fumecheng-6852	395	26	journal	journal	NOUN
fumecheng-6852	395	27	of	of	ADP
fumecheng-6852	395	28	mechanical	mechanical	ADJ
fumecheng-6852	395	29	design	design	NOUN
fumecheng-6852	395	30	,	,	PUNCT
fumecheng-6852	395	31	131(12	131(12	NUM
fumecheng-6852	395	32	)	)	PUNCT
fumecheng-6852	395	33	,	,	PUNCT
fumecheng-6852	395	34	125001	125001	NUM
fumecheng-6852	395	35	.	.	PUNCT
fumecheng-6852	396	1	32	32	NUM
fumecheng-6852	396	2	.	.	PUNCT
fumecheng-6852	396	3	sugar	sugar	PROPN
fumecheng-6852	396	4	,	,	PUNCT
fumecheng-6852	396	5	t.g	t.g	PROPN
fumecheng-6852	396	6	.	.	PROPN
fumecheng-6852	396	7	,	,	PUNCT
fumecheng-6852	396	8	2002	2002	NUM
fumecheng-6852	396	9	,	,	PUNCT
fumecheng-6852	396	10	a	a	DET
fumecheng-6852	396	11	novel	novel	ADJ
fumecheng-6852	396	12	selective	selective	ADJ
fumecheng-6852	396	13	compliant	compliant	ADJ
fumecheng-6852	396	14	actuator	actuator	NOUN
fumecheng-6852	396	15	,	,	PUNCT
fumecheng-6852	396	16	mechatronics	mechatronic	NOUN
fumecheng-6852	396	17	,	,	PUNCT
fumecheng-6852	396	18	12(9	12(9	NUM
fumecheng-6852	396	19	-	-	SYM
fumecheng-6852	396	20	10	10	NUM
fumecheng-6852	396	21	)	)	PUNCT
fumecheng-6852	396	22	,	,	PUNCT
fumecheng-6852	396	23	pp	pp	ADP
fumecheng-6852	396	24	.	.	PUNCT
fumecheng-6852	397	1	1157	1157	NUM
fumecheng-6852	397	2	-	-	SYM
fumecheng-6852	397	3	1171	1171	NUM
fumecheng-6852	397	4	.	.	PUNCT
fumecheng-6852	398	1	33	33	NUM
fumecheng-6852	398	2	.	.	PUNCT
fumecheng-6852	399	1	van	van	PROPN
fumecheng-6852	399	2	ham	ham	PROPN
fumecheng-6852	399	3	,	,	PUNCT
fumecheng-6852	399	4	r.	r.	PROPN
fumecheng-6852	399	5	,	,	PUNCT
fumecheng-6852	399	6	sugar	sugar	NOUN
fumecheng-6852	399	7	,	,	PUNCT
fumecheng-6852	399	8	t.g	t.g	PROPN
fumecheng-6852	399	9	.	.	PROPN
fumecheng-6852	399	10	,	,	PUNCT
fumecheng-6852	399	11	vanderborght	vanderborght	PROPN
fumecheng-6852	399	12	,	,	PUNCT
fumecheng-6852	399	13	b.	b.	PROPN
fumecheng-6852	399	14	,	,	PUNCT
fumecheng-6852	399	15	hollander	hollander	PROPN
fumecheng-6852	399	16	,	,	PUNCT
fumecheng-6852	399	17	k.w	k.w	PROPN
fumecheng-6852	399	18	.	.	PROPN
fumecheng-6852	399	19	,	,	PUNCT
fumecheng-6852	399	20	lefeber	lefeber	PROPN
fumecheng-6852	399	21	,	,	PUNCT
fumecheng-6852	399	22	d.	d.	PROPN
fumecheng-6852	399	23	,	,	PUNCT
fumecheng-6852	399	24	2009	2009	NUM
fumecheng-6852	399	25	,	,	PUNCT
fumecheng-6852	399	26	compliant	compliant	ADJ
fumecheng-6852	399	27	actuator	actuator	NOUN
fumecheng-6852	399	28	designs	design	NOUN
fumecheng-6852	399	29	,	,	PUNCT
fumecheng-6852	399	30	ieee	ieee	NOUN
fumecheng-6852	399	31	robotics	robotic	NOUN
fumecheng-6852	399	32	automation	automation	NOUN
fumecheng-6852	399	33	magazine	magazine	NOUN
fumecheng-6852	399	34	,	,	PUNCT
fumecheng-6852	399	35	16(3	16(3	PROPN
fumecheng-6852	399	36	)	)	PUNCT
fumecheng-6852	399	37	,	,	PUNCT
fumecheng-6852	399	38	pp	pp	PROPN
fumecheng-6852	399	39	.	.	PUNCT
fumecheng-6852	400	1	81	81	NUM
fumecheng-6852	400	2	-	-	SYM
fumecheng-6852	400	3	94	94	NUM
fumecheng-6852	400	4	.	.	PUNCT
fumecheng-6852	401	1	34	34	NUM
fumecheng-6852	401	2	.	.	PUNCT
fumecheng-6852	401	3	tagliamonte	tagliamonte	PROPN
fumecheng-6852	401	4	,	,	PUNCT
fumecheng-6852	401	5	n.l	n.l	PROPN
fumecheng-6852	401	6	.	.	PROPN
fumecheng-6852	401	7	,	,	PUNCT
fumecheng-6852	401	8	sergi	sergi	PROPN
fumecheng-6852	401	9	,	,	PUNCT
fumecheng-6852	401	10	f.	f.	PROPN
fumecheng-6852	401	11	,	,	PUNCT
fumecheng-6852	401	12	accoto	accoto	NOUN
fumecheng-6852	401	13	,	,	PUNCT
fumecheng-6852	401	14	d.	d.	PROPN
fumecheng-6852	401	15	,	,	PUNCT
fumecheng-6852	401	16	carpino	carpino	PROPN
fumecheng-6852	401	17	,	,	PUNCT
fumecheng-6852	401	18	g.	g.	PROPN
fumecheng-6852	401	19	,	,	PUNCT
fumecheng-6852	401	20	guglielmelli	guglielmelli	PROPN
fumecheng-6852	401	21	,	,	PUNCT
fumecheng-6852	401	22	e.	e.	PROPN
fumecheng-6852	401	23	,	,	PUNCT
fumecheng-6852	401	24	2012	2012	NUM
fumecheng-6852	401	25	,	,	PUNCT
fumecheng-6852	401	26	double	double	ADJ
fumecheng-6852	401	27	actuation	actuation	NOUN
fumecheng-6852	401	28	architectures	architecture	NOUN
fumecheng-6852	401	29	for	for	ADP
fumecheng-6852	401	30	rendering	render	VERB
fumecheng-6852	401	31	variable	variable	ADJ
fumecheng-6852	401	32	impedance	impedance	NOUN
fumecheng-6852	401	33	in	in	ADP
fumecheng-6852	401	34	compliant	compliant	ADJ
fumecheng-6852	401	35	robots	robot	NOUN
fumecheng-6852	401	36	:	:	PUNCT
fumecheng-6852	401	37	a	a	DET
fumecheng-6852	401	38	review	review	NOUN
fumecheng-6852	401	39	,	,	PUNCT
fumecheng-6852	401	40	mechatronics	mechatronic	NOUN
fumecheng-6852	401	41	,	,	PUNCT
fumecheng-6852	401	42	22(8	22(8	NUM
fumecheng-6852	401	43	)	)	PUNCT
fumecheng-6852	401	44	,	,	PUNCT
fumecheng-6852	401	45	pp	pp	PROPN
fumecheng-6852	401	46	.	.	PUNCT
fumecheng-6852	402	1	1187	1187	NUM
fumecheng-6852	402	2	-	-	SYM
fumecheng-6852	402	3	1203	1203	NUM
fumecheng-6852	402	4	.	.	PUNCT
fumecheng-6852	403	1	35	35	NUM
fumecheng-6852	403	2	.	.	PUNCT
fumecheng-6852	404	1	qian	qian	PROPN
fumecheng-6852	404	2	,	,	PUNCT
fumecheng-6852	404	3	k.-x	k.-x	PROPN
fumecheng-6852	404	4	.	.	PUNCT
fumecheng-6852	404	5	,	,	PUNCT
fumecheng-6852	404	6	zeng	zeng	PROPN
fumecheng-6852	404	7	,	,	PUNCT
fumecheng-6852	404	8	p.	p.	PROPN
fumecheng-6852	404	9	,	,	PUNCT
fumecheng-6852	404	10	ru	ru	PROPN
fumecheng-6852	404	11	,	,	PUNCT
fumecheng-6852	404	12	w.-m	w.-m	PROPN
fumecheng-6852	404	13	.	.	PROPN
fumecheng-6852	404	14	,	,	PUNCT
fumecheng-6852	404	15	yuan	yuan	NOUN
fumecheng-6852	404	16	,	,	PUNCT
fumecheng-6852	404	17	h.-y	h.-y	NOUN
fumecheng-6852	404	18	.	.	PUNCT
fumecheng-6852	404	19	,	,	PUNCT
fumecheng-6852	404	20	2003	2003	NUM
fumecheng-6852	404	21	,	,	PUNCT
fumecheng-6852	404	22	novel	novel	ADJ
fumecheng-6852	404	23	magnetic	magnetic	ADJ
fumecheng-6852	404	24	spring	spring	NOUN
fumecheng-6852	404	25	and	and	CCONJ
fumecheng-6852	404	26	magnetic	magnetic	ADJ
fumecheng-6852	404	27	bearing	bearing	NOUN
fumecheng-6852	404	28	,	,	PUNCT
fumecheng-6852	404	29	ieee	ieee	NOUN
fumecheng-6852	404	30	transactions	transaction	NOUN
fumecheng-6852	404	31	on	on	ADP
fumecheng-6852	404	32	magnetics	magnetic	NOUN
fumecheng-6852	404	33	,	,	PUNCT
fumecheng-6852	404	34	39(1	39(1	NUM
fumecheng-6852	404	35	)	)	PUNCT
fumecheng-6852	404	36	,	,	PUNCT
fumecheng-6852	404	37	pp	pp	PROPN
fumecheng-6852	404	38	.	.	PUNCT
fumecheng-6852	405	1	559	559	NUM
fumecheng-6852	405	2	-	-	SYM
fumecheng-6852	405	3	561	561	NUM
fumecheng-6852	405	4	.	.	PUNCT
fumecheng-6852	406	1	36	36	NUM
fumecheng-6852	406	2	.	.	PUNCT
fumecheng-6852	407	1	garbin	garbin	PROPN
fumecheng-6852	407	2	,	,	PUNCT
fumecheng-6852	407	3	n.	n.	PROPN
fumecheng-6852	407	4	,	,	PUNCT
fumecheng-6852	407	5	di	di	PROPN
fumecheng-6852	407	6	natali	natali	PROPN
fumecheng-6852	407	7	,	,	PUNCT
fumecheng-6852	407	8	c.	c.	PROPN
fumecheng-6852	407	9	,	,	PUNCT
fumecheng-6852	407	10	buzzi	buzzi	NOUN
fumecheng-6852	407	11	,	,	PUNCT
fumecheng-6852	407	12	j.	j.	PROPN
fumecheng-6852	407	13	,	,	PUNCT
fumecheng-6852	407	14	de	de	PROPN
fumecheng-6852	407	15	momi	momi	PROPN
fumecheng-6852	407	16	,	,	PUNCT
fumecheng-6852	407	17	e.	e.	PROPN
fumecheng-6852	407	18	,	,	PUNCT
fumecheng-6852	407	19	valdastri	valdastri	ADJ
fumecheng-6852	407	20	,	,	PUNCT
fumecheng-6852	407	21	p.	p.	NOUN
fumecheng-6852	407	22	,	,	PUNCT
fumecheng-6852	407	23	2015	2015	NUM
fumecheng-6852	407	24	,	,	PUNCT
fumecheng-6852	407	25	laparoscopic	laparoscopic	ADJ
fumecheng-6852	407	26	tissue	tissue	NOUN
fumecheng-6852	407	27	retractor	retractor	NOUN
fumecheng-6852	407	28	based	base	VERB
fumecheng-6852	407	29	on	on	ADP
fumecheng-6852	407	30	local	local	ADJ
fumecheng-6852	407	31	magnetic	magnetic	ADJ
fumecheng-6852	407	32	actuation	actuation	NOUN
fumecheng-6852	407	33	,	,	PUNCT
fumecheng-6852	407	34	journal	journal	NOUN
fumecheng-6852	407	35	of	of	ADP
fumecheng-6852	407	36	medical	medical	ADJ
fumecheng-6852	407	37	devices	device	NOUN
fumecheng-6852	407	38	,	,	PUNCT
fumecheng-6852	407	39	9(1	9(1	NUM
fumecheng-6852	407	40	)	)	PUNCT
fumecheng-6852	407	41	,	,	PUNCT
fumecheng-6852	407	42	011005	011005	NUM
fumecheng-6852	407	43	.	.	PUNCT
fumecheng-6852	408	1	37	37	NUM
fumecheng-6852	408	2	.	.	PUNCT
fumecheng-6852	409	1	sun	sun	PROPN
fumecheng-6852	409	2	,	,	PUNCT
fumecheng-6852	409	3	f.	f.	PROPN
fumecheng-6852	409	4	,	,	PUNCT
fumecheng-6852	409	5	zhang	zhang	PROPN
fumecheng-6852	409	6	,	,	PUNCT
fumecheng-6852	409	7	m.	m.	NOUN
fumecheng-6852	409	8	,	,	PUNCT
fumecheng-6852	409	9	jin	jin	PROPN
fumecheng-6852	409	10	,	,	PUNCT
fumecheng-6852	409	11	j.	j.	PROPN
fumecheng-6852	409	12	,	,	PUNCT
fumecheng-6852	409	13	duan	duan	PROPN
fumecheng-6852	409	14	,	,	PUNCT
fumecheng-6852	409	15	z.	z.	PROPN
fumecheng-6852	409	16	,	,	PUNCT
fumecheng-6852	409	17	jin	jin	PROPN
fumecheng-6852	409	18	,	,	PUNCT
fumecheng-6852	409	19	j.	j.	PROPN
fumecheng-6852	409	20	,	,	PUNCT
fumecheng-6852	409	21	zhang	zhang	PROPN
fumecheng-6852	409	22	,	,	PUNCT
fumecheng-6852	409	23	x.	x.	PROPN
fumecheng-6852	409	24	,	,	PUNCT
fumecheng-6852	409	25	2016	2016	NUM
fumecheng-6852	409	26	,	,	PUNCT
fumecheng-6852	409	27	mechanical	mechanical	ADJ
fumecheng-6852	409	28	analysis	analysis	NOUN
fumecheng-6852	409	29	of	of	ADP
fumecheng-6852	409	30	a	a	DET
fumecheng-6852	409	31	three	three	NUM
fumecheng-6852	409	32	-	-	PUNCT
fumecheng-6852	409	33	degree	degree	NOUN
fumecheng-6852	409	34	of	of	ADP
fumecheng-6852	409	35	freedom	freedom	NOUN
fumecheng-6852	409	36	same	same	ADJ
fumecheng-6852	409	37	-	-	PUNCT
fumecheng-6852	409	38	stiffness	stiffness	NOUN
fumecheng-6852	409	39	permanent	permanent	ADJ
fumecheng-6852	409	40	magnetic	magnetic	ADJ
fumecheng-6852	409	41	spring	spring	NOUN
fumecheng-6852	409	42	,	,	PUNCT
fumecheng-6852	409	43	international	international	ADJ
fumecheng-6852	409	44	journal	journal	NOUN
fumecheng-6852	409	45	of	of	ADP
fumecheng-6852	409	46	applied	apply	VERB
fumecheng-6852	409	47	electromagnetics	electromagnetic	NOUN
fumecheng-6852	409	48	and	and	CCONJ
fumecheng-6852	409	49	mechanics	mechanic	NOUN
fumecheng-6852	409	50	,	,	PUNCT
fumecheng-6852	409	51	52	52	NUM
fumecheng-6852	409	52	,	,	PUNCT
fumecheng-6852	409	53	pp	pp	ADJ
fumecheng-6852	409	54	.	.	PUNCT
fumecheng-6852	410	1	667	667	NUM
fumecheng-6852	410	2	-	-	SYM
fumecheng-6852	410	3	675	675	NUM
fumecheng-6852	410	4	.	.	PUNCT
fumecheng-6852	411	1	38	38	NUM
fumecheng-6852	411	2	.	.	PUNCT
fumecheng-6852	412	1	robertson	robertson	PROPN
fumecheng-6852	412	2	,	,	PUNCT
fumecheng-6852	412	3	w.	w.	PROPN
fumecheng-6852	412	4	,	,	PUNCT
fumecheng-6852	412	5	cazzolato	cazzolato	PROPN
fumecheng-6852	412	6	,	,	PUNCT
fumecheng-6852	412	7	b.	b.	PROPN
fumecheng-6852	412	8	,	,	PUNCT
fumecheng-6852	412	9	zander	zander	PROPN
fumecheng-6852	412	10	,	,	PUNCT
fumecheng-6852	412	11	a.	a.	NOUN
fumecheng-6852	412	12	,	,	PUNCT
fumecheng-6852	412	13	2005	2005	NUM
fumecheng-6852	412	14	,	,	PUNCT
fumecheng-6852	412	15	a	a	DET
fumecheng-6852	412	16	multiple	multiple	ADJ
fumecheng-6852	412	17	array	array	NOUN
fumecheng-6852	412	18	magnetic	magnetic	ADJ
fumecheng-6852	412	19	spring	spring	NOUN
fumecheng-6852	412	20	,	,	PUNCT
fumecheng-6852	412	21	ieee	ieee	NOUN
fumecheng-6852	412	22	transactions	transaction	NOUN
fumecheng-6852	412	23	on	on	ADP
fumecheng-6852	412	24	magnetics	magnetic	NOUN
fumecheng-6852	412	25	,	,	PUNCT
fumecheng-6852	412	26	41(10	41(10	PROPN
fumecheng-6852	412	27	)	)	PUNCT
fumecheng-6852	412	28	,	,	PUNCT
fumecheng-6852	412	29	pp	pp	ADP
fumecheng-6852	412	30	.	.	PUNCT
fumecheng-6852	413	1	3826	3826	NUM
fumecheng-6852	413	2	-	-	SYM
fumecheng-6852	413	3	3828	3828	NUM
fumecheng-6852	413	4	.	.	PUNCT
fumecheng-6852	414	1	39	39	NUM
fumecheng-6852	414	2	.	.	X
fumecheng-6852	415	1	zhang	zhang	PROPN
fumecheng-6852	415	2	,	,	PUNCT
fumecheng-6852	415	3	m.	m.	NOUN
fumecheng-6852	415	4	,	,	PUNCT
fumecheng-6852	415	5	fang	fang	PROPN
fumecheng-6852	415	6	,	,	PUNCT
fumecheng-6852	415	7	l.	l.	PROPN
fumecheng-6852	415	8	,	,	PUNCT
fumecheng-6852	415	9	sun	sun	PROPN
fumecheng-6852	415	10	,	,	PUNCT
fumecheng-6852	415	11	f.	f.	PROPN
fumecheng-6852	415	12	,	,	PUNCT
fumecheng-6852	415	13	sun	sun	PROPN
fumecheng-6852	415	14	,	,	PUNCT
fumecheng-6852	415	15	x.	x.	PROPN
fumecheng-6852	415	16	,	,	PUNCT
fumecheng-6852	415	17	gao	gao	PROPN
fumecheng-6852	415	18	,	,	PUNCT
fumecheng-6852	415	19	y.	y.	PROPN
fumecheng-6852	415	20	,	,	PUNCT
fumecheng-6852	415	21	oka	oka	PROPN
fumecheng-6852	415	22	,	,	PUNCT
fumecheng-6852	415	23	k.	k.	PROPN
fumecheng-6852	415	24	,	,	PUNCT
fumecheng-6852	415	25	2018	2018	NUM
fumecheng-6852	415	26	,	,	PUNCT
fumecheng-6852	415	27	realization	realization	NOUN
fumecheng-6852	415	28	of	of	ADP
fumecheng-6852	415	29	flexible	flexible	ADJ
fumecheng-6852	415	30	motion	motion	NOUN
fumecheng-6852	415	31	of	of	ADP
fumecheng-6852	415	32	robot	robot	NOUN
fumecheng-6852	415	33	joint	joint	ADJ
fumecheng-6852	415	34	with	with	ADP
fumecheng-6852	415	35	a	a	DET
fumecheng-6852	415	36	novel	novel	ADJ
fumecheng-6852	415	37	permanent	permanent	ADJ
fumecheng-6852	415	38	magnetic	magnetic	ADJ
fumecheng-6852	415	39	spring	spring	NOUN
fumecheng-6852	415	40	,	,	PUNCT
fumecheng-6852	415	41	proc	proc	NOUN
fumecheng-6852	415	42	.	.	PUNCT
fumecheng-6852	416	1	2018	2018	NUM
fumecheng-6852	416	2	ieee	ieee	PROPN
fumecheng-6852	416	3	international	international	ADJ
fumecheng-6852	416	4	conference	conference	NOUN
fumecheng-6852	416	5	on	on	ADP
fumecheng-6852	416	6	intelligence	intelligence	NOUN
fumecheng-6852	416	7	and	and	CCONJ
fumecheng-6852	416	8	safety	safety	NOUN
fumecheng-6852	416	9	for	for	ADP
fumecheng-6852	416	10	robotics	robotic	NOUN
fumecheng-6852	416	11	,	,	PUNCT
fumecheng-6852	416	12	shenyang	shenyang	PROPN
fumecheng-6852	416	13	,	,	PUNCT
fumecheng-6852	416	14	china	china	PROPN
fumecheng-6852	416	15	,	,	PUNCT
fumecheng-6852	416	16	pp	pp	PROPN
fumecheng-6852	416	17	.	.	PUNCT
fumecheng-6852	417	1	331	331	NUM
fumecheng-6852	417	2	-	-	SYM
fumecheng-6852	417	3	336	336	NUM
fumecheng-6852	417	4	.	.	PUNCT
fumecheng-6852	418	1	40	40	NUM
fumecheng-6852	418	2	.	.	PUNCT
fumecheng-6852	419	1	xu	xu	INTJ
fumecheng-6852	419	2	,	,	PUNCT
fumecheng-6852	419	3	x.	x.	PROPN
fumecheng-6852	419	4	,	,	PUNCT
fumecheng-6852	419	5	zeng	zeng	PROPN
fumecheng-6852	419	6	,	,	PUNCT
fumecheng-6852	419	7	c.	c.	PROPN
fumecheng-6852	419	8	,	,	PUNCT
fumecheng-6852	419	9	2013	2013	NUM
fumecheng-6852	419	10	,	,	PUNCT
fumecheng-6852	419	11	magnetic	magnetic	ADJ
fumecheng-6852	419	12	spring	spring	NOUN
fumecheng-6852	419	13	and	and	CCONJ
fumecheng-6852	419	14	experimental	experimental	ADJ
fumecheng-6852	419	15	research	research	NOUN
fumecheng-6852	419	16	on	on	ADP
fumecheng-6852	419	17	its	its	PRON
fumecheng-6852	419	18	stiffness	stiffness	ADJ
fumecheng-6852	419	19	properties	property	NOUN
fumecheng-6852	419	20	,	,	PUNCT
fumecheng-6852	419	21	advanced	advanced	ADJ
fumecheng-6852	419	22	materials	material	NOUN
fumecheng-6852	419	23	research	research	NOUN
fumecheng-6852	419	24	,	,	PUNCT
fumecheng-6852	419	25	706	706	NUM
fumecheng-6852	419	26	-	-	SYM
fumecheng-6852	419	27	708	708	NUM
fumecheng-6852	419	28	,	,	PUNCT
fumecheng-6852	419	29	pp	pp	ADJ
fumecheng-6852	419	30	.	.	PUNCT
fumecheng-6852	420	1	1418	1418	NUM
fumecheng-6852	420	2	-	-	SYM
fumecheng-6852	420	3	1422	1422	NUM
fumecheng-6852	420	4	.	.	PUNCT
fumecheng-6852	421	1	41	41	NUM
fumecheng-6852	421	2	.	.	PUNCT
fumecheng-6852	422	1	sudano	sudano	PROPN
fumecheng-6852	422	2	,	,	PUNCT
fumecheng-6852	422	3	a.	a.	PROPN
fumecheng-6852	422	4	,	,	PUNCT
fumecheng-6852	422	5	tagliamonte	tagliamonte	PROPN
fumecheng-6852	422	6	,	,	PUNCT
fumecheng-6852	422	7	n.l	n.l	PROPN
fumecheng-6852	422	8	.	.	PROPN
fumecheng-6852	422	9	,	,	PUNCT
fumecheng-6852	422	10	accoto	accoto	NOUN
fumecheng-6852	422	11	,	,	PUNCT
fumecheng-6852	422	12	d.	d.	PROPN
fumecheng-6852	422	13	,	,	PUNCT
fumecheng-6852	422	14	guglielmelli	guglielmelli	PROPN
fumecheng-6852	422	15	,	,	PUNCT
fumecheng-6852	422	16	e.	e.	PROPN
fumecheng-6852	422	17	,	,	PUNCT
fumecheng-6852	422	18	2014	2014	NUM
fumecheng-6852	422	19	,	,	PUNCT
fumecheng-6852	422	20	a	a	DET
fumecheng-6852	422	21	resonant	resonant	ADJ
fumecheng-6852	422	22	parallel	parallel	ADJ
fumecheng-6852	422	23	elastic	elastic	ADJ
fumecheng-6852	422	24	actuator	actuator	NOUN
fumecheng-6852	422	25	for	for	ADP
fumecheng-6852	422	26	biorobotic	biorobotic	ADJ
fumecheng-6852	422	27	applications	application	NOUN
fumecheng-6852	422	28	,	,	PUNCT
fumecheng-6852	422	29	proc	proc	NOUN
fumecheng-6852	422	30	.	.	PROPN
fumecheng-6852	423	1	2014	2014	NUM
fumecheng-6852	423	2	ieee	ieee	NOUN
fumecheng-6852	423	3	/	/	SYM
fumecheng-6852	423	4	rsj	rsj	NOUN
fumecheng-6852	423	5	international	international	ADJ
fumecheng-6852	423	6	conference	conference	NOUN
fumecheng-6852	423	7	on	on	ADP
fumecheng-6852	423	8	intelligent	intelligent	ADJ
fumecheng-6852	423	9	robots	robot	NOUN
fumecheng-6852	423	10	and	and	CCONJ
fumecheng-6852	423	11	systems	system	NOUN
fumecheng-6852	423	12	,	,	PUNCT
fumecheng-6852	423	13	chicago	chicago	PROPN
fumecheng-6852	423	14	,	,	PUNCT
fumecheng-6852	423	15	il	il	PROPN
fumecheng-6852	423	16	,	,	PUNCT
fumecheng-6852	423	17	usa	usa	PROPN
fumecheng-6852	423	18	,	,	PUNCT
fumecheng-6852	423	19	pp	pp	PROPN
fumecheng-6852	423	20	.	.	PUNCT
fumecheng-6852	424	1	2815	2815	NUM
fumecheng-6852	424	2	-	-	SYM
fumecheng-6852	424	3	2820	2820	NUM
fumecheng-6852	424	4	.	.	PUNCT
fumecheng-6852	425	1	42	42	NUM
fumecheng-6852	425	2	.	.	PUNCT
fumecheng-6852	426	1	choi	choi	PROPN
fumecheng-6852	426	2	j.	j.	PROPN
fumecheng-6852	426	3	,	,	PUNCT
fumecheng-6852	426	4	park	park	PROPN
fumecheng-6852	426	5	,	,	PUNCT
fumecheng-6852	426	6	s.	s.	PROPN
fumecheng-6852	426	7	,	,	PUNCT
fumecheng-6852	426	8	lee	lee	PROPN
fumecheng-6852	426	9	w.	w.	PROPN
fumecheng-6852	426	10	,	,	PUNCT
fumecheng-6852	426	11	kang	kang	PROPN
fumecheng-6852	426	12	s.-ch	s.-ch	PROPN
fumecheng-6852	426	13	.	.	PUNCT
fumecheng-6852	426	14	,	,	PUNCT
fumecheng-6852	426	15	2008	2008	NUM
fumecheng-6852	426	16	,	,	PUNCT
fumecheng-6852	426	17	design	design	NOUN
fumecheng-6852	426	18	of	of	ADP
fumecheng-6852	426	19	a	a	DET
fumecheng-6852	426	20	robot	robot	NOUN
fumecheng-6852	426	21	joint	joint	ADJ
fumecheng-6852	426	22	with	with	ADP
fumecheng-6852	426	23	variable	variable	ADJ
fumecheng-6852	426	24	stiffness	stiffness	NOUN
fumecheng-6852	426	25	,	,	PUNCT
fumecheng-6852	426	26	proc	proc	NOUN
fumecheng-6852	426	27	.	.	PROPN
fumecheng-6852	426	28	2008	2008	NUM
fumecheng-6852	426	29	ieee	ieee	PROPN
fumecheng-6852	426	30	international	international	ADJ
fumecheng-6852	426	31	conference	conference	NOUN
fumecheng-6852	426	32	on	on	ADP
fumecheng-6852	426	33	robotics	robotic	NOUN
fumecheng-6852	426	34	and	and	CCONJ
fumecheng-6852	426	35	automation	automation	NOUN
fumecheng-6852	426	36	,	,	PUNCT
fumecheng-6852	426	37	pasadena	pasadena	PROPN
fumecheng-6852	426	38	,	,	PUNCT
fumecheng-6852	426	39	ca	ca	PROPN
fumecheng-6852	426	40	,	,	PUNCT
fumecheng-6852	426	41	usa	usa	PROPN
fumecheng-6852	426	42	,	,	PUNCT
fumecheng-6852	426	43	pp	pp	PROPN
fumecheng-6852	426	44	.	.	PUNCT
fumecheng-6852	427	1	1760	1760	NUM
fumecheng-6852	427	2	-	-	SYM
fumecheng-6852	427	3	1765	1765	NUM
fumecheng-6852	427	4	.	.	PUNCT
fumecheng-6852	428	1	43	43	NUM
fumecheng-6852	428	2	.	.	PUNCT
fumecheng-6852	428	3	yoo	yoo	PROPN
fumecheng-6852	428	4	,	,	PUNCT
fumecheng-6852	428	5	j.	j.	PROPN
fumecheng-6852	428	6	,	,	PUNCT
fumecheng-6852	428	7	hyun	hyun	PROPN
fumecheng-6852	428	8	,	,	PUNCT
fumecheng-6852	428	9	m.w	m.w	PROPN
fumecheng-6852	428	10	.	.	PROPN
fumecheng-6852	428	11	,	,	PUNCT
fumecheng-6852	428	12	choi	choi	PROPN
fumecheng-6852	428	13	,	,	PUNCT
fumecheng-6852	428	14	j.h	j.h	PROPN
fumecheng-6852	428	15	.	.	PROPN
fumecheng-6852	428	16	,	,	PUNCT
fumecheng-6852	428	17	kang	kang	PROPN
fumecheng-6852	428	18	,	,	PUNCT
fumecheng-6852	428	19	s.	s.	PROPN
fumecheng-6852	428	20	,	,	PUNCT
fumecheng-6852	428	21	kim	kim	PROPN
fumecheng-6852	428	22	,	,	PUNCT
fumecheng-6852	428	23	s.-j	s.-j	PROPN
fumecheng-6852	428	24	.	.	PROPN
fumecheng-6852	428	25	,	,	PUNCT
fumecheng-6852	428	26	2009	2009	NUM
fumecheng-6852	428	27	,	,	PUNCT
fumecheng-6852	428	28	optimal	optimal	ADJ
fumecheng-6852	428	29	design	design	NOUN
fumecheng-6852	428	30	of	of	ADP
fumecheng-6852	428	31	a	a	DET
fumecheng-6852	428	32	variable	variable	ADJ
fumecheng-6852	428	33	stiffness	stiffness	NOUN
fumecheng-6852	428	34	joint	joint	NOUN
fumecheng-6852	428	35	in	in	ADP
fumecheng-6852	428	36	a	a	DET
fumecheng-6852	428	37	robot	robot	NOUN
fumecheng-6852	428	38	manipulator	manipulator	NOUN
fumecheng-6852	428	39	using	use	VERB
fumecheng-6852	428	40	the	the	DET
fumecheng-6852	428	41	response	response	NOUN
fumecheng-6852	428	42	surface	surface	NOUN
fumecheng-6852	428	43	method	method	NOUN
fumecheng-6852	428	44	,	,	PUNCT
fumecheng-6852	428	45	journal	journal	NOUN
fumecheng-6852	428	46	of	of	ADP
fumecheng-6852	428	47	mechanical	mechanical	ADJ
fumecheng-6852	428	48	science	science	NOUN
fumecheng-6852	428	49	and	and	CCONJ
fumecheng-6852	428	50	technology	technology	NOUN
fumecheng-6852	428	51	,	,	PUNCT
fumecheng-6852	428	52	23(8	23(8	NOUN
fumecheng-6852	428	53	)	)	PUNCT
fumecheng-6852	428	54	,	,	PUNCT
fumecheng-6852	428	55	pp	pp	ADJ
fumecheng-6852	428	56	.	.	PUNCT
fumecheng-6852	429	1	2236	2236	NUM
fumecheng-6852	429	2	-	-	SYM
fumecheng-6852	429	3	2243	2243	NUM
fumecheng-6852	429	4	.	.	PUNCT
fumecheng-6852	430	1	44	44	NUM
fumecheng-6852	430	2	.	.	PUNCT
fumecheng-6852	431	1	sudano	sudano	PROPN
fumecheng-6852	431	2	,	,	PUNCT
fumecheng-6852	431	3	a.	a.	NOUN
fumecheng-6852	431	4	,	,	PUNCT
fumecheng-6852	431	5	accoto	accoto	NOUN
fumecheng-6852	431	6	,	,	PUNCT
fumecheng-6852	431	7	d.	d.	PROPN
fumecheng-6852	431	8	,	,	PUNCT
fumecheng-6852	431	9	zollo	zollo	PROPN
fumecheng-6852	431	10	,	,	PUNCT
fumecheng-6852	431	11	l.	l.	PROPN
fumecheng-6852	431	12	,	,	PUNCT
fumecheng-6852	431	13	guglielmelli	guglielmelli	PROPN
fumecheng-6852	431	14	,	,	PUNCT
fumecheng-6852	431	15	e.	e.	PROPN
fumecheng-6852	431	16	,	,	PUNCT
fumecheng-6852	431	17	2013	2013	NUM
fumecheng-6852	431	18	,	,	PUNCT
fumecheng-6852	431	19	design	design	NOUN
fumecheng-6852	431	20	,	,	PUNCT
fumecheng-6852	431	21	development	development	NOUN
fumecheng-6852	431	22	and	and	CCONJ
fumecheng-6852	431	23	scaling	scale	VERB
fumecheng-6852	431	24	analysis	analysis	NOUN
fumecheng-6852	431	25	of	of	ADP
fumecheng-6852	431	26	a	a	DET
fumecheng-6852	431	27	variable	variable	ADJ
fumecheng-6852	431	28	stiffness	stiffness	NOUN
fumecheng-6852	431	29	magnetic	magnetic	ADJ
fumecheng-6852	431	30	torsion	torsion	NOUN
fumecheng-6852	431	31	spring	spring	NOUN
fumecheng-6852	431	32	,	,	PUNCT
fumecheng-6852	431	33	international	international	ADJ
fumecheng-6852	431	34	journal	journal	NOUN
fumecheng-6852	431	35	of	of	ADP
fumecheng-6852	431	36	advanced	advanced	ADJ
fumecheng-6852	431	37	robotic	robotic	ADJ
fumecheng-6852	431	38	systems	system	NOUN
fumecheng-6852	431	39	,	,	PUNCT
fumecheng-6852	431	40	10(10	10(10	NUM
fumecheng-6852	431	41	)	)	PUNCT
fumecheng-6852	431	42	,	,	PUNCT
fumecheng-6852	431	43	372	372	NUM
fumecheng-6852	431	44	.	.	NOUN
fumecheng-6852	431	45	45	45	NUM
fumecheng-6852	431	46	.	.	PUNCT
fumecheng-6852	432	1	spong	spong	PROPN
fumecheng-6852	432	2	,	,	PUNCT
fumecheng-6852	432	3	m.w	m.w	PROPN
fumecheng-6852	432	4	.	.	PROPN
fumecheng-6852	432	5	,	,	PUNCT
fumecheng-6852	432	6	1987	1987	NUM
fumecheng-6852	432	7	,	,	PUNCT
fumecheng-6852	432	8	modeling	modeling	NOUN
fumecheng-6852	432	9	and	and	CCONJ
fumecheng-6852	432	10	control	control	NOUN
fumecheng-6852	432	11	of	of	ADP
fumecheng-6852	432	12	elastic	elastic	ADJ
fumecheng-6852	432	13	joint	joint	ADJ
fumecheng-6852	432	14	robots	robot	NOUN
fumecheng-6852	432	15	,	,	PUNCT
fumecheng-6852	432	16	journal	journal	NOUN
fumecheng-6852	432	17	of	of	ADP
fumecheng-6852	432	18	dynamic	dynamic	ADJ
fumecheng-6852	432	19	systems	system	NOUN
fumecheng-6852	432	20	,	,	PUNCT
fumecheng-6852	432	21	measurement	measurement	NOUN
fumecheng-6852	432	22	,	,	PUNCT
fumecheng-6852	432	23	and	and	CCONJ
fumecheng-6852	432	24	control	control	NOUN
fumecheng-6852	432	25	,	,	PUNCT
fumecheng-6852	432	26	109(4	109(4	NUM
fumecheng-6852	432	27	)	)	PUNCT
fumecheng-6852	432	28	,	,	PUNCT
fumecheng-6852	432	29	pp	pp	PROPN
fumecheng-6852	432	30	.	.	PUNCT
fumecheng-6852	433	1	310	310	NUM
fumecheng-6852	433	2	-	-	SYM
fumecheng-6852	433	3	318	318	NUM
fumecheng-6852	433	4	.	.	PUNCT
fumecheng-6852	434	1	46	46	NUM
fumecheng-6852	434	2	.	.	PUNCT
fumecheng-6852	435	1	flacco	flacco	PROPN
fumecheng-6852	435	2	,	,	PUNCT
fumecheng-6852	435	3	f.	f.	PROPN
fumecheng-6852	435	4	,	,	PUNCT
fumecheng-6852	435	5	2012	2012	NUM
fumecheng-6852	435	6	,	,	PUNCT
fumecheng-6852	435	7	modeling	modeling	NOUN
fumecheng-6852	435	8	and	and	CCONJ
fumecheng-6852	435	9	control	control	NOUN
fumecheng-6852	435	10	of	of	ADP
fumecheng-6852	435	11	robots	robot	NOUN
fumecheng-6852	435	12	with	with	ADP
fumecheng-6852	435	13	compliant	compliant	ADJ
fumecheng-6852	435	14	actuation	actuation	NOUN
fumecheng-6852	435	15	,	,	PUNCT
fumecheng-6852	435	16	phd	phd	NOUN
fumecheng-6852	435	17	thesis	thesis	NOUN
fumecheng-6852	435	18	,	,	PUNCT
fumecheng-6852	435	19	sapienza	sapienza	PROPN
fumecheng-6852	435	20	università	università	PROPN
fumecheng-6852	435	21	di	di	PROPN
fumecheng-6852	435	22	roma	roma	PROPN
fumecheng-6852	435	23	,	,	PUNCT
fumecheng-6852	435	24	italy	italy	PROPN
fumecheng-6852	435	25	.	.	PUNCT
fumecheng-6852	436	1	47	47	NUM
fumecheng-6852	436	2	.	.	PUNCT
fumecheng-6852	437	1	albu	albu	PROPN
fumecheng-6852	437	2	-	-	PUNCT
fumecheng-6852	437	3	schäffer	schäffer	PROPN
fumecheng-6852	437	4	,	,	PUNCT
fumecheng-6852	437	5	a.	a.	PROPN
fumecheng-6852	437	6	,	,	PUNCT
fumecheng-6852	437	7	ott	ott	PROPN
fumecheng-6852	437	8	,	,	PUNCT
fumecheng-6852	437	9	c.	c.	PROPN
fumecheng-6852	437	10	,	,	PUNCT
fumecheng-6852	437	11	hirzinger	hirzinger	NOUN
fumecheng-6852	437	12	,	,	PUNCT
fumecheng-6852	437	13	g.	g.	PROPN
fumecheng-6852	437	14	,	,	PUNCT
fumecheng-6852	437	15	2007	2007	NUM
fumecheng-6852	437	16	,	,	PUNCT
fumecheng-6852	437	17	a	a	DET
fumecheng-6852	437	18	unified	unified	ADJ
fumecheng-6852	437	19	passivity	passivity	NOUN
fumecheng-6852	437	20	-	-	PUNCT
fumecheng-6852	437	21	based	base	VERB
fumecheng-6852	437	22	control	control	NOUN
fumecheng-6852	437	23	framework	framework	NOUN
fumecheng-6852	437	24	for	for	ADP
fumecheng-6852	437	25	position	position	NOUN
fumecheng-6852	437	26	,	,	PUNCT
fumecheng-6852	437	27	torque	torque	NOUN
fumecheng-6852	437	28	and	and	CCONJ
fumecheng-6852	437	29	impedance	impedance	NOUN
fumecheng-6852	437	30	control	control	NOUN
fumecheng-6852	437	31	of	of	ADP
fumecheng-6852	437	32	flexible	flexible	ADJ
fumecheng-6852	437	33	joint	joint	ADJ
fumecheng-6852	437	34	robots	robot	NOUN
fumecheng-6852	437	35	,	,	PUNCT
fumecheng-6852	437	36	the	the	DET
fumecheng-6852	437	37	international	international	ADJ
fumecheng-6852	437	38	journal	journal	NOUN
fumecheng-6852	437	39	of	of	ADP
fumecheng-6852	437	40	robotics	robotic	NOUN
fumecheng-6852	437	41	research	research	NOUN
fumecheng-6852	437	42	,	,	PUNCT
fumecheng-6852	437	43	26(1	26(1	NUM
fumecheng-6852	437	44	)	)	PUNCT
fumecheng-6852	437	45	,	,	PUNCT
fumecheng-6852	437	46	pp	pp	PROPN
fumecheng-6852	437	47	.	.	PUNCT
fumecheng-6852	438	1	23	23	NUM
fumecheng-6852	438	2	-	-	SYM
fumecheng-6852	438	3	39	39	NUM
fumecheng-6852	438	4	.	.	PUNCT
fumecheng-6852	439	1	48	48	NUM
fumecheng-6852	439	2	.	.	PUNCT
fumecheng-6852	440	1	benhama	benhama	NOUN
fumecheng-6852	440	2	,	,	PUNCT
fumecheng-6852	440	3	a.	a.	PROPN
fumecheng-6852	440	4	,	,	PUNCT
fumecheng-6852	440	5	williamson	williamson	PROPN
fumecheng-6852	440	6	,	,	PUNCT
fumecheng-6852	440	7	a.c	a.c	PROPN
fumecheng-6852	440	8	.	.	PROPN
fumecheng-6852	440	9	,	,	PUNCT
fumecheng-6852	440	10	reece	reece	PROPN
fumecheng-6852	440	11	,	,	PUNCT
fumecheng-6852	440	12	a.b.j	a.b.j	NOUN
fumecheng-6852	440	13	.	.	PROPN
fumecheng-6852	440	14	,	,	PUNCT
fumecheng-6852	440	15	2000	2000	NUM
fumecheng-6852	440	16	,	,	PUNCT
fumecheng-6852	440	17	virtual	virtual	ADJ
fumecheng-6852	440	18	work	work	NOUN
fumecheng-6852	440	19	approach	approach	NOUN
fumecheng-6852	440	20	to	to	ADP
fumecheng-6852	440	21	the	the	DET
fumecheng-6852	440	22	computation	computation	NOUN
fumecheng-6852	440	23	of	of	ADP
fumecheng-6852	440	24	magnetic	magnetic	ADJ
fumecheng-6852	440	25	force	force	NOUN
fumecheng-6852	440	26	distribution	distribution	NOUN
fumecheng-6852	440	27	from	from	ADP
fumecheng-6852	440	28	finite	finite	ADJ
fumecheng-6852	440	29	element	element	NOUN
fumecheng-6852	440	30	field	field	NOUN
fumecheng-6852	440	31	solutions	solution	NOUN
fumecheng-6852	440	32	,	,	PUNCT
fumecheng-6852	440	33	iee	iee	PROPN
fumecheng-6852	440	34	proceedings	proceeding	NOUN
fumecheng-6852	440	35	–	–	PUNCT
fumecheng-6852	440	36	electric	electric	ADJ
fumecheng-6852	440	37	power	power	NOUN
fumecheng-6852	440	38	applications	application	NOUN
fumecheng-6852	440	39	,	,	PUNCT
fumecheng-6852	440	40	147(6	147(6	NUM
fumecheng-6852	440	41	)	)	PUNCT
fumecheng-6852	440	42	,	,	PUNCT
fumecheng-6852	440	43	pp	pp	PROPN
fumecheng-6852	440	44	.	.	PUNCT
fumecheng-6852	441	1	437	437	NUM
fumecheng-6852	441	2	-	-	SYM
fumecheng-6852	441	3	442	442	NUM
fumecheng-6852	441	4	.	.	PUNCT