id	sid	tid	token	lemma	pos
fis-161	1	1	microsoft	microsoft	PROPN
fis-161	1	2	word	word	PROPN
fis-161	1	3	numero	numero	PROPN
fis-161	1	4	23	23	NUM
fis-161	1	5	articolo	articolo	PROPN
fis-161	1	6	5	5	NUM
fis-161	1	7	r.	r.	PROPN
fis-161	1	8	vertechy	vertechy	PROPN
fis-161	1	9	et	et	PROPN
fis-161	1	10	alii	alii	PROPN
fis-161	1	11	,	,	PUNCT
fis-161	1	12	frattura	frattura	PROPN
fis-161	1	13	ed	ed	PROPN
fis-161	1	14	integrità	integrità	PROPN
fis-161	1	15	strutturale	strutturale	PROPN
fis-161	1	16	,	,	PUNCT
fis-161	1	17	23	23	NUM
fis-161	1	18	(	(	PUNCT
fis-161	1	19	2013	2013	NUM
fis-161	1	20	)	)	PUNCT
fis-161	1	21	47	47	NUM
fis-161	1	22	-	-	SYM
fis-161	1	23	56	56	NUM
fis-161	1	24	;	;	PUNCT
fis-161	1	25	doi	doi	NOUN
fis-161	1	26	:	:	PUNCT
fis-161	1	27	10.3221	10.3221	NUM
fis-161	1	28	/	/	SYM
fis-161	1	29	igf	igf	PROPN
fis-161	1	30	-	-	NOUN
fis-161	1	31	esis.23.05	esis.23.05	PROPN
fis-161	1	32	47	47	NUM
fis-161	1	33	scilla	scilla	NOUN
fis-161	1	34	2012	2012	NUM
fis-161	1	35	the	the	DET
fis-161	1	36	italian	italian	ADJ
fis-161	1	37	research	research	NOUN
fis-161	1	38	on	on	ADP
fis-161	1	39	smart	smart	ADJ
fis-161	1	40	materials	material	NOUN
fis-161	1	41	and	and	CCONJ
fis-161	1	42	mems	mem	NOUN
fis-161	1	43	compliant	compliant	ADJ
fis-161	1	44	actuation	actuation	NOUN
fis-161	1	45	based	base	VERB
fis-161	1	46	on	on	ADP
fis-161	1	47	dielectric	dielectric	ADJ
fis-161	1	48	elastomers	elastomer	NOUN
fis-161	1	49	for	for	ADP
fis-161	1	50	a	a	DET
fis-161	1	51	force	force	NOUN
fis-161	1	52	-	-	PUNCT
fis-161	1	53	feedback	feedback	NOUN
fis-161	1	54	device	device	NOUN
fis-161	1	55	:	:	PUNCT
fis-161	1	56	modeling	modeling	NOUN
fis-161	1	57	and	and	CCONJ
fis-161	1	58	experimental	experimental	ADJ
fis-161	1	59	evaluation	evaluation	NOUN
fis-161	1	60	r.	r.	PROPN
fis-161	1	61	vertechy	vertechy	NOUN
fis-161	1	62	,	,	PUNCT
fis-161	1	63	m.	m.	PROPN
fis-161	1	64	bergamasco	bergamasco	PROPN
fis-161	1	65	percro	percro	PROPN
fis-161	1	66	laboratory	laboratory	PROPN
fis-161	1	67	,	,	PUNCT
fis-161	1	68	scuola	scuola	PROPN
fis-161	1	69	superiore	superiore	NOUN
fis-161	1	70	sant’anna	sant’anna	NOUN
fis-161	1	71	,	,	PUNCT
fis-161	1	72	pisa	pisa	PROPN
fis-161	1	73	,	,	PUNCT
fis-161	1	74	italy	italy	PROPN
fis-161	1	75	r.vertechy@sssup.it	r.vertechy@sssup.it	PROPN
fis-161	1	76	,	,	PUNCT
fis-161	1	77	m.bergamasco@sssup.it	m.bergamasco@sssup.it	PUNCT
fis-161	1	78	g.	g.	PROPN
fis-161	1	79	berselli	berselli	PROPN
fis-161	1	80	department	department	PROPN
fis-161	1	81	of	of	ADP
fis-161	1	82	engineering	engineering	NOUN
fis-161	1	83	“	"	PUNCT
fis-161	1	84	enzo	enzo	NOUN
fis-161	1	85	ferrari”university	ferrari”university	PROPN
fis-161	1	86	of	of	ADP
fis-161	1	87	modena	modena	PROPN
fis-161	1	88	and	and	CCONJ
fis-161	1	89	reggio	reggio	PROPN
fis-161	1	90	emilia	emilia	PROPN
fis-161	1	91	,	,	PUNCT
fis-161	1	92	modena	modena	PROPN
fis-161	1	93	,	,	PUNCT
fis-161	1	94	italy	italy	PROPN
fis-161	1	95	italygiovanni.berselli@unimore.it	italygiovanni.berselli@unimore.it	VERB
fis-161	1	96	v.	v.	ADP
fis-161	1	97	parenti	parenti	PROPN
fis-161	1	98	castelli	castelli	PROPN
fis-161	1	99	,	,	PUNCT
fis-161	1	100	g.	g.	PROPN
fis-161	1	101	vassura	vassura	PROPN
fis-161	1	102	department	department	PROPN
fis-161	1	103	of	of	ADP
fis-161	1	104	mechanical	mechanical	ADJ
fis-161	1	105	and	and	CCONJ
fis-161	1	106	aeronautical	aeronautical	PROPN
fis-161	1	107	engineering	engineering	NOUN
fis-161	1	108	,	,	PUNCT
fis-161	1	109	university	university	NOUN
fis-161	1	110	of	of	ADP
fis-161	1	111	bologna	bologna	NOUN
fis-161	1	112	,	,	PUNCT
fis-161	1	113	bologna	bologna	PROPN
fis-161	1	114	,	,	PUNCT
fis-161	1	115	italy	italy	PROPN
fis-161	1	116	vincenzo.parenti@unibo.it	vincenzo.parenti@unibo.it	PROPN
fis-161	1	117	,	,	PUNCT
fis-161	1	118	gabriele.vassura@unibo.it	gabriele.vassura@unibo.it	PROPN
fis-161	1	119	abstract	abstract	NOUN
fis-161	1	120	.	.	PUNCT
fis-161	2	1	thanks	thank	NOUN
fis-161	2	2	to	to	ADP
fis-161	2	3	their	their	PRON
fis-161	2	4	large	large	ADJ
fis-161	2	5	power	power	NOUN
fis-161	2	6	densities	density	NOUN
fis-161	2	7	,	,	PUNCT
fis-161	2	8	low	low	ADJ
fis-161	2	9	costs	cost	NOUN
fis-161	2	10	and	and	CCONJ
fis-161	2	11	shock	shock	NOUN
fis-161	2	12	-	-	PUNCT
fis-161	2	13	insensitivity	insensitivity	NOUN
fis-161	2	14	,	,	PUNCT
fis-161	2	15	dielectric	dielectric	ADJ
fis-161	2	16	elastomers	elastomer	NOUN
fis-161	2	17	(	(	PUNCT
fis-161	2	18	de	de	ADJ
fis-161	2	19	)	)	PUNCT
fis-161	2	20	seem	seem	VERB
fis-161	2	21	to	to	PART
fis-161	2	22	be	be	AUX
fis-161	2	23	a	a	DET
fis-161	2	24	promising	promising	ADJ
fis-161	2	25	technology	technology	NOUN
fis-161	2	26	for	for	ADP
fis-161	2	27	the	the	DET
fis-161	2	28	implementation	implementation	NOUN
fis-161	2	29	of	of	ADP
fis-161	2	30	light	light	ADJ
fis-161	2	31	and	and	CCONJ
fis-161	2	32	compact	compact	ADJ
fis-161	2	33	force	force	NOUN
fis-161	2	34	-	-	PUNCT
fis-161	2	35	feedback	feedback	NOUN
fis-161	2	36	devices	device	NOUN
fis-161	2	37	such	such	ADJ
fis-161	2	38	as	as	ADP
fis-161	2	39	,	,	PUNCT
fis-161	2	40	for	for	ADP
fis-161	2	41	instance	instance	NOUN
fis-161	2	42	,	,	PUNCT
fis-161	2	43	haptic	haptic	ADJ
fis-161	2	44	interfaces	interface	NOUN
fis-161	2	45	.	.	PUNCT
fis-161	3	1	nonetheless	nonetheless	ADV
fis-161	3	2	,	,	PUNCT
fis-161	3	3	the	the	DET
fis-161	3	4	development	development	NOUN
fis-161	3	5	of	of	ADP
fis-161	3	6	these	these	DET
fis-161	3	7	kinds	kind	NOUN
fis-161	3	8	of	of	ADP
fis-161	3	9	de	de	NOUN
fis-161	3	10	-	-	PUNCT
fis-161	3	11	based	base	VERB
fis-161	3	12	systems	system	NOUN
fis-161	3	13	is	be	AUX
fis-161	3	14	not	not	PART
fis-161	3	15	trivial	trivial	ADJ
fis-161	3	16	owing	owe	VERB
fis-161	3	17	to	to	ADP
fis-161	3	18	the	the	DET
fis-161	3	19	relevant	relevant	ADJ
fis-161	3	20	dissipative	dissipative	NOUN
fis-161	3	21	phenomena	phenomenon	NOUN
fis-161	3	22	that	that	PRON
fis-161	3	23	affect	affect	VERB
fis-161	3	24	the	the	DET
fis-161	3	25	de	de	NOUN
fis-161	3	26	when	when	SCONJ
fis-161	3	27	subjected	subject	VERB
fis-161	3	28	to	to	ADP
fis-161	3	29	rapidly	rapidly	ADV
fis-161	3	30	changing	change	VERB
fis-161	3	31	deformations	deformation	NOUN
fis-161	3	32	.	.	PUNCT
fis-161	4	1	in	in	ADP
fis-161	4	2	this	this	DET
fis-161	4	3	context	context	NOUN
fis-161	4	4	,	,	PUNCT
fis-161	4	5	the	the	DET
fis-161	4	6	present	present	ADJ
fis-161	4	7	paper	paper	NOUN
fis-161	4	8	addresses	address	VERB
fis-161	4	9	the	the	DET
fis-161	4	10	development	development	NOUN
fis-161	4	11	of	of	ADP
fis-161	4	12	a	a	DET
fis-161	4	13	force	force	NOUN
fis-161	4	14	feedback	feedback	NOUN
fis-161	4	15	controller	controller	NOUN
fis-161	4	16	for	for	ADP
fis-161	4	17	an	an	DET
fis-161	4	18	agonist	agonist	NOUN
fis-161	4	19	-	-	PUNCT
fis-161	4	20	antagonist	antagonist	NOUN
fis-161	4	21	linear	linear	ADJ
fis-161	4	22	actuator	actuator	NOUN
fis-161	4	23	composed	compose	VERB
fis-161	4	24	of	of	ADP
fis-161	4	25	a	a	DET
fis-161	4	26	couple	couple	NOUN
fis-161	4	27	of	of	ADP
fis-161	4	28	conically	conically	ADV
fis-161	4	29	-	-	PUNCT
fis-161	4	30	shaped	shape	VERB
fis-161	4	31	de	de	ADJ
fis-161	4	32	films	film	NOUN
fis-161	4	33	and	and	CCONJ
fis-161	4	34	a	a	DET
fis-161	4	35	compliant	compliant	ADJ
fis-161	4	36	mechanism	mechanism	NOUN
fis-161	4	37	behaving	behave	VERB
fis-161	4	38	as	as	ADP
fis-161	4	39	a	a	DET
fis-161	4	40	negative	negative	ADJ
fis-161	4	41	-	-	PUNCT
fis-161	4	42	rate	rate	NOUN
fis-161	4	43	bias	bias	NOUN
fis-161	4	44	spring	spring	NOUN
fis-161	4	45	.	.	PUNCT
fis-161	5	1	the	the	DET
fis-161	5	2	actuator	actuator	NOUN
fis-161	5	3	is	be	AUX
fis-161	5	4	firstly	firstly	ADV
fis-161	5	5	modeled	model	VERB
fis-161	5	6	accounting	accounting	NOUN
fis-161	5	7	for	for	ADP
fis-161	5	8	the	the	DET
fis-161	5	9	viscohyperelastic	viscohyperelastic	ADJ
fis-161	5	10	nature	nature	NOUN
fis-161	5	11	of	of	ADP
fis-161	5	12	the	the	DET
fis-161	5	13	de	de	X
fis-161	5	14	material	material	NOUN
fis-161	5	15	.	.	PUNCT
fis-161	6	1	the	the	DET
fis-161	6	2	model	model	NOUN
fis-161	6	3	is	be	AUX
fis-161	6	4	then	then	ADV
fis-161	6	5	linearized	linearize	VERB
fis-161	6	6	and	and	CCONJ
fis-161	6	7	employed	employ	VERB
fis-161	6	8	for	for	ADP
fis-161	6	9	the	the	DET
fis-161	6	10	design	design	NOUN
fis-161	6	11	of	of	ADP
fis-161	6	12	a	a	DET
fis-161	6	13	force	force	NOUN
fis-161	6	14	controller	controller	NOUN
fis-161	6	15	.	.	PUNCT
fis-161	7	1	the	the	DET
fis-161	7	2	controller	controller	NOUN
fis-161	7	3	employs	employ	VERB
fis-161	7	4	a	a	DET
fis-161	7	5	position	position	NOUN
fis-161	7	6	sensor	sensor	NOUN
fis-161	7	7	,	,	PUNCT
fis-161	7	8	which	which	PRON
fis-161	7	9	determines	determine	VERB
fis-161	7	10	the	the	DET
fis-161	7	11	actuator	actuator	NOUN
fis-161	7	12	configuration	configuration	NOUN
fis-161	7	13	,	,	PUNCT
fis-161	7	14	and	and	CCONJ
fis-161	7	15	a	a	DET
fis-161	7	16	force	force	NOUN
fis-161	7	17	sensor	sensor	NOUN
fis-161	7	18	,	,	PUNCT
fis-161	7	19	which	which	PRON
fis-161	7	20	measures	measure	VERB
fis-161	7	21	the	the	DET
fis-161	7	22	interaction	interaction	NOUN
fis-161	7	23	force	force	NOUN
fis-161	7	24	that	that	SCONJ
fis-161	7	25	the	the	DET
fis-161	7	26	actuator	actuator	NOUN
fis-161	7	27	exchanges	exchange	NOUN
fis-161	7	28	with	with	ADP
fis-161	7	29	the	the	DET
fis-161	7	30	environment	environment	NOUN
fis-161	7	31	.	.	PUNCT
fis-161	8	1	in	in	ADP
fis-161	8	2	addition	addition	NOUN
fis-161	8	3	,	,	PUNCT
fis-161	8	4	an	an	DET
fis-161	8	5	optimum	optimum	ADJ
fis-161	8	6	full	full	ADJ
fis-161	8	7	-	-	PUNCT
fis-161	8	8	state	state	NOUN
fis-161	8	9	observer	observer	NOUN
fis-161	8	10	is	be	AUX
fis-161	8	11	also	also	ADV
fis-161	8	12	implemented	implement	VERB
fis-161	8	13	,	,	PUNCT
fis-161	8	14	which	which	PRON
fis-161	8	15	enables	enable	VERB
fis-161	8	16	both	both	DET
fis-161	8	17	accurate	accurate	ADJ
fis-161	8	18	estimation	estimation	NOUN
fis-161	8	19	of	of	ADP
fis-161	8	20	the	the	DET
fis-161	8	21	time	time	NOUN
fis-161	8	22	-	-	PUNCT
fis-161	8	23	dependent	dependent	ADJ
fis-161	8	24	behavior	behavior	NOUN
fis-161	8	25	of	of	ADP
fis-161	8	26	the	the	DET
fis-161	8	27	elastomeric	elastomeric	ADJ
fis-161	8	28	material	material	NOUN
fis-161	8	29	and	and	CCONJ
fis-161	8	30	adequate	adequate	ADJ
fis-161	8	31	suppression	suppression	NOUN
fis-161	8	32	of	of	ADP
fis-161	8	33	the	the	DET
fis-161	8	34	sensor	sensor	NOUN
fis-161	8	35	measurement	measurement	NOUN
fis-161	8	36	noise	noise	NOUN
fis-161	8	37	.	.	PUNCT
fis-161	9	1	preliminary	preliminary	ADJ
fis-161	9	2	experimental	experimental	ADJ
fis-161	9	3	results	result	NOUN
fis-161	9	4	are	be	AUX
fis-161	9	5	provided	provide	VERB
fis-161	9	6	to	to	PART
fis-161	9	7	validate	validate	VERB
fis-161	9	8	the	the	DET
fis-161	9	9	proposed	propose	VERB
fis-161	9	10	actuator	actuator	NOUN
fis-161	9	11	-	-	PUNCT
fis-161	9	12	controller	controller	NOUN
fis-161	9	13	architecture	architecture	NOUN
fis-161	9	14	.	.	PUNCT
fis-161	10	1	keywords	keyword	NOUN
fis-161	10	2	.	.	PUNCT
fis-161	11	1	dielectric	dielectric	ADJ
fis-161	11	2	elastomers	elastomer	NOUN
fis-161	11	3	;	;	PUNCT
fis-161	11	4	agonist	agonist	NOUN
fis-161	11	5	-	-	PUNCT
fis-161	11	6	antagonist	antagonist	NOUN
fis-161	11	7	actuation	actuation	NOUN
fis-161	11	8	;	;	PUNCT
fis-161	11	9	force	force	NOUN
fis-161	11	10	-	-	PUNCT
fis-161	11	11	feedback	feedback	NOUN
fis-161	11	12	control	control	NOUN
fis-161	11	13	;	;	PUNCT
fis-161	11	14	haptic	haptic	ADJ
fis-161	11	15	interfaces	interface	NOUN
fis-161	11	16	.	.	PUNCT
fis-161	12	1	introduction	introduction	NOUN
fis-161	12	2	ielectric	ielectric	ADJ
fis-161	12	3	elastomer	elastomer	NOUN
fis-161	12	4	(	(	PUNCT
fis-161	12	5	de	de	NOUN
fis-161	12	6	)	)	PUNCT
fis-161	12	7	films	film	NOUN
fis-161	12	8	are	be	AUX
fis-161	12	9	visco	visco	ADJ
fis-161	12	10	-	-	ADJ
fis-161	12	11	elastic	elastic	ADJ
fis-161	12	12	capacitors	capacitor	NOUN
fis-161	12	13	which	which	PRON
fis-161	12	14	experience	experience	VERB
fis-161	12	15	deviatoric	deviatoric	ADJ
fis-161	12	16	deformations	deformation	NOUN
fis-161	12	17	and/or	and/or	CCONJ
fis-161	12	18	generate	generate	VERB
fis-161	12	19	forces	force	NOUN
fis-161	12	20	when	when	SCONJ
fis-161	12	21	subjected	subject	VERB
fis-161	12	22	to	to	ADP
fis-161	12	23	high	high	ADJ
fis-161	12	24	electric	electric	ADJ
fis-161	12	25	potential	potential	NOUN
fis-161	12	26	(	(	PUNCT
fis-161	12	27	voltage	voltage	NOUN
fis-161	12	28	)	)	PUNCT
fis-161	12	29	differences	difference	NOUN
fis-161	12	30	[	[	X
fis-161	12	31	1,2	1,2	NUM
fis-161	12	32	]	]	PUNCT
fis-161	12	33	.	.	PUNCT
fis-161	13	1	thanks	thank	NOUN
fis-161	13	2	to	to	ADP
fis-161	13	3	the	the	DET
fis-161	13	4	large	large	ADJ
fis-161	13	5	force	force	NOUN
fis-161	13	6	and	and	CCONJ
fis-161	13	7	power	power	NOUN
fis-161	13	8	densities	density	NOUN
fis-161	13	9	,	,	PUNCT
fis-161	13	10	relevant	relevant	ADJ
fis-161	13	11	compliance	compliance	NOUN
fis-161	13	12	and	and	CCONJ
fis-161	13	13	damping	damp	VERB
fis-161	13	14	,	,	PUNCT
fis-161	13	15	and	and	CCONJ
fis-161	13	16	low	low	ADJ
fis-161	13	17	effective	effective	ADJ
fis-161	13	18	inertia	inertia	NOUN
fis-161	13	19	and	and	CCONJ
fis-161	13	20	cost	cost	NOUN
fis-161	13	21	,	,	PUNCT
fis-161	13	22	de	de	X
fis-161	13	23	actuators	actuator	NOUN
fis-161	13	24	are	be	AUX
fis-161	13	25	a	a	DET
fis-161	13	26	promising	promising	ADJ
fis-161	13	27	technology	technology	NOUN
fis-161	13	28	for	for	ADP
fis-161	13	29	the	the	DET
fis-161	13	30	development	development	NOUN
fis-161	13	31	of	of	ADP
fis-161	13	32	affordable	affordable	ADJ
fis-161	13	33	mechatronic	mechatronic	ADJ
fis-161	13	34	and	and	CCONJ
fis-161	13	35	robotic	robotic	ADJ
fis-161	13	36	systems	system	NOUN
fis-161	13	37	that	that	PRON
fis-161	13	38	have	have	VERB
fis-161	13	39	to	to	PART
fis-161	13	40	interact	interact	VERB
fis-161	13	41	effectively	effectively	ADV
fis-161	13	42	,	,	PUNCT
fis-161	13	43	efficiently	efficiently	ADV
fis-161	13	44	and	and	CCONJ
fis-161	13	45	safely	safely	ADV
fis-161	13	46	with	with	ADP
fis-161	13	47	unstructured	unstructured	ADJ
fis-161	13	48	environments	environment	NOUN
fis-161	13	49	and	and	CCONJ
fis-161	13	50	humans	human	NOUN
fis-161	13	51	[	[	X
fis-161	13	52	3	3	NUM
fis-161	13	53	]	]	PUNCT
fis-161	13	54	.	.	PUNCT
fis-161	14	1	in	in	ADP
fis-161	14	2	particular	particular	ADJ
fis-161	14	3	,	,	PUNCT
fis-161	14	4	as	as	SCONJ
fis-161	14	5	already	already	ADV
fis-161	14	6	demonstrated	demonstrate	VERB
fis-161	14	7	by	by	ADP
fis-161	14	8	several	several	ADJ
fis-161	14	9	proof	proof	NOUN
fis-161	14	10	-	-	PUNCT
fis-161	14	11	of	of	ADP
fis-161	14	12	-	-	PUNCT
fis-161	14	13	concept	concept	NOUN
fis-161	14	14	prototypes	prototype	NOUN
fis-161	14	15	developed	develop	VERB
fis-161	14	16	in	in	ADP
fis-161	14	17	different	different	ADJ
fis-161	14	18	research	research	NOUN
fis-161	14	19	institutes	institute	NOUN
fis-161	14	20	all	all	ADV
fis-161	14	21	over	over	ADP
fis-161	14	22	the	the	DET
fis-161	14	23	world	world	NOUN
fis-161	14	24	,	,	PUNCT
fis-161	14	25	de	de	X
fis-161	14	26	actuators	actuator	NOUN
fis-161	14	27	can	can	AUX
fis-161	14	28	be	be	AUX
fis-161	14	29	profitably	profitably	ADV
fis-161	14	30	used	use	VERB
fis-161	14	31	for	for	ADP
fis-161	14	32	the	the	DET
fis-161	14	33	realization	realization	NOUN
fis-161	14	34	of	of	ADP
fis-161	14	35	practical	practical	ADJ
fis-161	14	36	force	force	NOUN
fis-161	14	37	feedback	feedback	NOUN
fis-161	14	38	devices	device	NOUN
fis-161	14	39	such	such	ADJ
fis-161	14	40	as	as	ADP
fis-161	14	41	,	,	PUNCT
fis-161	14	42	for	for	ADP
fis-161	14	43	instance	instance	NOUN
fis-161	14	44	,	,	PUNCT
fis-161	14	45	haptic	haptic	ADJ
fis-161	14	46	interfaces	interface	NOUN
fis-161	14	47	(	(	PUNCT
fis-161	14	48	hi	hi	INTJ
fis-161	14	49	)	)	PUNCT
fis-161	14	50	for	for	ADP
fis-161	14	51	immersive	immersive	ADJ
fis-161	14	52	virtual	virtual	ADJ
fis-161	14	53	reality	reality	NOUN
fis-161	14	54	[	[	X
fis-161	14	55	4,5	4,5	NUM
fis-161	14	56	]	]	PUNCT
fis-161	14	57	.	.	PUNCT
fis-161	15	1	hi	hi	PROPN
fis-161	15	2	are	be	AUX
fis-161	15	3	mechatronic	mechatronic	ADJ
fis-161	15	4	devices	device	NOUN
fis-161	15	5	capable	capable	ADJ
fis-161	15	6	of	of	ADP
fis-161	15	7	modulating	modulate	VERB
fis-161	15	8	the	the	DET
fis-161	15	9	forces	force	NOUN
fis-161	15	10	exchanged	exchange	VERB
fis-161	15	11	with	with	ADP
fis-161	15	12	a	a	DET
fis-161	15	13	human	human	ADJ
fis-161	15	14	operator	operator	NOUN
fis-161	15	15	in	in	ADP
fis-161	15	16	d	d	PROPN
fis-161	15	17	http://www.gruppofrattura.it	http://www.gruppofrattura.it	PROPN
fis-161	15	18	http://dx.medra.org/10.3221/igf-esis.23.05&auth=true	http://dx.medra.org/10.3221/igf-esis.23.05&auth=true	PROPN
fis-161	15	19	r.	r.	PROPN
fis-161	15	20	vertechy	vertechy	PROPN
fis-161	15	21	et	et	PROPN
fis-161	15	22	alii	alii	PROPN
fis-161	15	23	,	,	PUNCT
fis-161	15	24	frattura	frattura	PROPN
fis-161	15	25	ed	ed	PROPN
fis-161	15	26	integrità	integrità	PROPN
fis-161	15	27	strutturale	strutturale	PROPN
fis-161	15	28	,	,	PUNCT
fis-161	15	29	23	23	NUM
fis-161	15	30	(	(	PUNCT
fis-161	15	31	2013	2013	NUM
fis-161	15	32	)	)	PUNCT
fis-161	15	33	47	47	NUM
fis-161	15	34	-	-	SYM
fis-161	15	35	56	56	NUM
fis-161	15	36	;	;	PUNCT
fis-161	15	37	doi	doi	NOUN
fis-161	15	38	:	:	PUNCT
fis-161	15	39	10.3221	10.3221	NUM
fis-161	15	40	/	/	SYM
fis-161	15	41	igf	igf	PROPN
fis-161	15	42	-	-	PUNCT
fis-161	15	43	esis.23.05	esis.23.05	PROPN
fis-161	15	44	48	48	NUM
fis-161	15	45	order	order	NOUN
fis-161	15	46	to	to	PART
fis-161	15	47	provide	provide	VERB
fis-161	15	48	a	a	DET
fis-161	15	49	global	global	ADJ
fis-161	15	50	sensations	sensation	NOUN
fis-161	15	51	of	of	ADP
fis-161	15	52	kinesthetic	kinesthetic	ADJ
fis-161	15	53	type	type	NOUN
fis-161	15	54	or	or	CCONJ
fis-161	15	55	local	local	ADJ
fis-161	15	56	sensations	sensation	NOUN
fis-161	15	57	of	of	ADP
fis-161	15	58	tactile	tactile	ADJ
fis-161	15	59	type	type	NOUN
fis-161	15	60	.	.	PUNCT
fis-161	16	1	possible	possible	ADJ
fis-161	16	2	advantages	advantage	NOUN
fis-161	16	3	that	that	PRON
fis-161	16	4	hi	hi	INTJ
fis-161	16	5	can	can	AUX
fis-161	16	6	offer	offer	VERB
fis-161	16	7	to	to	ADP
fis-161	16	8	the	the	DET
fis-161	16	9	society	society	NOUN
fis-161	16	10	come	come	VERB
fis-161	16	11	from	from	ADP
fis-161	16	12	the	the	DET
fis-161	16	13	realization	realization	NOUN
fis-161	16	14	of	of	ADP
fis-161	16	15	the	the	DET
fis-161	16	16	following	follow	VERB
fis-161	16	17	systems	system	NOUN
fis-161	16	18	:	:	PUNCT
fis-161	16	19			PROPN
fis-161	16	20	simulation	simulation	NOUN
fis-161	16	21	in	in	ADP
fis-161	16	22	virtual	virtual	ADJ
fis-161	16	23	environments	environment	NOUN
fis-161	16	24	for	for	ADP
fis-161	16	25	training	train	VERB
fis-161	16	26	people	people	NOUN
fis-161	16	27	to	to	ADP
fis-161	16	28	a	a	DET
fis-161	16	29	specific	specific	ADJ
fis-161	16	30	activity	activity	NOUN
fis-161	16	31	(	(	PUNCT
fis-161	16	32	for	for	ADP
fis-161	16	33	instance	instance	NOUN
fis-161	16	34	,	,	PUNCT
fis-161	16	35	medical	medical	ADJ
fis-161	16	36	diagnoses	diagnosis	NOUN
fis-161	16	37	and	and	CCONJ
fis-161	16	38	surgical	surgical	ADJ
fis-161	16	39	interventions	intervention	NOUN
fis-161	16	40	)	)	PUNCT
fis-161	16	41	;	;	PUNCT
fis-161	17	1			ADP
fis-161	17	2	prototyping	prototyping	NOUN
fis-161	17	3	by	by	ADP
fis-161	17	4	computer	computer	NOUN
fis-161	17	5	aided	aid	VERB
fis-161	17	6	design	design	NOUN
fis-161	17	7	(	(	PUNCT
fis-161	17	8	cad	cad	NOUN
fis-161	17	9	)	)	PUNCT
fis-161	17	10	,	,	PUNCT
fis-161	17	11	where	where	SCONJ
fis-161	17	12	the	the	DET
fis-161	17	13	artist	artist	NOUN
fis-161	17	14	or	or	CCONJ
fis-161	17	15	the	the	DET
fis-161	17	16	designer	designer	NOUN
fis-161	17	17	could	could	AUX
fis-161	17	18	use	use	VERB
fis-161	17	19	the	the	DET
fis-161	17	20	hi	hi	NOUN
fis-161	17	21	for	for	ADP
fis-161	17	22	touching	touch	VERB
fis-161	17	23	or	or	CCONJ
fis-161	17	24	handling	handle	VERB
fis-161	17	25	the	the	DET
fis-161	17	26	object	object	NOUN
fis-161	17	27	or	or	CCONJ
fis-161	17	28	the	the	DET
fis-161	17	29	part	part	NOUN
fis-161	17	30	they	they	PRON
fis-161	17	31	are	be	AUX
fis-161	17	32	working	work	VERB
fis-161	17	33	on	on	ADP
fis-161	17	34	;	;	PUNCT
fis-161	17	35			NUM
fis-161	17	36	teleoperation	teleoperation	NOUN
fis-161	17	37	from	from	ADP
fis-161	17	38	a	a	DET
fis-161	17	39	remote	remote	ADJ
fis-161	17	40	position	position	NOUN
fis-161	17	41	for	for	ADP
fis-161	17	42	the	the	DET
fis-161	17	43	execution	execution	NOUN
fis-161	17	44	of	of	ADP
fis-161	17	45	delicate	delicate	ADJ
fis-161	17	46	tasks	task	NOUN
fis-161	17	47	in	in	ADP
fis-161	17	48	hazardous	hazardous	ADJ
fis-161	17	49	or	or	CCONJ
fis-161	17	50	hardly	hardly	ADV
fis-161	17	51	accessible	accessible	ADJ
fis-161	17	52	environments	environment	NOUN
fis-161	17	53	;	;	PUNCT
fis-161	17	54			ADP
fis-161	17	55	multimodal	multimodal	NOUN
fis-161	17	56	interaction	interaction	NOUN
fis-161	17	57	,	,	PUNCT
fis-161	17	58	by	by	ADP
fis-161	17	59	which	which	PRON
fis-161	17	60	also	also	ADV
fis-161	17	61	disable	disable	VERB
fis-161	17	62	users	user	NOUN
fis-161	17	63	(	(	PUNCT
fis-161	17	64	for	for	ADP
fis-161	17	65	instance	instance	NOUN
fis-161	17	66	,	,	PUNCT
fis-161	17	67	blinds	blind	VERB
fis-161	17	68	people	people	NOUN
fis-161	17	69	)	)	PUNCT
fis-161	17	70	could	could	AUX
fis-161	17	71	remotely	remotely	ADV
fis-161	17	72	communicate	communicate	VERB
fis-161	17	73	with	with	ADP
fis-161	17	74	personal	personal	ADJ
fis-161	17	75	computers	computer	NOUN
fis-161	17	76	and	and	CCONJ
fis-161	17	77	the	the	DET
fis-161	17	78	net	net	NOUN
fis-161	17	79	more	more	ADV
fis-161	17	80	extensively	extensively	ADV
fis-161	17	81	.	.	PUNCT
fis-161	18	1	nowadays	nowadays	ADV
fis-161	18	2	,	,	PUNCT
fis-161	18	3	the	the	DET
fis-161	18	4	availability	availability	NOUN
fis-161	18	5	and	and	CCONJ
fis-161	18	6	diffusion	diffusion	NOUN
fis-161	18	7	on	on	ADP
fis-161	18	8	a	a	DET
fis-161	18	9	large	large	ADJ
fis-161	18	10	scale	scale	NOUN
fis-161	18	11	of	of	ADP
fis-161	18	12	the	the	DET
fis-161	18	13	aforementioned	aforementioned	ADJ
fis-161	18	14	systems	system	NOUN
fis-161	18	15	is	be	AUX
fis-161	18	16	limited	limit	VERB
fis-161	18	17	as	as	ADV
fis-161	18	18	long	long	ADV
fis-161	18	19	as	as	ADP
fis-161	18	20	existing	exist	VERB
fis-161	18	21	hi	hi	NOUN
fis-161	18	22	are	be	AUX
fis-161	18	23	frequently	frequently	ADV
fis-161	18	24	expensive	expensive	ADJ
fis-161	18	25	,	,	PUNCT
fis-161	18	26	difficult	difficult	ADJ
fis-161	18	27	to	to	PART
fis-161	18	28	manufacture	manufacture	VERB
fis-161	18	29	,	,	PUNCT
fis-161	18	30	assemble	assemble	VERB
fis-161	18	31	and	and	CCONJ
fis-161	18	32	maintain	maintain	VERB
fis-161	18	33	,	,	PUNCT
fis-161	18	34	and	and	CCONJ
fis-161	18	35	characterized	characterize	VERB
fis-161	18	36	by	by	ADP
fis-161	18	37	low	low	ADJ
fis-161	18	38	payload	payload	NOUN
fis-161	18	39	to	to	ADP
fis-161	18	40	weight	weight	NOUN
fis-161	18	41	ratio	ratio	NOUN
fis-161	18	42	and	and	CCONJ
fis-161	18	43	shock	shock	NOUN
fis-161	18	44	sensitivity	sensitivity	NOUN
fis-161	18	45	.	.	PUNCT
fis-161	19	1	within	within	ADP
fis-161	19	2	this	this	DET
fis-161	19	3	scenario	scenario	NOUN
fis-161	19	4	,	,	PUNCT
fis-161	19	5	the	the	DET
fis-161	19	6	use	use	NOUN
fis-161	19	7	of	of	ADP
fis-161	19	8	smart	smart	ADJ
fis-161	19	9	materials	material	NOUN
fis-161	19	10	such	such	ADJ
fis-161	19	11	as	as	ADP
fis-161	19	12	de	de	PROPN
fis-161	19	13	could	could	AUX
fis-161	19	14	pave	pave	VERB
fis-161	19	15	the	the	DET
fis-161	19	16	way	way	NOUN
fis-161	19	17	to	to	ADP
fis-161	19	18	the	the	DET
fis-161	19	19	realization	realization	NOUN
fis-161	19	20	of	of	ADP
fis-161	19	21	non	non	ADJ
fis-161	19	22	-	-	ADJ
fis-161	19	23	conventional	conventional	ADJ
fis-161	19	24	actuation	actuation	NOUN
fis-161	19	25	systems	system	NOUN
fis-161	19	26	with	with	ADP
fis-161	19	27	suitable	suitable	ADJ
fis-161	19	28	performances	performance	NOUN
fis-161	19	29	to	to	PART
fis-161	19	30	build	build	VERB
fis-161	19	31	better	well	ADV
fis-161	19	32	-	-	PUNCT
fis-161	19	33	behaved	behave	VERB
fis-161	19	34	hi	hi	INTJ
fis-161	19	35	,	,	PUNCT
fis-161	19	36	characterized	characterize	VERB
fis-161	19	37	by	by	ADP
fis-161	19	38	large	large	ADJ
fis-161	19	39	power	power	NOUN
fis-161	19	40	densities	density	NOUN
fis-161	19	41	,	,	PUNCT
fis-161	19	42	low	low	ADJ
fis-161	19	43	costs	cost	NOUN
fis-161	19	44	and	and	CCONJ
fis-161	19	45	shock	shock	NOUN
fis-161	19	46	-	-	PUNCT
fis-161	19	47	insensitivity	insensitivity	NOUN
fis-161	19	48	.	.	PUNCT
fis-161	20	1	nonetheless	nonetheless	ADV
fis-161	20	2	,	,	PUNCT
fis-161	20	3	these	these	DET
fis-161	20	4	de	de	ADJ
fis-161	20	5	-	-	PUNCT
fis-161	20	6	based	base	VERB
fis-161	20	7	environment	environment	NOUN
fis-161	20	8	-	-	PUNCT
fis-161	20	9	interacting	interact	VERB
fis-161	20	10	devices	device	NOUN
fis-161	20	11	require	require	VERB
fis-161	20	12	stable	stable	ADJ
fis-161	20	13	,	,	PUNCT
fis-161	20	14	fast	fast	ADJ
fis-161	20	15	and	and	CCONJ
fis-161	20	16	accurate	accurate	ADJ
fis-161	20	17	regulation	regulation	NOUN
fis-161	20	18	of	of	ADP
fis-161	20	19	the	the	DET
fis-161	20	20	exchangeable	exchangeable	ADJ
fis-161	20	21	force	force	NOUN
fis-161	20	22	.	.	PUNCT
fis-161	21	1	this	this	DET
fis-161	21	2	task	task	NOUN
fis-161	21	3	can	can	AUX
fis-161	21	4	actually	actually	ADV
fis-161	21	5	become	become	VERB
fis-161	21	6	quite	quite	ADV
fis-161	21	7	challenging	challenging	ADJ
fis-161	21	8	owing	owe	VERB
fis-161	21	9	to	to	ADP
fis-161	21	10	the	the	DET
fis-161	21	11	relevant	relevant	ADJ
fis-161	21	12	dissipative	dissipative	NOUN
fis-161	21	13	phenomena	phenomenon	NOUN
fis-161	21	14	that	that	PRON
fis-161	21	15	affect	affect	VERB
fis-161	21	16	the	the	DET
fis-161	21	17	majority	majority	NOUN
fis-161	21	18	of	of	ADP
fis-161	21	19	de	de	X
fis-161	21	20	materials	material	NOUN
fis-161	21	21	when	when	SCONJ
fis-161	21	22	subjected	subject	VERB
fis-161	21	23	to	to	ADP
fis-161	21	24	rapidly	rapidly	ADV
fis-161	21	25	changing	change	VERB
fis-161	21	26	deformations	deformation	NOUN
fis-161	21	27	.	.	PUNCT
fis-161	22	1	as	as	ADP
fis-161	22	2	a	a	DET
fis-161	22	3	first	first	ADJ
fis-161	22	4	step	step	NOUN
fis-161	22	5	towards	towards	ADP
fis-161	22	6	the	the	DET
fis-161	22	7	production	production	NOUN
fis-161	22	8	of	of	ADP
fis-161	22	9	practical	practical	ADJ
fis-161	22	10	de	de	ADJ
fis-161	22	11	-	-	PUNCT
fis-161	22	12	based	base	VERB
fis-161	22	13	force	force	NOUN
fis-161	22	14	feedback	feedback	NOUN
fis-161	22	15	devices	device	NOUN
fis-161	22	16	and	and	CCONJ
fis-161	22	17	hi	hi	INTJ
fis-161	22	18	,	,	PUNCT
fis-161	22	19	the	the	DET
fis-161	22	20	present	present	ADJ
fis-161	22	21	paper	paper	NOUN
fis-161	22	22	addresses	address	VERB
fis-161	22	23	the	the	DET
fis-161	22	24	development	development	NOUN
fis-161	22	25	of	of	ADP
fis-161	22	26	a	a	DET
fis-161	22	27	force	force	NOUN
fis-161	22	28	controller	controller	NOUN
fis-161	22	29	for	for	ADP
fis-161	22	30	an	an	DET
fis-161	22	31	agonist	agonist	NOUN
fis-161	22	32	-	-	PUNCT
fis-161	22	33	antagonist	antagonist	NOUN
fis-161	22	34	linear	linear	ADJ
fis-161	22	35	actuator	actuator	NOUN
fis-161	22	36	(	(	PUNCT
fis-161	22	37	see	see	VERB
fis-161	22	38	fig	fig	NOUN
fis-161	22	39	.	.	PUNCT
fis-161	23	1	1	1	NUM
fis-161	23	2	)	)	PUNCT
fis-161	23	3	.	.	PUNCT
fis-161	24	1	the	the	DET
fis-161	24	2	actuator	actuator	NOUN
fis-161	24	3	quasi	quasi	ADJ
fis-161	24	4	-	-	ADJ
fis-161	24	5	static	static	ADJ
fis-161	24	6	response	response	NOUN
fis-161	24	7	is	be	AUX
fis-161	24	8	predicted	predict	VERB
fis-161	24	9	on	on	ADP
fis-161	24	10	the	the	DET
fis-161	24	11	basis	basis	NOUN
fis-161	24	12	of	of	ADP
fis-161	24	13	a	a	DET
fis-161	24	14	non	non	ADJ
fis-161	24	15	-	-	ADJ
fis-161	24	16	linear	linear	ADJ
fis-161	24	17	model	model	NOUN
fis-161	24	18	previously	previously	ADV
fis-161	24	19	proposed	propose	VERB
fis-161	24	20	by	by	ADP
fis-161	24	21	the	the	DET
fis-161	24	22	authors	author	NOUN
fis-161	24	23	[	[	X
fis-161	24	24	6	6	NUM
fis-161	24	25	]	]	PUNCT
fis-161	24	26	.	.	PUNCT
fis-161	25	1	then	then	ADV
fis-161	25	2	,	,	PUNCT
fis-161	25	3	the	the	DET
fis-161	25	4	system	system	NOUN
fis-161	25	5	timedependent	timedependent	NOUN
fis-161	25	6	behaviour	behaviour	NOUN
fis-161	25	7	is	be	AUX
fis-161	25	8	identified	identify	VERB
fis-161	25	9	resorting	resort	VERB
fis-161	25	10	to	to	ADP
fis-161	25	11	the	the	DET
fis-161	25	12	well	well	ADV
fis-161	25	13	-	-	PUNCT
fis-161	25	14	known	know	VERB
fis-161	25	15	quasi	quasi	ADJ
fis-161	25	16	-	-	ADJ
fis-161	25	17	linear	linear	ADJ
fis-161	25	18	viscoelastic	viscoelastic	NOUN
fis-161	25	19	(	(	PUNCT
fis-161	25	20	qlv	qlv	PROPN
fis-161	25	21	)	)	PUNCT
fis-161	25	22	model	model	NOUN
fis-161	26	1	[	[	X
fis-161	26	2	7,8	7,8	NUM
fis-161	26	3	]	]	PUNCT
fis-161	26	4	,	,	PUNCT
fis-161	26	5	frequently	frequently	ADV
fis-161	26	6	adopted	adopt	VERB
fis-161	26	7	with	with	ADP
fis-161	26	8	the	the	DET
fis-161	26	9	sake	sake	NOUN
fis-161	26	10	of	of	ADP
fis-161	26	11	compromising	compromise	VERB
fis-161	26	12	between	between	ADP
fis-161	26	13	the	the	DET
fis-161	26	14	simplicity	simplicity	NOUN
fis-161	26	15	of	of	ADP
fis-161	26	16	classical	classical	ADJ
fis-161	26	17	linear	linear	NOUN
fis-161	26	18	theories	theory	NOUN
fis-161	26	19	and	and	CCONJ
fis-161	26	20	the	the	DET
fis-161	26	21	difficulty	difficulty	NOUN
fis-161	26	22	of	of	ADP
fis-161	26	23	nonlinear	nonlinear	ADJ
fis-161	26	24	approaches	approach	NOUN
fis-161	26	25	.	.	PUNCT
fis-161	27	1	the	the	DET
fis-161	27	2	overall	overall	ADJ
fis-161	27	3	actuator	actuator	NOUN
fis-161	27	4	model	model	NOUN
fis-161	27	5	is	be	AUX
fis-161	27	6	then	then	ADV
fis-161	27	7	linearized	linearize	VERB
fis-161	27	8	and	and	CCONJ
fis-161	27	9	employed	employ	VERB
fis-161	27	10	for	for	ADP
fis-161	27	11	designing	design	VERB
fis-161	27	12	a	a	DET
fis-161	27	13	force	force	NOUN
fis-161	27	14	controller	controller	NOUN
fis-161	27	15	which	which	PRON
fis-161	27	16	employs	employ	VERB
fis-161	27	17	a	a	DET
fis-161	27	18	position	position	NOUN
fis-161	27	19	sensor	sensor	NOUN
fis-161	27	20	,	,	PUNCT
fis-161	27	21	is	be	AUX
fis-161	27	22	closed	close	VERB
fis-161	27	23	around	around	ADP
fis-161	27	24	a	a	DET
fis-161	27	25	custom	custom	ADV
fis-161	27	26	-	-	PUNCT
fis-161	27	27	made	make	VERB
fis-161	27	28	force	force	NOUN
fis-161	27	29	sensor	sensor	NOUN
fis-161	27	30	(	(	PUNCT
fis-161	27	31	measuring	measure	VERB
fis-161	27	32	the	the	DET
fis-161	27	33	actuator	actuator	NOUN
fis-161	27	34	-	-	PUNCT
fis-161	27	35	environment	environment	NOUN
fis-161	27	36	interaction	interaction	NOUN
fis-161	27	37	force	force	NOUN
fis-161	27	38	)	)	PUNCT
fis-161	27	39	,	,	PUNCT
fis-161	27	40	and	and	CCONJ
fis-161	27	41	implements	implement	VERB
fis-161	27	42	a	a	DET
fis-161	27	43	state	state	NOUN
fis-161	27	44	-	-	PUNCT
fis-161	27	45	feedback	feedback	NOUN
fis-161	27	46	control	control	NOUN
fis-161	27	47	law	law	NOUN
fis-161	27	48	and	and	CCONJ
fis-161	27	49	a	a	DET
fis-161	27	50	kalman	kalman	NOUN
fis-161	27	51	filter	filter	NOUN
fis-161	28	1	[	[	X
fis-161	28	2	9	9	NUM
fis-161	28	3	]	]	PUNCT
fis-161	28	4	.	.	PUNCT
fis-161	29	1	this	this	DET
fis-161	29	2	optimum	optimum	ADJ
fis-161	29	3	full	full	ADJ
fis-161	29	4	-	-	PUNCT
fis-161	29	5	state	state	NOUN
fis-161	29	6	observer	observer	NOUN
fis-161	29	7	makes	make	VERB
fis-161	29	8	it	it	PRON
fis-161	29	9	possible	possible	ADJ
fis-161	29	10	to	to	PART
fis-161	29	11	compensate	compensate	VERB
fis-161	29	12	for	for	ADP
fis-161	29	13	intrinsic	intrinsic	ADJ
fis-161	29	14	de	de	X
fis-161	29	15	hysteresis	hysteresis	NOUN
fis-161	29	16	and	and	CCONJ
fis-161	29	17	stress	stress	NOUN
fis-161	29	18	relaxation	relaxation	NOUN
fis-161	29	19	,	,	PUNCT
fis-161	29	20	and	and	CCONJ
fis-161	29	21	to	to	PART
fis-161	29	22	clean	clean	VERB
fis-161	29	23	-	-	PUNCT
fis-161	29	24	out	out	ADP
fis-161	29	25	the	the	DET
fis-161	29	26	sensor	sensor	NOUN
fis-161	29	27	measurement	measurement	NOUN
fis-161	29	28	noise	noise	NOUN
fis-161	29	29	that	that	PRON
fis-161	29	30	usually	usually	ADV
fis-161	29	31	degrades	degrade	VERB
fis-161	29	32	controller	controller	NOUN
fis-161	29	33	performance	performance	NOUN
fis-161	29	34	.	.	PUNCT
fis-161	30	1	at	at	ADP
fis-161	30	2	last	last	ADJ
fis-161	30	3	,	,	PUNCT
fis-161	30	4	the	the	DET
fis-161	30	5	force	force	NOUN
fis-161	30	6	regulation	regulation	NOUN
fis-161	30	7	capability	capability	NOUN
fis-161	30	8	of	of	ADP
fis-161	30	9	the	the	DET
fis-161	30	10	de	de	X
fis-161	30	11	actuator	actuator	NOUN
fis-161	30	12	-	-	PUNCT
fis-161	30	13	controller	controller	NOUN
fis-161	30	14	system	system	NOUN
fis-161	30	15	is	be	AUX
fis-161	30	16	evaluated	evaluate	VERB
fis-161	30	17	in	in	ADP
fis-161	30	18	dynamic	dynamic	ADJ
fis-161	30	19	conditions	condition	NOUN
fis-161	30	20	via	via	ADP
fis-161	30	21	a	a	DET
fis-161	30	22	properly	properly	ADV
fis-161	30	23	predisposed	predispose	VERB
fis-161	30	24	experimental	experimental	ADJ
fis-161	30	25	test	test	NOUN
fis-161	30	26	-	-	PUNCT
fis-161	30	27	bench	bench	NOUN
fis-161	30	28	.	.	PUNCT
fis-161	31	1	description	description	NOUN
fis-161	31	2	of	of	ADP
fis-161	31	3	the	the	DET
fis-161	31	4	actuator	actuator	NOUN
fis-161	31	5	prototype	prototype	NOUN
fis-161	31	6	he	he	PRON
fis-161	31	7	actuator	actuator	NOUN
fis-161	31	8	cad	cad	PROPN
fis-161	31	9	model	model	NOUN
fis-161	31	10	is	be	AUX
fis-161	31	11	depicted	depict	VERB
fis-161	31	12	in	in	ADP
fis-161	31	13	fig	fig	NOUN
fis-161	31	14	.	.	PUNCT
fis-161	32	1	1	1	NUM
fis-161	33	1	and	and	CCONJ
fis-161	33	2	comprises	comprise	NOUN
fis-161	33	3	:	:	PUNCT
fis-161	33	4			NUM
fis-161	33	5	a	a	DET
fis-161	33	6	rigid	rigid	ADJ
fis-161	33	7	frame	frame	NOUN
fis-161	33	8	made	make	VERB
fis-161	33	9	by	by	ADP
fis-161	33	10	two	two	NUM
fis-161	33	11	coaxial	coaxial	ADJ
fis-161	33	12	identical	identical	ADJ
fis-161	33	13	rings	ring	NOUN
fis-161	33	14	with	with	ADP
fis-161	33	15	internal	internal	ADJ
fis-161	33	16	radii	radius	NOUN
fis-161	33	17	equalling	equal	VERB
fis-161	33	18	rm=40	rm=40	ADJ
fis-161	33	19	mm	mm	PROPN
fis-161	33	20	and	and	CCONJ
fis-161	33	21	connected	connect	VERB
fis-161	33	22	by	by	ADP
fis-161	33	23	four	four	NUM
fis-161	33	24	rods	rod	NOUN
fis-161	33	25	with	with	ADP
fis-161	33	26	lengths	length	NOUN
fis-161	33	27	equalling	equal	VERB
fis-161	33	28	2d	2d	NUM
fis-161	33	29	=	=	SYM
fis-161	33	30	40	40	NUM
fis-161	33	31	mm	mm	NOUN
fis-161	33	32	;	;	PUNCT
fis-161	33	33			NUM
fis-161	33	34	an	an	DET
fis-161	33	35	over	over	ADV
fis-161	33	36	-	-	PUNCT
fis-161	33	37	constrained	constrain	VERB
fis-161	33	38	compliant	compliant	ADJ
fis-161	33	39	parallel	parallel	ADJ
fis-161	33	40	mechanism	mechanism	NOUN
fis-161	33	41	featuring	feature	VERB
fis-161	33	42	a	a	DET
fis-161	33	43	rigid	rigid	ADJ
fis-161	33	44	circular	circular	ADJ
fis-161	33	45	moving	move	VERB
fis-161	33	46	platform	platform	NOUN
fis-161	33	47	with	with	ADP
fis-161	33	48	external	external	ADJ
fis-161	33	49	radius	radius	NOUN
fis-161	33	50	equalling	equal	VERB
fis-161	33	51	rm	rm	NOUN
fis-161	33	52	=	=	PROPN
fis-161	33	53	12	12	NUM
fis-161	33	54	mm	mm	NOUN
fis-161	33	55	.	.	PUNCT
fis-161	34	1	the	the	DET
fis-161	34	2	mechanism	mechanism	NOUN
fis-161	34	3	pseudo	pseudo	NOUN
fis-161	34	4	-	-	ADJ
fis-161	34	5	rigid	rigid	ADJ
fis-161	34	6	body	body	NOUN
fis-161	34	7	model	model	NOUN
fis-161	34	8	[	[	X
fis-161	34	9	10	10	NUM
fis-161	34	10	]	]	PUNCT
fis-161	34	11	is	be	AUX
fis-161	34	12	depicted	depict	VERB
fis-161	34	13	in	in	ADP
fis-161	34	14	fig	fig	NOUN
fis-161	34	15	.	.	PUNCT
fis-161	35	1	2	2	X
fis-161	35	2	.	.	X
fis-161	35	3	the	the	DET
fis-161	35	4	platform	platform	NOUN
fis-161	35	5	is	be	AUX
fis-161	35	6	connected	connect	VERB
fis-161	35	7	to	to	ADP
fis-161	35	8	one	one	NUM
fis-161	35	9	of	of	ADP
fis-161	35	10	the	the	DET
fis-161	35	11	rigid	rigid	ADJ
fis-161	35	12	frame	frame	NOUN
fis-161	35	13	rings	ring	NOUN
fis-161	35	14	via	via	ADP
fis-161	35	15	three	three	NUM
fis-161	35	16	symmetrically	symmetrically	ADV
fis-161	35	17	-	-	PUNCT
fis-161	35	18	located	locate	VERB
fis-161	35	19	identical	identical	ADJ
fis-161	35	20	legs	leg	NOUN
fis-161	35	21	,	,	PUNCT
fis-161	35	22	each	each	PRON
fis-161	35	23	articulated	articulate	VERB
fis-161	35	24	via	via	ADP
fis-161	35	25	three	three	NUM
fis-161	35	26	revolute	revolute	ADJ
fis-161	35	27	elastic	elastic	ADJ
fis-161	35	28	joints	joint	NOUN
fis-161	35	29	having	have	VERB
fis-161	35	30	parallel	parallel	ADJ
fis-161	35	31	axes	axis	NOUN
fis-161	35	32	.	.	PUNCT
fis-161	36	1			NUM
fis-161	36	2	two	two	NUM
fis-161	36	3	conically	conically	ADV
fis-161	36	4	-	-	PUNCT
fis-161	36	5	shaped	shape	VERB
fis-161	36	6	de	de	ADJ
fis-161	36	7	films	film	NOUN
fis-161	36	8	(	(	PUNCT
fis-161	36	9	film	film	NOUN
fis-161	36	10	#	#	SYM
fis-161	36	11	1	1	NUM
fis-161	36	12	and	and	CCONJ
fis-161	36	13	film	film	VERB
fis-161	36	14	#	#	SYM
fis-161	36	15	2	2	NUM
fis-161	36	16	)	)	PUNCT
fis-161	36	17	connecting	connect	VERB
fis-161	36	18	the	the	DET
fis-161	36	19	two	two	NUM
fis-161	36	20	rigid	rigid	ADJ
fis-161	36	21	frame	frame	NOUN
fis-161	36	22	rings	ring	NOUN
fis-161	36	23	to	to	ADP
fis-161	36	24	the	the	DET
fis-161	36	25	mechanism	mechanism	NOUN
fis-161	36	26	platform	platform	NOUN
fis-161	36	27	(	(	PUNCT
fis-161	36	28	i.e.	i.e.	X
fis-161	36	29	the	the	DET
fis-161	36	30	actuator	actuator	NOUN
fis-161	36	31	output	output	NOUN
fis-161	36	32	)	)	PUNCT
fis-161	36	33	in	in	ADP
fis-161	36	34	an	an	DET
fis-161	36	35	agonist	agonist	NOUN
fis-161	36	36	-	-	PUNCT
fis-161	36	37	antagonist	antagonist	NOUN
fis-161	36	38	arrangement	arrangement	NOUN
fis-161	36	39	.	.	PUNCT
fis-161	37	1	as	as	SCONJ
fis-161	37	2	previously	previously	ADV
fis-161	37	3	described	describe	VERB
fis-161	37	4	in	in	ADP
fis-161	37	5	[	[	X
fis-161	37	6	6	6	NUM
fis-161	37	7	]	]	PUNCT
fis-161	37	8	,	,	PUNCT
fis-161	37	9	the	the	DET
fis-161	37	10	over	over	ADV
fis-161	37	11	-	-	PUNCT
fis-161	37	12	constrained	constrain	VERB
fis-161	37	13	compliant	compliant	ADJ
fis-161	37	14	parallel	parallel	ADJ
fis-161	37	15	mechanism	mechanism	NOUN
fis-161	37	16	behaves	behave	VERB
fis-161	37	17	as	as	ADP
fis-161	37	18	a	a	DET
fis-161	37	19	negative	negative	ADJ
fis-161	37	20	stiffness	stiffness	NOUN
fis-161	37	21	(	(	PUNCT
fis-161	37	22	bias	bias	NOUN
fis-161	37	23	)	)	PUNCT
fis-161	37	24	spring	spring	NOUN
fis-161	37	25	.	.	PUNCT
fis-161	38	1	in	in	ADP
fis-161	38	2	particular	particular	ADJ
fis-161	38	3	,	,	PUNCT
fis-161	38	4	thanks	thank	NOUN
fis-161	38	5	to	to	ADP
fis-161	38	6	the	the	DET
fis-161	38	7	employed	employ	VERB
fis-161	38	8	architecture	architecture	NOUN
fis-161	38	9	,	,	PUNCT
fis-161	38	10	the	the	DET
fis-161	38	11	actuator	actuator	NOUN
fis-161	38	12	output	output	NOUN
fis-161	38	13	can	can	AUX
fis-161	38	14	only	only	ADV
fis-161	38	15	move	move	VERB
fis-161	38	16	along	along	ADP
fis-161	38	17	the	the	DET
fis-161	38	18	actuator	actuator	NOUN
fis-161	38	19	axial	axial	ADJ
fis-161	38	20	direction	direction	NOUN
fis-161	38	21	(	(	PUNCT
fis-161	38	22	i.e.	i.e.	X
fis-161	38	23	the	the	DET
fis-161	38	24	axis	axis	NOUN
fis-161	38	25	of	of	ADP
fis-161	38	26	symmetry	symmetry	NOUN
fis-161	38	27	of	of	ADP
fis-161	38	28	the	the	DET
fis-161	38	29	two	two	NUM
fis-161	38	30	rigid	rigid	ADJ
fis-161	38	31	frame	frame	NOUN
fis-161	38	32	rings	ring	NOUN
fis-161	38	33	)	)	PUNCT
fis-161	38	34	.	.	PUNCT
fis-161	39	1	therefore	therefore	ADV
fis-161	39	2	,	,	PUNCT
fis-161	39	3	each	each	DET
fis-161	39	4	leg	leg	NOUN
fis-161	39	5	of	of	ADP
fis-161	39	6	the	the	DET
fis-161	39	7	parallel	parallel	ADJ
fis-161	39	8	mechanism	mechanism	NOUN
fis-161	39	9	behaves	behave	VERB
fis-161	39	10	as	as	ADP
fis-161	39	11	a	a	DET
fis-161	39	12	compliant	compliant	ADJ
fis-161	39	13	eccentric	eccentric	ADJ
fis-161	39	14	slider	slider	NOUN
fis-161	39	15	-	-	PUNCT
fis-161	39	16	crank	crank	NOUN
fis-161	39	17	mechanism	mechanism	NOUN
fis-161	39	18	(	(	PUNCT
fis-161	39	19	fig	fig	NOUN
fis-161	39	20	.	.	PUNCT
fis-161	40	1	3	3	NUM
fis-161	40	2	)	)	PUNCT
fis-161	40	3	with	with	ADP
fis-161	40	4	eccentricity	eccentricity	NOUN
fis-161	40	5	,	,	PUNCT
fis-161	40	6	crank	crank	NOUN
fis-161	40	7	and	and	CCONJ
fis-161	40	8	connecting	connecting	ADJ
fis-161	40	9	-	-	PUNCT
fis-161	40	10	rod	rod	NOUN
fis-161	40	11	lengths	length	NOUN
fis-161	40	12	equal	equal	ADJ
fis-161	40	13	to	to	ADP
fis-161	40	14	32e	32e	PROPN
fis-161	40	15	mm	mm	NOUN
fis-161	40	16	,	,	PUNCT
fis-161	40	17	34.5cr	34.5cr	NUM
fis-161	40	18	mm	mm	NOUN
fis-161	40	19	and	and	CCONJ
fis-161	40	20	21.2rr	21.2rr	NUM
fis-161	40	21	mm	mm	NOUN
fis-161	40	22	,	,	PUNCT
fis-161	40	23	and	and	CCONJ
fis-161	40	24	elastic	elastic	ADJ
fis-161	40	25	joint	joint	ADJ
fis-161	40	26	torsional	torsional	NOUN
fis-161	40	27	stiffnesses	stiffness	NOUN
fis-161	40	28	and	and	CCONJ
fis-161	40	29	undeflected	undeflected	ADJ
fis-161	40	30	angular	angular	ADJ
fis-161	40	31	positions	position	NOUN
fis-161	40	32	equal	equal	ADJ
fis-161	40	33	to	to	ADP
fis-161	40	34	1	1	NUM
fis-161	40	35	2	2	NUM
fis-161	40	36	1	1	NUM
fis-161	40	37	/k	/k	PUNCT
fis-161	41	1	k	k	PROPN
fis-161	41	2	mnm	mnm	PROPN
fis-161	41	3	rad	rad	PROPN
fis-161	41	4			PROPN
fis-161	41	5	,	,	PUNCT
fis-161	41	6	3	3	NUM
fis-161	41	7	51	51	NUM
fis-161	41	8	/k	/k	SYM
fis-161	41	9	mnm	mnm	PROPN
fis-161	41	10	rad	rad	PROPN
fis-161	41	11	,	,	PUNCT
fis-161	41	12	0	0	NUM
fis-161	42	1	26c	26c	NUM
fis-161	43	1			NUM
fis-161	43	2			PROPN
fis-161	43	3	,	,	PUNCT
fis-161	43	4	0	0	NUM
fis-161	43	5	0	0	NUM
fis-161	43	6	258c	258c	PROPN
fis-161	43	7	r	r	PROPN
fis-161	43	8			NOUN
fis-161	43	9			PROPN
fis-161	43	10			PROPN
fis-161	43	11	and	and	CCONJ
fis-161	43	12	0	0	NUM
fis-161	43	13	232p	232p	NUM
fis-161	43	14			NOUN
fis-161	43	15			PROPN
fis-161	43	16	.	.	PUNCT
fis-161	44	1	each	each	DET
fis-161	44	2	de	de	X
fis-161	44	3	film	film	NOUN
fis-161	44	4	is	be	AUX
fis-161	44	5	a	a	DET
fis-161	44	6	circular	circular	ADJ
fis-161	44	7	membrane	membrane	NOUN
fis-161	44	8	of	of	ADP
fis-161	44	9	acrylic	acrylic	ADJ
fis-161	44	10	elastomer	elastomer	NOUN
fis-161	44	11	(	(	PUNCT
fis-161	44	12	vhb-4905	vhb-4905	VERB
fis-161	44	13	by	by	ADP
fis-161	44	14	3	3	NUM
fis-161	44	15	m	m	NOUN
fis-161	44	16	)	)	PUNCT
fis-161	44	17	with	with	ADP
fis-161	44	18	initial	initial	ADJ
fis-161	44	19	thickness	thickness	NOUN
fis-161	44	20	(	(	PUNCT
fis-161	44	21	in	in	ADP
fis-161	44	22	its	its	PRON
fis-161	44	23	undeformed	undeformed	ADJ
fis-161	44	24	state	state	NOUN
fis-161	44	25	)	)	PUNCT
fis-161	44	26	equalling	equal	VERB
fis-161	44	27	0	0	NUM
fis-161	44	28	1.5	1.5	NUM
fis-161	44	29	t	t	NOUN
fis-161	44	30	mm	mm	NOUN
fis-161	44	31	,	,	PUNCT
fis-161	44	32	subjected	subject	VERB
fis-161	44	33	to	to	ADP
fis-161	44	34	an	an	DET
fis-161	44	35	equibiaxial	equibiaxial	ADJ
fis-161	44	36	pre	pre	ADJ
fis-161	44	37	-	-	ADJ
fis-161	44	38	stretch	stretch	ADJ
fis-161	44	39	equalling	equal	VERB
fis-161	44	40	4p	4p	NOUN
fis-161	44	41			NOUN
fis-161	44	42	,	,	PUNCT
fis-161	44	43	and	and	CCONJ
fis-161	44	44	coated	coat	VERB
fis-161	44	45	with	with	ADP
fis-161	44	46	a	a	DET
fis-161	44	47	pair	pair	NOUN
fis-161	44	48	of	of	ADP
fis-161	44	49	compliant	compliant	ADJ
fis-161	44	50	carbon	carbon	NOUN
fis-161	44	51	conductive	conductive	ADJ
fis-161	44	52	grease	grease	NOUN
fis-161	44	53	electrodes	electrode	NOUN
fis-161	44	54	.	.	PUNCT
fis-161	45	1	prior	prior	ADV
fis-161	45	2	to	to	ADP
fis-161	45	3	their	their	PRON
fis-161	45	4	use	use	NOUN
fis-161	45	5	,	,	PUNCT
fis-161	45	6	these	these	DET
fis-161	45	7	virgin	virgin	PROPN
fis-161	45	8	de	de	PROPN
fis-161	45	9	membranes	membrane	NOUN
fis-161	45	10	are	be	AUX
fis-161	45	11	subjected	subject	VERB
fis-161	45	12	to	to	ADP
fis-161	45	13	preconditioning	precondition	VERB
fis-161	45	14	loading	loading	NOUN
fis-161	45	15	-	-	PUNCT
fis-161	45	16	unloading	unload	VERB
fis-161	45	17	cycles	cycle	NOUN
fis-161	45	18	(	(	PUNCT
fis-161	45	19	as	as	ADP
fis-161	45	20	in	in	ADP
fis-161	45	21	[	[	X
fis-161	45	22	6	6	NUM
fis-161	45	23	]	]	NUM
fis-161	45	24	)	)	PUNCT
fis-161	45	25	,	,	PUNCT
fis-161	45	26	which	which	PRON
fis-161	45	27	yields	yield	VERB
fis-161	45	28	a	a	DET
fis-161	45	29	residual	residual	ADJ
fis-161	45	30	stretch	stretch	NOUN
fis-161	45	31	(	(	PUNCT
fis-161	45	32	permanent	permanent	ADJ
fis-161	45	33	set	set	NOUN
fis-161	45	34	,	,	PUNCT
fis-161	45	35	1.6r	1.6r	NUM
fis-161	45	36			NUM
fis-161	45	37	)	)	PUNCT
fis-161	45	38	whose	whose	DET
fis-161	45	39	value	value	NOUN
fis-161	45	40	has	have	AUX
fis-161	45	41	been	be	AUX
fis-161	45	42	t	t	PROPN
fis-161	45	43	http://www.gruppofrattura.it	http://www.gruppofrattura.it	PROPN
fis-161	45	44	http://dx.medra.org/10.3221/igf-esis.23.05&auth=true	http://dx.medra.org/10.3221/igf-esis.23.05&auth=true	PROPN
fis-161	45	45	r.	r.	PROPN
fis-161	45	46	vertechy	vertechy	PROPN
fis-161	45	47	et	et	PROPN
fis-161	45	48	alii	alii	PROPN
fis-161	45	49	,	,	PUNCT
fis-161	45	50	frattura	frattura	PROPN
fis-161	45	51	ed	ed	PROPN
fis-161	45	52	integrità	integrità	PROPN
fis-161	45	53	strutturale	strutturale	PROPN
fis-161	45	54	,	,	PUNCT
fis-161	45	55	23	23	NUM
fis-161	45	56	(	(	PUNCT
fis-161	45	57	2013	2013	NUM
fis-161	45	58	)	)	PUNCT
fis-161	45	59	47	47	NUM
fis-161	45	60	-	-	SYM
fis-161	45	61	56	56	NUM
fis-161	45	62	;	;	PUNCT
fis-161	45	63	doi	doi	NOUN
fis-161	45	64	:	:	PUNCT
fis-161	45	65	10.3221	10.3221	NUM
fis-161	45	66	/	/	SYM
fis-161	45	67	igf	igf	PROPN
fis-161	45	68	-	-	PUNCT
fis-161	45	69	esis.23.05	esis.23.05	PROPN
fis-161	45	70	49	49	NUM
fis-161	45	71	estimated	estimate	VERB
fis-161	45	72	on	on	ADP
fis-161	45	73	sacrificial	sacrificial	ADJ
fis-161	45	74	specimen	speciman	NOUN
fis-161	45	75	.	.	PUNCT
fis-161	46	1	a	a	DET
fis-161	46	2	voltage	voltage	NOUN
fis-161	46	3	difference	difference	NOUN
fis-161	46	4	1v	1v	NUM
fis-161	46	5	(	(	PUNCT
fis-161	46	6	2v	2v	PROPN
fis-161	46	7	)	)	PUNCT
fis-161	46	8	between	between	ADP
fis-161	46	9	the	the	DET
fis-161	46	10	electrode	electrode	NOUN
fis-161	46	11	pair	pair	NOUN
fis-161	46	12	of	of	ADP
fis-161	46	13	the	the	DET
fis-161	46	14	de	de	X
fis-161	46	15	film	film	NOUN
fis-161	46	16	#	#	SYM
fis-161	46	17	1	1	NUM
fis-161	46	18	(	(	PUNCT
fis-161	46	19	#	#	SYM
fis-161	46	20	2	2	NUM
fis-161	46	21	)	)	PUNCT
fis-161	46	22	generates	generate	VERB
fis-161	46	23	a	a	DET
fis-161	46	24	rightward	rightward	NOUN
fis-161	46	25	(	(	PUNCT
fis-161	46	26	leftward	leftward	NOUN
fis-161	46	27	)	)	PUNCT
fis-161	46	28	force	force	NOUN
fis-161	46	29	on	on	ADP
fis-161	46	30	the	the	DET
fis-161	46	31	actuator	actuator	NOUN
fis-161	46	32	output	output	NOUN
fis-161	46	33	.	.	PUNCT
fis-161	47	1	the	the	DET
fis-161	47	2	bias	bias	NOUN
fis-161	47	3	spring	spring	NOUN
fis-161	47	4	has	have	AUX
fis-161	47	5	been	be	AUX
fis-161	47	6	designed	design	VERB
fis-161	47	7	so	so	SCONJ
fis-161	47	8	that	that	SCONJ
fis-161	47	9	the	the	DET
fis-161	47	10	overall	overall	ADJ
fis-161	47	11	actuator	actuator	NOUN
fis-161	47	12	in	in	ADP
fis-161	47	13	its	its	PRON
fis-161	47	14	off	off	ADJ
fis-161	47	15	-	-	PUNCT
fis-161	47	16	state	state	NOUN
fis-161	47	17	mode	mode	NOUN
fis-161	47	18	(	(	PUNCT
fis-161	47	19	i.e.	i.e.	X
fis-161	47	20	1	1	NUM
fis-161	47	21	2	2	NUM
fis-161	47	22	0v	0v	NOUN
fis-161	47	23	v	v	ADV
fis-161	47	24			NUM
fis-161	47	25	)	)	PUNCT
fis-161	47	26	possesses	possess	VERB
fis-161	47	27	a	a	DET
fis-161	47	28	rest	rest	NOUN
fis-161	47	29	(	(	PUNCT
fis-161	47	30	stable	stable	ADJ
fis-161	47	31	)	)	PUNCT
fis-161	47	32	position	position	NOUN
fis-161	47	33	when	when	SCONJ
fis-161	47	34	the	the	DET
fis-161	47	35	actuator	actuator	NOUN
fis-161	47	36	output	output	NOUN
fis-161	47	37	lies	lie	VERB
fis-161	47	38	exactly	exactly	ADV
fis-161	47	39	in	in	ADP
fis-161	47	40	the	the	DET
fis-161	47	41	middle	middle	NOUN
fis-161	47	42	of	of	ADP
fis-161	47	43	the	the	DET
fis-161	47	44	rigid	rigid	ADJ
fis-161	47	45	frame	frame	NOUN
fis-161	47	46	rings	ring	NOUN
fis-161	47	47	(	(	PUNCT
fis-161	47	48	i.e.	i.e.	X
fis-161	47	49	when	when	SCONJ
fis-161	47	50	x	x	X
fis-161	47	51	d	d	PROPN
fis-161	47	52	)	)	PUNCT
fis-161	47	53	.	.	PUNCT
fis-161	48	1	also	also	ADV
fis-161	48	2	,	,	PUNCT
fis-161	48	3	the	the	DET
fis-161	48	4	actuator	actuator	NOUN
fis-161	48	5	maintains	maintain	VERB
fis-161	48	6	a	a	DET
fis-161	48	7	positive	positive	ADJ
fis-161	48	8	stiffness	stiffness	NOUN
fis-161	48	9	across	across	ADP
fis-161	48	10	the	the	DET
fis-161	48	11	desired	desire	VERB
fis-161	48	12	stroke	stroke	NOUN
fis-161	48	13	(	(	PUNCT
fis-161	48	14	see	see	VERB
fis-161	48	15	sec	sec	PROPN
fis-161	48	16	.	.	PROPN
fis-161	48	17	mathematical	mathematical	ADJ
fis-161	48	18	model	model	NOUN
fis-161	48	19	of	of	ADP
fis-161	48	20	the	the	DET
fis-161	48	21	dielectric	dielectric	ADJ
fis-161	48	22	elastomer	elastomer	NOUN
fis-161	48	23	film	film	NOUN
fis-161	48	24	force	force	NOUN
fis-161	48	25	)	)	PUNCT
fis-161	48	26	.	.	PUNCT
fis-161	49	1	for	for	ADP
fis-161	49	2	each	each	DET
fis-161	49	3	actuator	actuator	NOUN
fis-161	49	4	output	output	NOUN
fis-161	49	5	position	position	NOUN
fis-161	49	6	,	,	PUNCT
fis-161	49	7	reciprocal	reciprocal	ADJ
fis-161	49	8	activation	activation	NOUN
fis-161	49	9	of	of	ADP
fis-161	49	10	the	the	DET
fis-161	49	11	agonist	agonist	NOUN
fis-161	49	12	-	-	PUNCT
fis-161	49	13	antagonist	antagonist	NOUN
fis-161	49	14	de	de	NOUN
fis-161	49	15	films	film	NOUN
fis-161	49	16	enables	enable	VERB
fis-161	49	17	feed	feed	NOUN
fis-161	49	18	-	-	PUNCT
fis-161	49	19	forward	forward	ADV
fis-161	49	20	independent	independent	ADJ
fis-161	49	21	regulation	regulation	NOUN
fis-161	49	22	of	of	ADP
fis-161	49	23	the	the	DET
fis-161	49	24	actuator	actuator	NOUN
fis-161	49	25	interaction	interaction	NOUN
fis-161	49	26	force	force	NOUN
fis-161	49	27	.	.	PUNCT
fis-161	50	1	figure	figure	VERB
fis-161	50	2	1	1	NUM
fis-161	50	3	:	:	PUNCT
fis-161	50	4	de	de	X
fis-161	50	5	actuator	actuator	PROPN
fis-161	50	6	cad	cad	PROPN
fis-161	50	7	model	model	PROPN
fis-161	50	8	.	.	PUNCT
fis-161	51	1	figure	figure	VERB
fis-161	51	2	2	2	NUM
fis-161	51	3	:	:	PUNCT
fis-161	51	4	parallel	parallel	ADJ
fis-161	51	5	compliant	compliant	ADJ
fis-161	51	6	mechanism	mechanism	NOUN
fis-161	51	7	.	.	PUNCT
fis-161	52	1	pseudo	pseudo	NOUN
fis-161	52	2	-	-	ADJ
fis-161	52	3	rigid	rigid	ADJ
fis-161	52	4	model	model	NOUN
fis-161	52	5	.	.	PUNCT
fis-161	53	1	figure	figure	VERB
fis-161	53	2	3	3	NUM
fis-161	53	3	:	:	PUNCT
fis-161	53	4	slider	slider	NOUN
fis-161	53	5	-	-	PUNCT
fis-161	53	6	crank	crank	NOUN
fis-161	53	7	schematic	schematic	ADJ
fis-161	53	8	.	.	PUNCT
fis-161	54	1	mathematical	mathematical	ADJ
fis-161	54	2	model	model	NOUN
fis-161	54	3	of	of	ADP
fis-161	54	4	the	the	DET
fis-161	54	5	dielectric	dielectric	ADJ
fis-161	54	6	elastomer	elastomer	NOUN
fis-161	54	7	film	film	NOUN
fis-161	54	8	force	force	NOUN
fis-161	54	9	et	et	PROPN
fis-161	54	10	first	first	ADV
fis-161	54	11	consider	consider	VERB
fis-161	54	12	the	the	DET
fis-161	54	13	de	de	X
fis-161	54	14	film	film	NOUN
fis-161	54	15	#	#	SYM
fis-161	54	16	1	1	NUM
fis-161	54	17	.	.	PUNCT
fis-161	55	1	the	the	DET
fis-161	55	2	expression	expression	NOUN
fis-161	55	3	of	of	ADP
fis-161	55	4	the	the	DET
fis-161	55	5	overall	overall	ADJ
fis-161	55	6	external	external	ADJ
fis-161	55	7	force	force	NOUN
fis-161	55	8	,	,	PUNCT
fis-161	55	9	f(f,1	f(f,1	PROPN
fis-161	55	10	)	)	PUNCT
fis-161	55	11	,	,	PUNCT
fis-161	55	12	that	that	PRON
fis-161	55	13	must	must	AUX
fis-161	55	14	be	be	AUX
fis-161	55	15	supplied	supply	VERB
fis-161	55	16	at	at	ADP
fis-161	55	17	o	o	PROPN
fis-161	55	18	and	and	CCONJ
fis-161	55	19	p	p	X
fis-161	55	20	(	(	PUNCT
fis-161	55	21	and	and	CCONJ
fis-161	55	22	directed	direct	VERB
fis-161	55	23	along	along	ADP
fis-161	55	24	the	the	DET
fis-161	55	25	line	line	NOUN
fis-161	55	26	joining	join	VERB
fis-161	55	27	these	these	DET
fis-161	55	28	points	point	NOUN
fis-161	55	29	,	,	PUNCT
fis-161	55	30	fig	fig	NOUN
fis-161	55	31	.	.	PUNCT
fis-161	56	1	2	2	NUM
fis-161	56	2	)	)	PUNCT
fis-161	56	3	to	to	PART
fis-161	56	4	balance	balance	VERB
fis-161	56	5	the	the	DET
fis-161	56	6	de	de	X
fis-161	56	7	internal	internal	ADJ
fis-161	56	8	reaction	reaction	NOUN
fis-161	56	9	force	force	NOUN
fis-161	56	10	at	at	ADP
fis-161	56	11	a	a	DET
fis-161	56	12	given	give	VERB
fis-161	56	13	generic	generic	ADJ
fis-161	56	14	configuration	configuration	NOUN
fis-161	56	15	x	x	PUNCT
fis-161	56	16	of	of	ADP
fis-161	56	17	the	the	DET
fis-161	56	18	actuator	actuator	NOUN
fis-161	56	19	,	,	PUNCT
fis-161	56	20	can	can	AUX
fis-161	56	21	be	be	AUX
fis-161	56	22	split	split	VERB
fis-161	56	23	as	as	SCONJ
fis-161	56	24	:	:	PUNCT
fis-161	56	25	,	,	PUNCT
fis-161	56	26	1	1	NUM
fis-161	56	27	1	1	NUM
fis-161	56	28	,	,	PUNCT
fis-161	56	29	1	1	NUM
fis-161	56	30	,	,	PUNCT
fis-161	56	31	1	1	NUM
fis-161	56	32	1	1	NUM
fis-161	56	33	(	(	PUNCT
fis-161	56	34	,	,	PUNCT
fis-161	56	35	,	,	PUNCT
fis-161	56	36	)	)	PUNCT
fis-161	56	37	(	(	PUNCT
fis-161	56	38	,	,	PUNCT
fis-161	56	39	)	)	PUNCT
fis-161	56	40	(	(	PUNCT
fis-161	56	41	,	,	PUNCT
fis-161	56	42	)	)	PUNCT
fis-161	56	43	f	f	X
fis-161	56	44	ve	ve	AUX
fis-161	56	45	emf	emf	VERB
fis-161	56	46	x	x	PUNCT
fis-161	56	47	x	x	X
fis-161	56	48	v	v	ADP
fis-161	56	49	f	f	X
fis-161	56	50	x	x	PUNCT
fis-161	56	51	x	x	SYM
fis-161	56	52	f	f	X
fis-161	56	53	x	x	X
fis-161	56	54	v	v	ADJ
fis-161	56	55			ADJ
fis-161	56	56			NOUN
fis-161	56	57	(	(	PUNCT
fis-161	56	58	1	1	NUM
fis-161	56	59	)	)	PUNCT
fis-161	56	60	where	where	SCONJ
fis-161	56	61	f(ve,1	f(ve,1	NOUN
fis-161	56	62	)	)	PUNCT
fis-161	56	63	represents	represent	VERB
fis-161	56	64	the	the	DET
fis-161	56	65	viscoelastic	viscoelastic	ADJ
fis-161	56	66	response	response	NOUN
fis-161	56	67	of	of	ADP
fis-161	56	68	the	the	DET
fis-161	56	69	de	de	X
fis-161	56	70	film	film	NOUN
fis-161	56	71	and	and	CCONJ
fis-161	56	72	f(em,1	f(em,1	PROPN
fis-161	56	73	)	)	PUNCT
fis-161	56	74	represents	represent	VERB
fis-161	56	75	an	an	DET
fis-161	56	76	electrically	electrically	ADV
fis-161	56	77	induced	induce	VERB
fis-161	56	78	term	term	NOUN
fis-161	56	79	,	,	PUNCT
fis-161	56	80	having	have	VERB
fis-161	56	81	the	the	DET
fis-161	56	82	dimension	dimension	NOUN
fis-161	56	83	of	of	ADP
fis-161	56	84	a	a	DET
fis-161	56	85	force	force	NOUN
fis-161	56	86	and	and	CCONJ
fis-161	56	87	usually	usually	ADV
fis-161	56	88	referred	refer	VERB
fis-161	56	89	to	to	ADP
fis-161	56	90	as	as	ADP
fis-161	56	91	maxwell	maxwell	PROPN
fis-161	56	92	force	force	NOUN
fis-161	56	93	[	[	X
fis-161	56	94	11	11	NUM
fis-161	56	95	,	,	PUNCT
fis-161	56	96	12	12	NUM
fis-161	56	97	]	]	PUNCT
fis-161	56	98	.	.	PUNCT
fis-161	57	1	as	as	ADP
fis-161	57	2	for	for	ADP
fis-161	57	3	the	the	DET
fis-161	57	4	electrically	electrically	ADV
fis-161	57	5	induced	induce	VERB
fis-161	57	6	force	force	NOUN
fis-161	57	7	,	,	PUNCT
fis-161	57	8	a	a	DET
fis-161	57	9	suitable	suitable	ADJ
fis-161	57	10	expression	expression	NOUN
fis-161	57	11	for	for	ADP
fis-161	57	12	conically	conically	ADV
fis-161	57	13	-	-	PUNCT
fis-161	57	14	shaped	shape	VERB
fis-161	57	15	des	de	NOUN
fis-161	57	16	has	have	AUX
fis-161	57	17	been	be	AUX
fis-161	57	18	derived	derive	VERB
fis-161	57	19	in	in	ADP
fis-161	57	20	[	[	X
fis-161	57	21	6	6	NUM
fis-161	57	22	]	]	PUNCT
fis-161	57	23	and	and	CCONJ
fis-161	57	24	it	it	PRON
fis-161	57	25	is	be	AUX
fis-161	57	26	given	give	VERB
fis-161	57	27	by	by	ADP
fis-161	57	28	:	:	PUNCT
fis-161	57	29	2	2	NUM
fis-161	57	30	2	2	NUM
fis-161	57	31	2	2	NUM
fis-161	57	32	,	,	PUNCT
fis-161	57	33	1	1	NUM
fis-161	57	34	1	1	NUM
fis-161	57	35	1	1	NUM
fis-161	57	36	(	(	PUNCT
fis-161	57	37	,	,	PUNCT
fis-161	57	38	)	)	PUNCT
fis-161	57	39	(	(	PUNCT
fis-161	57	40	)	)	PUNCT
fis-161	57	41	/em	/em	PUNCT
fis-161	58	1	m	m	AUX
fis-161	58	2	mf	mf	PRON
fis-161	58	3	v	v	NOUN
fis-161	58	4	x	x	SYM
fis-161	58	5	x	x	SYM
fis-161	58	6	v	v	NOUN
fis-161	58	7	r	r	NOUN
fis-161	58	8	r	r	NOUN
fis-161	58	9			PROPN
fis-161	58	10			PROPN
fis-161	58	11			VERB
fis-161	58	12			PUNCT
fis-161	58	13	(	(	PUNCT
fis-161	58	14	2	2	X
fis-161	58	15	)	)	PUNCT
fis-161	58	16	l	l	NOUN
fis-161	58	17	http://www.gruppofrattura.it	http://www.gruppofrattura.it	PROPN
fis-161	58	18	http://dx.medra.org/10.3221/igf-esis.23.05&auth=true	http://dx.medra.org/10.3221/igf-esis.23.05&auth=true	PROPN
fis-161	58	19	r.	r.	PROPN
fis-161	58	20	vertechy	vertechy	PROPN
fis-161	58	21	et	et	PROPN
fis-161	58	22	alii	alii	PROPN
fis-161	58	23	,	,	PUNCT
fis-161	58	24	frattura	frattura	PROPN
fis-161	58	25	ed	ed	PROPN
fis-161	58	26	integrità	integrità	PROPN
fis-161	58	27	strutturale	strutturale	PROPN
fis-161	58	28	,	,	PUNCT
fis-161	58	29	23	23	NUM
fis-161	58	30	(	(	PUNCT
fis-161	58	31	2013	2013	NUM
fis-161	58	32	)	)	PUNCT
fis-161	58	33	47	47	NUM
fis-161	58	34	-	-	SYM
fis-161	58	35	56	56	NUM
fis-161	58	36	;	;	PUNCT
fis-161	58	37	doi	doi	NOUN
fis-161	58	38	:	:	PUNCT
fis-161	58	39	10.3221	10.3221	NUM
fis-161	58	40	/	/	SYM
fis-161	58	41	igf	igf	PROPN
fis-161	58	42	-	-	PUNCT
fis-161	58	43	esis.23.05	esis.23.05	PROPN
fis-161	58	44	50	50	NUM
fis-161	58	45	where	where	SCONJ
fis-161	58	46	2	2	NUM
fis-161	58	47	2	2	NUM
fis-161	58	48	2	2	NUM
fis-161	58	49	0	0	NUM
fis-161	58	50	(	(	PUNCT
fis-161	58	51	)	)	PUNCT
fis-161	58	52	m	m	VERB
fis-161	58	53	m	m	VERB
fis-161	58	54	pr	pr	NOUN
fis-161	58	55	r	r	NOUN
fis-161	58	56	t	t	PROPN
fis-161	58	57			NOUN
fis-161	58	58			X
fis-161	58	59			NOUN
fis-161	58	60	is	be	AUX
fis-161	58	61	the	the	DET
fis-161	58	62	de	de	X
fis-161	58	63	volume	volume	NOUN
fis-161	58	64	,	,	PUNCT
fis-161	58	65	4.5	4.5	NUM
fis-161	58	66	8.85	8.85	NUM
fis-161	58	67	12	12	NUM
fis-161	58	68	/e	/e	SYM
fis-161	59	1	f	f	PROPN
fis-161	59	2	m	m	PROPN
fis-161	59	3			PROPN
fis-161	59	4			ADJ
fis-161	59	5			NOUN
fis-161	59	6	is	be	AUX
fis-161	59	7	the	the	DET
fis-161	59	8	dielectric	dielectric	ADJ
fis-161	59	9	permittivity	permittivity	NOUN
fis-161	59	10	of	of	ADP
fis-161	59	11	the	the	DET
fis-161	59	12	acrylic	acrylic	NOUN
fis-161	59	13	film	film	NOUN
fis-161	59	14	,	,	PUNCT
fis-161	59	15	and	and	CCONJ
fis-161	59	16	0.6	0.6	NOUN
fis-161	60	1			PROPN
fis-161	60	2	is	be	AUX
fis-161	60	3	a	a	DET
fis-161	60	4	suitable	suitable	ADJ
fis-161	60	5	dimensionless	dimensionless	NOUN
fis-161	60	6	correction	correction	NOUN
fis-161	60	7	factor	factor	NOUN
fis-161	60	8	.	.	PUNCT
fis-161	61	1	this	this	DET
fis-161	61	2	expression	expression	NOUN
fis-161	61	3	is	be	AUX
fis-161	61	4	based	base	VERB
fis-161	61	5	on	on	ADP
fis-161	61	6	the	the	DET
fis-161	61	7	assumption	assumption	NOUN
fis-161	61	8	that	that	SCONJ
fis-161	61	9	the	the	DET
fis-161	61	10	incompressible	incompressible	ADJ
fis-161	61	11	de	de	X
fis-161	61	12	is	be	AUX
fis-161	61	13	a	a	DET
fis-161	61	14	right	right	ADJ
fis-161	61	15	circular	circular	ADJ
fis-161	61	16	conical	conical	NOUN
fis-161	61	17	horn	horn	NOUN
fis-161	61	18	with	with	ADP
fis-161	61	19	constant	constant	ADJ
fis-161	61	20	wall	wall	NOUN
fis-161	61	21	thickness	thickness	NOUN
fis-161	61	22	in	in	ADP
fis-161	61	23	any	any	PRON
fis-161	61	24	of	of	ADP
fis-161	61	25	its	its	PRON
fis-161	61	26	deformed	deform	VERB
fis-161	61	27	configurations	configuration	NOUN
fis-161	61	28	.	.	PUNCT
fis-161	62	1	as	as	ADP
fis-161	62	2	for	for	ADP
fis-161	62	3	the	the	DET
fis-161	62	4	de	de	X
fis-161	62	5	viscoelastic	viscoelastic	NOUN
fis-161	62	6	response	response	NOUN
fis-161	62	7	,	,	PUNCT
fis-161	62	8	a	a	DET
fis-161	62	9	possible	possible	ADJ
fis-161	62	10	approach	approach	NOUN
fis-161	62	11	is	be	AUX
fis-161	62	12	to	to	PART
fis-161	62	13	consider	consider	VERB
fis-161	62	14	the	the	DET
fis-161	62	15	force	force	NOUN
fis-161	62	16	response	response	NOUN
fis-161	62	17	due	due	ADP
fis-161	62	18	to	to	ADP
fis-161	62	19	a	a	DET
fis-161	62	20	step	step	NOUN
fis-161	62	21	change	change	NOUN
fis-161	62	22	in	in	ADP
fis-161	62	23	displacement	displacement	NOUN
fis-161	62	24	and	and	CCONJ
fis-161	62	25	to	to	PART
fis-161	62	26	superimpose	superimpose	VERB
fis-161	62	27	each	each	DET
fis-161	62	28	contribution	contribution	NOUN
fis-161	62	29	of	of	ADP
fis-161	62	30	a	a	DET
fis-161	62	31	displacement	displacement	ADJ
fis-161	62	32	history	history	NOUN
fis-161	62	33	,	,	PUNCT
fis-161	62	34	(	(	PUNCT
fis-161	62	35	)	)	PUNCT
fis-161	62	36	x	x	SYM
fis-161	62	37	t	t	PROPN
fis-161	62	38	,	,	PUNCT
fis-161	62	39	by	by	ADP
fis-161	62	40	applying	apply	VERB
fis-161	62	41	a	a	DET
fis-161	62	42	proper	proper	ADJ
fis-161	62	43	superposition	superposition	NOUN
fis-161	62	44	principle	principle	NOUN
fis-161	62	45	.	.	PUNCT
fis-161	63	1	resorting	resort	VERB
fis-161	63	2	to	to	ADP
fis-161	63	3	a	a	DET
fis-161	63	4	one	one	NUM
fis-161	63	5	dimensional	dimensional	ADJ
fis-161	63	6	model	model	NOUN
fis-161	63	7	,	,	PUNCT
fis-161	63	8	the	the	DET
fis-161	63	9	overall	overall	ADJ
fis-161	63	10	force	force	NOUN
fis-161	63	11	response	response	NOUN
fis-161	63	12	is	be	AUX
fis-161	63	13	then	then	ADV
fis-161	63	14	given	give	VERB
fis-161	63	15	by	by	ADP
fis-161	63	16	:	:	PUNCT
fis-161	63	17	,	,	PUNCT
fis-161	63	18	1	1	NUM
fis-161	63	19	0	0	NUM
fis-161	63	20	0	0	NUM
fis-161	63	21	(	(	PUNCT
fis-161	63	22	)	)	PUNCT
fis-161	63	23	(	(	PUNCT
fis-161	63	24	)	)	PUNCT
fis-161	63	25	(	(	PUNCT
fis-161	63	26	)	)	PUNCT
fis-161	63	27	[	[	PUNCT
fis-161	63	28	(	(	PUNCT
fis-161	63	29	)	)	PUNCT
fis-161	63	30	(	(	PUNCT
fis-161	63	31	)	)	PUNCT
fis-161	63	32	ˆ	ˆ	X
fis-161	63	33	ˆ	ˆ	PROPN
fis-161	63	34	]	]	PUNCT
fis-161	63	35	t	t	PROPN
fis-161	63	36	t	t	PROPN
fis-161	63	37	ve	ve	VERB
fis-161	63	38	dx	dx	PROPN
fis-161	63	39	f	f	PROPN
fis-161	63	40	t	t	PROPN
fis-161	64	1	t	t	PROPN
fis-161	65	1	d	d	X
fis-161	65	2	x	x	PROPN
fis-161	65	3	t	t	NOUN
fis-161	65	4	d	d	X
fis-161	65	5	d	d	X
fis-161	65	6			NOUN
fis-161	65	7			NOUN
fis-161	65	8			NOUN
fis-161	65	9			NOUN
fis-161	65	10			NOUN
fis-161	66	1			PROPN
fis-161	66	2			PROPN
fis-161	66	3			NUM
fis-161	66	4			NUM
fis-161	66	5			NOUN
fis-161	66	6			PROPN
fis-161	66	7			PROPN
fis-161	66	8	(	(	PUNCT
fis-161	66	9	3	3	X
fis-161	66	10	)	)	PUNCT
fis-161	66	11	having	having	AUX
fis-161	66	12	assumed	assume	VERB
fis-161	66	13	0x	0x	NOUN
fis-161	66	14			PROPN
fis-161	66	15	for	for	ADP
fis-161	66	16	0	0	NUM
fis-161	66	17	t	t	NOUN
fis-161	66	18			PROPN
fis-161	66	19	and	and	CCONJ
fis-161	66	20	a	a	DET
fis-161	66	21	differentiable	differentiable	ADJ
fis-161	66	22	displacement	displacement	NOUN
fis-161	66	23	history	history	NOUN
fis-161	66	24	.	.	PUNCT
fis-161	67	1	the	the	DET
fis-161	67	2	function	function	NOUN
fis-161	67	3	ˆ	ˆ	PROPN
fis-161	67	4	(	(	PUNCT
fis-161	67	5	,	,	PUNCT
fis-161	67	6	)	)	PUNCT
fis-161	67	7	t	t	PROPN
fis-161	67	8	x	x	PROPN
fis-161	67	9	is	be	AUX
fis-161	67	10	named	name	VERB
fis-161	67	11	relaxation	relaxation	NOUN
fis-161	67	12	function	function	NOUN
fis-161	67	13	and	and	CCONJ
fis-161	67	14	specifies	specify	VERB
fis-161	67	15	the	the	DET
fis-161	67	16	force	force	NOUN
fis-161	67	17	response	response	NOUN
fis-161	67	18	to	to	ADP
fis-161	67	19	a	a	DET
fis-161	67	20	unit	unit	NOUN
fis-161	67	21	step	step	NOUN
fis-161	67	22	change	change	NOUN
fis-161	67	23	in	in	ADP
fis-161	67	24	displacement	displacement	NOUN
fis-161	67	25	.	.	PUNCT
fis-161	68	1	in	in	ADP
fis-161	68	2	the	the	DET
fis-161	68	3	qlv	qlv	PROPN
fis-161	68	4	framework	framework	NOUN
fis-161	68	5	[	[	X
fis-161	68	6	7,8	7,8	NUM
fis-161	68	7	]	]	PUNCT
fis-161	68	8	,	,	PUNCT
fis-161	68	9	the	the	DET
fis-161	68	10	relaxation	relaxation	NOUN
fis-161	68	11	function	function	NOUN
fis-161	68	12	takes	take	VERB
fis-161	68	13	the	the	DET
fis-161	68	14	form	form	NOUN
fis-161	68	15	:	:	PUNCT
fis-161	68	16	,	,	PUNCT
fis-161	68	17	1	1	NUM
fis-161	68	18	(	(	PUNCT
fis-161	68	19	,	,	PUNCT
fis-161	68	20	)	)	PUNCT
fis-161	68	21	(	(	PUNCT
fis-161	68	22	)	)	PUNCT
fis-161	68	23	(	(	PUNCT
fis-161	68	24	)	)	PUNCT
fis-161	68	25	(	(	PUNCT
fis-161	68	26	ˆ	ˆ	NOUN
fis-161	68	27	0	0	NUM
fis-161	68	28	)	)	PUNCT
fis-161	68	29	1	1	NUM
fis-161	68	30	           	           	SPACE
fis-161	68	31	ex	ex	X
fis-161	68	32	t	t	NOUN
fis-161	68	33	f	f	X
fis-161	68	34	x	x	PROPN
fis-161	68	35	g	g	ADP
fis-161	68	36	t	t	PROPN
fis-161	68	37	with	with	ADP
fis-161	68	38	g	g	PROPN
fis-161	68	39			NUM
fis-161	68	40			NOUN
fis-161	68	41	(	(	PUNCT
fis-161	68	42	4	4	NUM
fis-161	68	43	)	)	PUNCT
fis-161	68	44	where	where	SCONJ
fis-161	68	45	f(e,1)(x	f(e,1)(x	NOUN
fis-161	68	46	)	)	PUNCT
fis-161	68	47	is	be	AUX
fis-161	68	48	the	the	DET
fis-161	68	49	elastic	elastic	ADJ
fis-161	68	50	response	response	NOUN
fis-161	68	51	,	,	PUNCT
fis-161	68	52	i.e.	i.e.	X
fis-161	68	53	the	the	DET
fis-161	68	54	force	force	NOUN
fis-161	68	55	generated	generate	VERB
fis-161	68	56	by	by	ADP
fis-161	68	57	an	an	DET
fis-161	68	58	instantaneous	instantaneous	ADJ
fis-161	68	59	displacement	displacement	NOUN
fis-161	68	60	,	,	PUNCT
fis-161	68	61	whereas	whereas	SCONJ
fis-161	68	62	g(t	g(t	PROPN
fis-161	68	63	)	)	PUNCT
fis-161	68	64	,	,	PUNCT
fis-161	68	65	called	call	VERB
fis-161	68	66	reduced	reduced	ADJ
fis-161	68	67	relaxation	relaxation	NOUN
fis-161	68	68	function	function	NOUN
fis-161	68	69	,	,	PUNCT
fis-161	68	70	describes	describe	VERB
fis-161	68	71	the	the	DET
fis-161	68	72	time	time	NOUN
fis-161	68	73	-	-	PUNCT
fis-161	68	74	dependant	dependant	ADJ
fis-161	68	75	behavior	behavior	NOUN
fis-161	68	76	of	of	ADP
fis-161	68	77	the	the	DET
fis-161	68	78	material	material	NOUN
fis-161	68	79	.	.	PUNCT
fis-161	69	1	as	as	ADP
fis-161	69	2	for	for	ADP
fis-161	69	3	the	the	DET
fis-161	69	4	latter	latter	ADJ
fis-161	69	5	term	term	NOUN
fis-161	69	6	,	,	PUNCT
fis-161	69	7	it	it	PRON
fis-161	69	8	is	be	AUX
fis-161	69	9	customary	customary	ADJ
fis-161	69	10	to	to	PART
fis-161	69	11	assume	assume	VERB
fis-161	69	12	a	a	DET
fis-161	69	13	linear	linear	ADJ
fis-161	69	14	combination	combination	NOUN
fis-161	69	15	of	of	ADP
fis-161	69	16	exponential	exponential	ADJ
fis-161	69	17	functions	function	NOUN
fis-161	69	18	,	,	PUNCT
fis-161	69	19	the	the	DET
fis-161	69	20	exponents	exponent	NOUN
fis-161	69	21	νi	νi	PRON
fis-161	69	22	identifying	identify	VERB
fis-161	69	23	the	the	DET
fis-161	69	24	rate	rate	NOUN
fis-161	69	25	of	of	ADP
fis-161	69	26	the	the	DET
fis-161	69	27	relaxation	relaxation	NOUN
fis-161	69	28	phenomena	phenomenon	NOUN
fis-161	69	29	,	,	PUNCT
fis-161	69	30	and	and	CCONJ
fis-161	69	31	the	the	DET
fis-161	69	32	coefficients	coefficient	NOUN
fis-161	69	33	ci	ci	VERB
fis-161	69	34	depending	depend	VERB
fis-161	69	35	on	on	ADP
fis-161	69	36	the	the	DET
fis-161	69	37	material	material	NOUN
fis-161	69	38	:	:	PUNCT
fis-161	69	39	0	0	NUM
fis-161	69	40	0	0	NUM
fis-161	70	1	(	(	PUNCT
fis-161	70	2	)	)	PUNCT
fis-161	70	3	1	1	NUM
fis-161	70	4	           	           	SPACE
fis-161	70	5	i	i	PRON
fis-161	70	6	r	r	NOUN
fis-161	70	7	r	r	NOUN
fis-161	71	1	t	t	NOUN
fis-161	72	1	i	i	PRON
fis-161	72	2	i	i	PRON
fis-161	73	1	i	i	PRON
fis-161	73	2	i	i	PRON
fis-161	74	1	g	g	VERB
fis-161	74	2	t	t	PROPN
fis-161	74	3	c	c	X
fis-161	74	4	e	e	NOUN
fis-161	74	5	with	with	ADP
fis-161	74	6	c	c	ADJ
fis-161	74	7			PROPN
fis-161	74	8			PRON
fis-161	74	9			NUM
fis-161	74	10			NUM
fis-161	74	11			X
fis-161	74	12			X
fis-161	74	13	(	(	PUNCT
fis-161	74	14	5	5	NUM
fis-161	74	15	)	)	PUNCT
fis-161	74	16	where	where	SCONJ
fis-161	74	17	,	,	PUNCT
fis-161	74	18	in	in	ADP
fis-161	74	19	general	general	ADJ
fis-161	74	20	,	,	PUNCT
fis-161	74	21	0	0	NUM
fis-161	74	22	0	0	NUM
fis-161	74	23			NOUN
fis-161	74	24	.	.	PUNCT
fis-161	75	1	finally	finally	ADV
fis-161	75	2	,	,	PUNCT
fis-161	75	3	the	the	DET
fis-161	75	4	total	total	ADJ
fis-161	75	5	force	force	NOUN
fis-161	75	6	at	at	ADP
fis-161	75	7	the	the	DET
fis-161	75	8	instant	instant	ADJ
fis-161	75	9	t	t	PROPN
fis-161	75	10	is	be	AUX
fis-161	75	11	the	the	DET
fis-161	75	12	sum	sum	NOUN
fis-161	75	13	of	of	ADP
fis-161	75	14	the	the	DET
fis-161	75	15	contributions	contribution	NOUN
fis-161	75	16	due	due	ADP
fis-161	75	17	to	to	ADP
fis-161	75	18	all	all	DET
fis-161	75	19	past	past	ADJ
fis-161	75	20	changes	change	NOUN
fis-161	75	21	[	[	PUNCT
fis-161	75	22	13	13	NUM
fis-161	75	23	]	]	PUNCT
fis-161	75	24	,	,	PUNCT
fis-161	75	25	i.e.	i.e.	X
fis-161	75	26	,	,	PUNCT
fis-161	75	27	1	1	NUM
fis-161	75	28	,	,	PUNCT
fis-161	75	29	1	1	NUM
fis-161	75	30	0	0	NUM
fis-161	75	31	[	[	PUNCT
fis-161	75	32	(	(	PUNCT
fis-161	75	33	)	)	PUNCT
fis-161	75	34	]	]	PUNCT
fis-161	75	35	(	(	PUNCT
fis-161	75	36	)	)	PUNCT
fis-161	75	37	(	(	PUNCT
fis-161	75	38	)	)	PUNCT
fis-161	75	39	(	(	PUNCT
fis-161	75	40	)	)	PUNCT
fis-161	75	41	t	t	NOUN
fis-161	75	42	e	e	X
fis-161	75	43	ve	ve	NOUN
fis-161	75	44	f	f	NOUN
fis-161	75	45	x	x	X
fis-161	76	1	x	x	X
fis-161	76	2	f	f	NOUN
fis-161	76	3	t	t	NOUN
fis-161	76	4	g	g	PROPN
fis-161	76	5	t	t	PROPN
fis-161	76	6	d	d	X
fis-161	76	7	x	x	X
fis-161	76	8			NOUN
fis-161	76	9			NOUN
fis-161	76	10			NOUN
fis-161	76	11			NOUN
fis-161	76	12			ADJ
fis-161	76	13			ADJ
fis-161	76	14			PROPN
fis-161	76	15			PROPN
fis-161	76	16			PROPN
fis-161	76	17			NOUN
fis-161	76	18	(	(	PUNCT
fis-161	76	19	6	6	NUM
fis-161	76	20	)	)	PUNCT
fis-161	76	21	,	,	PUNCT
fis-161	76	22	1	1	NUM
fis-161	76	23	0	0	NUM
fis-161	76	24	(	(	PUNCT
fis-161	76	25	)	)	PUNCT
fis-161	76	26	[	[	PUNCT
fis-161	76	27	(	(	PUNCT
fis-161	76	28	)	)	PUNCT
fis-161	76	29	]	]	PUNCT
fis-161	76	30	(	(	PUNCT
fis-161	76	31	)	)	PUNCT
fis-161	76	32	t	t	PROPN
fis-161	76	33	eg	eg	NOUN
fis-161	76	34	t	t	PROPN
fis-161	76	35	k	k	NOUN
fis-161	76	36	x	x	PUNCT
fis-161	76	37	x	x	X
fis-161	76	38	d	d	NOUN
fis-161	76	39			NOUN
fis-161	76	40			NOUN
fis-161	76	41			VERB
fis-161	76	42			ADJ
fis-161	76	43			NOUN
fis-161	76	44	(	(	PUNCT
fis-161	76	45	7	7	NUM
fis-161	76	46	)	)	PUNCT
fis-161	76	47	where	where	SCONJ
fis-161	76	48	,	,	PUNCT
fis-161	76	49	1	1	NUM
fis-161	76	50	,	,	PUNCT
fis-161	76	51	1	1	NUM
fis-161	76	52	(	(	PUNCT
fis-161	76	53	)	)	PUNCT
fis-161	77	1	[	[	PUNCT
fis-161	77	2	]	]	X
fis-161	77	3	/e	/e	PUNCT
fis-161	78	1	ek	ek	NOUN
fis-161	79	1	x	x	X
fis-161	79	2	f	f	PROPN
fis-161	79	3	x	x	X
fis-161	79	4	x	x	PROPN
fis-161	79	5			PROPN
fis-161	79	6			PROPN
fis-161	79	7	.	.	PUNCT
fis-161	80	1	by	by	ADP
fis-161	80	2	substituting	substitute	VERB
fis-161	80	3	eqs	eqs	PROPN
fis-161	80	4	.	.	PUNCT
fis-161	81	1	(	(	PUNCT
fis-161	81	2	4	4	NUM
fis-161	81	3	)	)	PUNCT
fis-161	81	4	and	and	CCONJ
fis-161	81	5	(	(	PUNCT
fis-161	81	6	5	5	NUM
fis-161	81	7	)	)	PUNCT
fis-161	81	8	in	in	ADP
fis-161	81	9	eq	eq	ADP
fis-161	81	10	.	.	PUNCT
fis-161	82	1	(	(	PUNCT
fis-161	82	2	7	7	NUM
fis-161	82	3	)	)	PUNCT
fis-161	82	4	,	,	PUNCT
fis-161	82	5	one	one	PRON
fis-161	82	6	obtains	obtain	VERB
fis-161	82	7	:	:	PUNCT
fis-161	82	8	(	(	PUNCT
fis-161	82	9	)	)	PUNCT
fis-161	82	10	,	,	PUNCT
fis-161	82	11	1	1	NUM
fis-161	82	12	,	,	PUNCT
fis-161	82	13	1	1	NUM
fis-161	82	14	0	0	NUM
fis-161	82	15	10	10	NUM
fis-161	82	16	(	(	PUNCT
fis-161	82	17	)	)	PUNCT
fis-161	82	18	(	(	PUNCT
fis-161	82	19	)	)	PUNCT
fis-161	82	20	(	(	PUNCT
fis-161	82	21	)	)	PUNCT
fis-161	83	1	i	i	PRON
fis-161	83	2	t	t	NOUN
fis-161	83	3	r	r	NOUN
fis-161	83	4	t	t	PROPN
fis-161	83	5	ve	ve	NOUN
fis-161	83	6	e	e	NOUN
fis-161	83	7	i	i	PRON
fis-161	84	1	i	i	INTJ
fis-161	85	1	f	f	PROPN
fis-161	85	2	t	t	PROPN
fis-161	86	1	k	k	X
fis-161	86	2	x	x	X
fis-161	86	3	c	c	NOUN
fis-161	86	4	c	c	NOUN
fis-161	86	5	e	e	X
fis-161	86	6	x	x	PUNCT
fis-161	86	7	d	d	PRON
fis-161	86	8			NOUN
fis-161	86	9			NOUN
fis-161	86	10			NUM
fis-161	86	11			PROPN
fis-161	86	12			PROPN
fis-161	86	13			PROPN
fis-161	86	14			NOUN
fis-161	86	15			PROPN
fis-161	86	16			PROPN
fis-161	86	17			PUNCT
fis-161	86	18			PUNCT
fis-161	86	19			ADJ
fis-161	86	20			NOUN
fis-161	86	21			PROPN
fis-161	86	22			NOUN
fis-161	86	23			NOUN
fis-161	86	24	(	(	PUNCT
fis-161	86	25	8)	8)	NUM
fis-161	86	26	in	in	ADP
fis-161	86	27	particular	particular	ADJ
fis-161	86	28	,	,	PUNCT
fis-161	86	29	referring	refer	VERB
fis-161	86	30	to	to	ADP
fis-161	86	31	fig	fig	NOUN
fis-161	86	32	.	.	PUNCT
fis-161	87	1	4	4	NUM
fis-161	87	2	,	,	PUNCT
fis-161	87	3	the	the	DET
fis-161	87	4	force	force	NOUN
fis-161	87	5	response	response	NOUN
fis-161	87	6	given	give	VERB
fis-161	87	7	by	by	ADP
fis-161	87	8	the	the	DET
fis-161	87	9	qlv	qlv	PROPN
fis-161	87	10	model	model	NOUN
fis-161	87	11	can	can	AUX
fis-161	87	12	be	be	AUX
fis-161	87	13	interpreted	interpret	VERB
fis-161	87	14	as	as	ADP
fis-161	87	15	that	that	PRON
fis-161	87	16	of	of	ADP
fis-161	87	17	a	a	DET
fis-161	87	18	nonlinear	nonlinear	ADJ
fis-161	87	19	stiffness	stiffness	NOUN
fis-161	87	20	connected	connect	VERB
fis-161	87	21	by	by	ADP
fis-161	87	22	a	a	DET
fis-161	87	23	series	series	NOUN
fis-161	87	24	of	of	ADP
fis-161	87	25	r	r	PROPN
fis-161	87	26	linear	linear	PROPN
fis-161	87	27	kelvin	kelvin	PROPN
fis-161	87	28	models	model	NOUN
fis-161	87	29	(	(	PUNCT
fis-161	87	30	i.e.	i.e.	X
fis-161	87	31	a	a	DET
fis-161	87	32	parallel	parallel	ADJ
fis-161	87	33	spring	spring	NOUN
fis-161	87	34	-	-	PUNCT
fis-161	87	35	damper	damper	NOUN
fis-161	87	36	system	system	NOUN
fis-161	87	37	)	)	PUNCT
fis-161	87	38	.	.	PUNCT
fis-161	88	1	figure	figure	VERB
fis-161	88	2	4	4	NUM
fis-161	88	3	:	:	PUNCT
fis-161	88	4	actuator	actuator	NOUN
fis-161	88	5	non	non	ADJ
fis-161	88	6	-	-	ADJ
fis-161	88	7	linear	linear	ADJ
fis-161	88	8	lumped	lump	VERB
fis-161	88	9	parameter	parameter	PROPN
fis-161	88	10	model	model	NOUN
fis-161	88	11	.	.	PUNCT
fis-161	89	1	http://www.gruppofrattura.it	http://www.gruppofrattura.it	PROPN
fis-161	89	2	http://dx.medra.org/10.3221/igf-esis.23.05&auth=true	http://dx.medra.org/10.3221/igf-esis.23.05&auth=true	PROPN
fis-161	89	3	r.	r.	PROPN
fis-161	89	4	vertechy	vertechy	PROPN
fis-161	89	5	et	et	PROPN
fis-161	89	6	alii	alii	PROPN
fis-161	89	7	,	,	PUNCT
fis-161	89	8	frattura	frattura	PROPN
fis-161	89	9	ed	ed	PROPN
fis-161	89	10	integrità	integrità	PROPN
fis-161	89	11	strutturale	strutturale	PROPN
fis-161	89	12	,	,	PUNCT
fis-161	89	13	23	23	NUM
fis-161	89	14	(	(	PUNCT
fis-161	89	15	2013	2013	NUM
fis-161	89	16	)	)	PUNCT
fis-161	89	17	47	47	NUM
fis-161	89	18	-	-	SYM
fis-161	89	19	56	56	NUM
fis-161	89	20	;	;	PUNCT
fis-161	89	21	doi	doi	NOUN
fis-161	89	22	:	:	PUNCT
fis-161	89	23	10.3221	10.3221	NUM
fis-161	89	24	/	/	SYM
fis-161	89	25	igf	igf	PROPN
fis-161	89	26	-	-	PUNCT
fis-161	89	27	esis.23.05	esis.23.05	PROPN
fis-161	89	28	51	51	NUM
fis-161	89	29	concerning	concern	VERB
fis-161	89	30	the	the	DET
fis-161	89	31	de	de	X
fis-161	89	32	quasi	quasi	ADJ
fis-161	89	33	-	-	ADJ
fis-161	89	34	static	static	ADJ
fis-161	89	35	response	response	NOUN
fis-161	89	36	,	,	PUNCT
fis-161	89	37	a	a	DET
fis-161	89	38	suitable	suitable	ADJ
fis-161	89	39	expression	expression	NOUN
fis-161	89	40	for	for	ADP
fis-161	89	41	the	the	DET
fis-161	89	42	elastic	elastic	ADJ
fis-161	89	43	force	force	NOUN
fis-161	89	44	of	of	ADP
fis-161	89	45	conically	conically	ADV
fis-161	89	46	-	-	PUNCT
fis-161	89	47	shaped	shape	VERB
fis-161	89	48	des	de	NOUN
fis-161	89	49	has	have	AUX
fis-161	89	50	been	be	AUX
fis-161	89	51	derived	derive	VERB
fis-161	89	52	in	in	ADP
fis-161	89	53	[	[	X
fis-161	89	54	6	6	NUM
fis-161	89	55	]	]	PUNCT
fis-161	89	56	and	and	CCONJ
fis-161	89	57	it	it	PRON
fis-161	89	58	is	be	AUX
fis-161	89	59	given	give	VERB
fis-161	89	60	by	by	ADP
fis-161	89	61	:	:	PUNCT
fis-161	89	62			ADJ
fis-161	89	63			NOUN
fis-161	89	64			SYM
fis-161	89	65			NOUN
fis-161	89	66			NOUN
fis-161	90	1	3	3	NUM
fis-161	90	2	13	13	NUM
fis-161	90	3	1	1	NUM
fis-161	90	4	2	2	NUM
fis-161	90	5	1	1	NUM
fis-161	90	6	22	22	NUM
fis-161	90	7	2	2	NUM
fis-161	90	8	2	2	NUM
fis-161	90	9	2	2	NUM
fis-161	90	10	1	1	NUM
fis-161	90	11	,	,	PUNCT
fis-161	90	12	1	1	NUM
fis-161	90	13	1	1	NUM
fis-161	90	14	2	2	NUM
fis-161	90	15	1	1	NUM
fis-161	90	16	2	2	NUM
fis-161	90	17	2	2	NUM
fis-161	90	18	2	2	NUM
fis-161	90	19	1	1	NUM
fis-161	90	20	(	(	PUNCT
fis-161	90	21	)	)	PUNCT
fis-161	90	22	[	[	PUNCT
fis-161	90	23	3	3	NUM
fis-161	90	24	)	)	PUNCT
fis-161	90	25	]	]	PUNCT
fis-161	90	26	(	(	PUNCT
fis-161	90	27	)	)	PUNCT
fis-161	90	28			NOUN
fis-161	91	1	i	i	PRON
fis-161	91	2	e	e	VERB
fis-161	92	1	i	i	PRON
fis-161	92	2	i	i	PRON
fis-161	92	3	m	m	VERB
fis-161	92	4	m	m	VERB
fis-161	92	5	m	m	VERB
fis-161	92	6	m	m	VERB
fis-161	92	7	x	x	X
fis-161	92	8	f	f	X
fis-161	92	9	x	x	X
fis-161	92	10	ic	ic	INTJ
fis-161	92	11	r	r	NOUN
fis-161	92	12	r	r	NOUN
fis-161	92	13	x	x	SYM
fis-161	92	14	r	r	NOUN
fis-161	92	15	r	r	NOUN
fis-161	92	16			X
fis-161	92	17			ADJ
fis-161	92	18			ADJ
fis-161	92	19			ADJ
fis-161	92	20			PUNCT
fis-161	92	21			X
fis-161	92	22			ADJ
fis-161	92	23			ADJ
fis-161	92	24			ADJ
fis-161	92	25			PROPN
fis-161	92	26			PROPN
fis-161	92	27			PROPN
fis-161	92	28			PROPN
fis-161	92	29			PROPN
fis-161	92	30			PROPN
fis-161	92	31			PROPN
fis-161	92	32			PROPN
fis-161	92	33			ADV
fis-161	92	34			PUNCT
fis-161	92	35			PROPN
fis-161	92	36			PROPN
fis-161	92	37			PROPN
fis-161	92	38			PROPN
fis-161	92	39			ADJ
fis-161	92	40			NOUN
fis-161	92	41			X
fis-161	92	42	(	(	PUNCT
fis-161	92	43	9	9	NUM
fis-161	92	44	)	)	PUNCT
fis-161	92	45	where	where	SCONJ
fis-161	92	46	2	2	NUM
fis-161	92	47	/p	/p	SYM
fis-161	92	48	r	r	PROPN
fis-161	92	49			ADJ
fis-161	92	50			PROPN
fis-161	92	51	and	and	CCONJ
fis-161	92	52	2	2	NUM
fis-161	92	53	2	2	NUM
fis-161	92	54	1	1	NUM
fis-161	92	55	2	2	NUM
fis-161	92	56	1	1	NUM
fis-161	92	57	/	/	SYM
fis-161	92	58	(	(	PUNCT
fis-161	92	59	)	)	PUNCT
fis-161	92	60	m	m	VERB
fis-161	92	61	mx	mx	NOUN
fis-161	92	62	r	r	NOUN
fis-161	92	63	r	r	PROPN
fis-161	92	64			PROPN
fis-161	92	65			PUNCT
fis-161	92	66			PROPN
fis-161	92	67	are	be	AUX
fis-161	92	68	the	the	DET
fis-161	92	69	longitudinal	longitudinal	ADJ
fis-161	92	70	and	and	CCONJ
fis-161	92	71	latitudinal	latitudinal	ADJ
fis-161	92	72	stretches	stretch	NOUN
fis-161	92	73	of	of	ADP
fis-161	92	74	the	the	DET
fis-161	92	75	de	de	PROPN
fis-161	92	76	middle	middle	PROPN
fis-161	92	77	surface	surface	NOUN
fis-161	92	78	,	,	PUNCT
fis-161	92	79	1	1	NUM
fis-161	92	80	30488c	30488c	NUM
fis-161	92	81	pa	pa	NOUN
fis-161	92	82	,	,	PUNCT
fis-161	93	1	2	2	NUM
fis-161	93	2	151c	151c	NUM
fis-161	93	3	pa	pa	NOUN
fis-161	93	4	,	,	PUNCT
fis-161	93	5	3	3	NUM
fis-161	93	6	8c	8c	NUM
fis-161	93	7	pa	pa	NOUN
fis-161	93	8	are	be	AUX
fis-161	93	9	de	de	X
fis-161	93	10	constitutive	constitutive	ADJ
fis-161	93	11	parameters	parameter	NOUN
fis-161	93	12	of	of	ADP
fis-161	93	13	a	a	DET
fis-161	93	14	yeoh	yeoh	NOUN
fis-161	93	15	-	-	PUNCT
fis-161	93	16	type	type	NOUN
fis-161	93	17	hyperelastic	hyperelastic	ADJ
fis-161	93	18	strain	strain	NOUN
fis-161	93	19	-	-	PUNCT
fis-161	93	20	energy	energy	NOUN
fis-161	93	21	function	function	NOUN
fis-161	93	22	[	[	X
fis-161	93	23	14	14	NUM
fis-161	93	24	]	]	PUNCT
fis-161	93	25	,	,	PUNCT
fis-161	93	26	and	and	CCONJ
fis-161	93	27	0.93	0.93	ADJ
fis-161	93	28			NOUN
fis-161	93	29	is	be	AUX
fis-161	93	30	a	a	DET
fis-161	93	31	dimensionless	dimensionless	NOUN
fis-161	93	32	correction	correction	NOUN
fis-161	93	33	factor	factor	NOUN
fis-161	93	34	.	.	PUNCT
fis-161	94	1	concerning	concern	VERB
fis-161	94	2	the	the	DET
fis-161	94	3	reduced	reduce	VERB
fis-161	94	4	relaxation	relaxation	NOUN
fis-161	94	5	function	function	NOUN
fis-161	94	6	,	,	PUNCT
fis-161	94	7	3r	3r	NUM
fis-161	94	8			NOUN
fis-161	94	9	,	,	PUNCT
fis-161	94	10	0	0	NUM
fis-161	94	11	0.83c	0.83c	NUM
fis-161	94	12			NOUN
fis-161	94	13	,	,	PUNCT
fis-161	94	14	1	1	NUM
fis-161	94	15	0.22c	0.22c	NUM
fis-161	94	16			NUM
fis-161	94	17	,	,	PUNCT
fis-161	94	18	2	2	NUM
fis-161	94	19	1	1	NUM
fis-161	94	20	01c	01c	NOUN
fis-161	94	21	c	c	NOUN
fis-161	94	22	c	c	PROPN
fis-161	94	23			PROPN
fis-161	94	24			PROPN
fis-161	94	25	,	,	PUNCT
fis-161	94	26	1	1	NUM
fis-161	94	27	1	1	NUM
fis-161	94	28	4.30v	4.30v	NUM
fis-161	94	29	s	s	NOUN
fis-161	94	30	,	,	PUNCT
fis-161	94	31	1	1	NUM
fis-161	94	32	2	2	NUM
fis-161	94	33	0.70v	0.70v	NUM
fis-161	94	34	s	s	PROPN
fis-161	94	35	.	.	PUNCT
fis-161	95	1	at	at	ADP
fis-161	95	2	last	last	ADJ
fis-161	95	3	,	,	PUNCT
fis-161	95	4	the	the	DET
fis-161	95	5	contribution	contribution	NOUN
fis-161	95	6	of	of	ADP
fis-161	95	7	the	the	DET
fis-161	95	8	compliant	compliant	ADJ
fis-161	95	9	frame	frame	NOUN
fis-161	95	10	,	,	PUNCT
fis-161	95	11	(	(	PUNCT
fis-161	95	12	)	)	PUNCT
fis-161	95	13	sf	sf	NOUN
fis-161	95	14	x	x	VERB
fis-161	95	15	can	can	AUX
fis-161	95	16	be	be	AUX
fis-161	95	17	easily	easily	ADV
fis-161	95	18	evaluated	evaluate	VERB
fis-161	95	19	resorting	resort	VERB
fis-161	95	20	to	to	ADP
fis-161	95	21	the	the	DET
fis-161	95	22	pseudo	pseudo	NOUN
fis-161	95	23	-	-	ADJ
fis-161	95	24	rigid	rigid	ADJ
fis-161	95	25	-	-	PUNCT
fis-161	95	26	body	body	NOUN
fis-161	95	27	approximation	approximation	NOUN
fis-161	95	28	(	(	PUNCT
fis-161	95	29	figs	fig	NOUN
fis-161	95	30	.	.	X
fis-161	95	31	2	2	NUM
fis-161	95	32	and	and	CCONJ
fis-161	95	33	3	3	NUM
fis-161	95	34	)	)	PUNCT
fis-161	95	35	.	.	PUNCT
fis-161	96	1	in	in	ADP
fis-161	96	2	particular	particular	ADJ
fis-161	96	3	,	,	PUNCT
fis-161	96	4	the	the	DET
fis-161	96	5	following	follow	VERB
fis-161	96	6	relationships	relationship	NOUN
fis-161	96	7	are	be	AUX
fis-161	96	8	found	find	VERB
fis-161	96	9	from	from	ADP
fis-161	96	10	the	the	DET
fis-161	96	11	position	position	NOUN
fis-161	96	12	analysis	analysis	NOUN
fis-161	96	13	of	of	ADP
fis-161	96	14	a	a	DET
fis-161	96	15	single	single	ADJ
fis-161	96	16	slider	slider	NOUN
fis-161	96	17	-	-	PUNCT
fis-161	96	18	crank	crank	NOUN
fis-161	96	19	mechanism	mechanism	NOUN
fis-161	96	20	:	:	PUNCT
fis-161	96	21			PROPN
fis-161	96	22	sin	sin	PUNCT
fis-161	96	23	;	;	PUNCT
fis-161	96	24	;	;	PUNCT
fis-161	96	25	(	(	PUNCT
fis-161	96	26	)	)	PUNCT
fis-161	96	27	(	(	PUNCT
fis-161	96	28	)	)	PUNCT
fis-161	96	29	      	      	SPACE
fis-161	97	1	c	c	NOUN
fis-161	97	2	c	c	PROPN
fis-161	97	3	p	p	NOUN
fis-161	97	4	c	c	NOUN
fis-161	97	5	c	c	NOUN
fis-161	97	6	r	r	NOUN
fis-161	97	7	p	p	NOUN
fis-161	97	8	r	r	NOUN
fis-161	97	9	r	r	NOUN
fis-161	97	10	e	e	NOUN
fis-161	97	11	e	e	PROPN
fis-161	97	12	asin	asin	PROPN
fis-161	97	13	atan	atan	PROPN
fis-161	97	14	x	x	PUNCT
fis-161	97	15	r	r	NOUN
fis-161	97	16	cos	cos	NOUN
fis-161	97	17	r	r	NOUN
fis-161	97	18	cos	cos	ADP
fis-161	97	19	r	r	NOUN
fis-161	97	20	x	x	SYM
fis-161	97	21			PROPN
fis-161	97	22			PROPN
fis-161	97	23			PROPN
fis-161	97	24			NUM
fis-161	97	25			PROPN
fis-161	97	26			PROPN
fis-161	97	27			NOUN
fis-161	97	28			PROPN
fis-161	97	29			PROPN
fis-161	97	30			PROPN
fis-161	97	31			X
fis-161	98	1			PROPN
fis-161	98	2			PROPN
fis-161	98	3			NUM
fis-161	98	4			NOUN
fis-161	98	5			PROPN
fis-161	99	1			PROPN
fis-161	99	2			PROPN
fis-161	100	1			PROPN
fis-161	100	2			NOUN
fis-161	100	3			NOUN
fis-161	100	4	(	(	PUNCT
fis-161	100	5	10	10	NUM
fis-161	100	6	)	)	PUNCT
fis-161	100	7	from	from	ADP
fis-161	100	8	the	the	DET
fis-161	100	9	static	static	ADJ
fis-161	100	10	analysis	analysis	NOUN
fis-161	100	11	of	of	ADP
fis-161	100	12	the	the	DET
fis-161	100	13	overall	overall	ADJ
fis-161	100	14	compliant	compliant	ADJ
fis-161	100	15	frame	frame	NOUN
fis-161	100	16	having	have	VERB
fis-161	100	17	three	three	NUM
fis-161	100	18	equal	equal	ADJ
fis-161	100	19	legs	leg	NOUN
fis-161	100	20	,	,	PUNCT
fis-161	100	21	the	the	DET
fis-161	100	22	following	follow	VERB
fis-161	100	23	equation	equation	NOUN
fis-161	100	24	holds	hold	VERB
fis-161	100	25	:	:	PUNCT
fis-161	100	26	1	1	NUM
fis-161	100	27	1	1	NUM
fis-161	100	28	3	3	NUM
fis-161	100	29	32	32	NUM
fis-161	100	30	2	2	NUM
fis-161	100	31	3	3	NUM
fis-161	100	32	(	(	PUNCT
fis-161	100	33	)	)	PUNCT
fis-161	100	34	3	3	NUM
fis-161	100	35	(	(	PUNCT
fis-161	100	36	)	)	PUNCT
fis-161	100	37	3	3	NUM
fis-161	100	38	(	(	PUNCT
fis-161	100	39	)	)	PUNCT
fis-161	100	40	(	(	PUNCT
fis-161	100	41	)	)	PUNCT
fis-161	100	42	(	(	PUNCT
fis-161	100	43	)	)	PUNCT
fis-161	100	44	(	(	PUNCT
fis-161	100	45	)	)	PUNCT
fis-161	100	46	(	(	PUNCT
fis-161	100	47	)	)	PUNCT
fis-161	100	48	ψ	ψ	ADP
fis-161	100	49	ψψ	ψψ	ADP
fis-161	100	50	          	          	SPACE
fis-161	100	51	p	p	PROPN
fis-161	100	52	c	c	NOUN
fis-161	100	53	s	s	PART
fis-161	100	54	c	c	NOUN
fis-161	100	55	p	p	NOUN
fis-161	100	56	c	c	NOUN
fis-161	100	57	c	c	NOUN
fis-161	100	58	c	c	NOUN
fis-161	100	59	c	c	NOUN
fis-161	100	60	c	c	PROPN
fis-161	100	61	k	k	PROPN
fis-161	100	62	cos	cos	PROPN
fis-161	100	63	k	k	PROPN
fis-161	100	64	cosk	cosk	PROPN
fis-161	101	1	cos	cos	PROPN
fis-161	101	2	f	f	PROPN
fis-161	101	3	r	r	NOUN
fis-161	101	4	sin	sin	NOUN
fis-161	101	5	r	r	NOUN
fis-161	101	6	sin	sin	NOUN
fis-161	101	7	x	x	PUNCT
fis-161	101	8	sin	sin	NOUN
fis-161	101	9	e	e	X
fis-161	101	10	cos	cos	PROPN
fis-161	101	11			PROPN
fis-161	101	12			PART
fis-161	101	13			PROPN
fis-161	101	14			NOUN
fis-161	101	15			PROPN
fis-161	101	16			NUM
fis-161	101	17			PROPN
fis-161	101	18			PROPN
fis-161	101	19			PROPN
fis-161	101	20			ADV
fis-161	101	21			PUNCT
fis-161	101	22			PROPN
fis-161	101	23			PROPN
fis-161	101	24			NOUN
fis-161	101	25	(	(	PUNCT
fis-161	101	26	11	11	NUM
fis-161	101	27	)	)	PUNCT
fis-161	101	28	where	where	SCONJ
fis-161	101	29	1	1	NUM
fis-161	101	30	0ψ	0ψ	NOUN
fis-161	101	31	c	c	X
fis-161	101	32	c	c	PROPN
fis-161	101	33			PROPN
fis-161	101	34			NOUN
fis-161	101	35	,	,	PUNCT
fis-161	101	36	2	2	NUM
fis-161	101	37	0	0	NUM
fis-161	101	38	0ψ	0ψ	NOUN
fis-161	102	1	p	p	X
fis-161	102	2	p	p	X
fis-161	102	3	c	c	PROPN
fis-161	102	4	c	c	PROPN
fis-161	102	5			PROPN
fis-161	102	6			PROPN
fis-161	102	7			PROPN
fis-161	102	8			PROPN
fis-161	102	9			PROPN
fis-161	102	10			VERB
fis-161	102	11	,	,	PUNCT
fis-161	102	12	3	3	NUM
fis-161	102	13	0ψ	0ψ	NOUN
fis-161	103	1	p	p	PROPN
fis-161	103	2	p	p	PROPN
fis-161	103	3			PROPN
fis-161	103	4			NOUN
fis-161	103	5	.	.	PUNCT
fis-161	104	1	concerning	concern	VERB
fis-161	104	2	the	the	DET
fis-161	104	3	agonistic	agonistic	ADJ
fis-161	104	4	-	-	PUNCT
fis-161	104	5	antagonistic	antagonistic	ADJ
fis-161	104	6	actuator	actuator	NOUN
fis-161	104	7	,	,	PUNCT
fis-161	104	8	denoting	denote	VERB
fis-161	104	9			NUM
fis-161	104	10	as	as	ADP
fis-161	104	11	the	the	DET
fis-161	104	12	actuator	actuator	NOUN
fis-161	104	13	output	output	NOUN
fis-161	104	14	position	position	NOUN
fis-161	104	15	measured	measure	VERB
fis-161	104	16	from	from	ADP
fis-161	104	17	the	the	DET
fis-161	104	18	off	off	ADP
fis-161	104	19	-	-	PUNCT
fis-161	104	20	state	state	NOUN
fis-161	104	21	rest	rest	NOUN
fis-161	104	22	location	location	NOUN
fis-161	104	23	along	along	ADP
fis-161	104	24	its	its	PRON
fis-161	104	25	axial	axial	ADJ
fis-161	104	26	direction	direction	NOUN
fis-161	104	27	x	x	X
fis-161	104	28	d	d	PROPN
fis-161	104	29	(	(	PUNCT
fis-161	104	30	hereafter	hereafter	ADV
fis-161	104	31	this	this	DET
fis-161	104	32	location	location	NOUN
fis-161	104	33	is	be	AUX
fis-161	104	34	referred	refer	VERB
fis-161	104	35	to	to	ADP
fis-161	104	36	as	as	ADP
fis-161	104	37	actuator	actuator	NOUN
fis-161	104	38	central	central	ADJ
fis-161	104	39	position	position	NOUN
fis-161	104	40	)	)	PUNCT
fis-161	104	41	,	,	PUNCT
fis-161	104	42	the	the	DET
fis-161	104	43	overall	overall	ADJ
fis-161	104	44	actuator	actuator	NOUN
fis-161	104	45	force	force	NOUN
fis-161	104	46	will	will	AUX
fis-161	104	47	be	be	AUX
fis-161	104	48	given	give	VERB
fis-161	104	49	by	by	ADP
fis-161	104	50	:	:	PUNCT
fis-161	104	51			NOUN
fis-161	104	52	,1	,1	ADJ
fis-161	104	53	2	2	NUM
fis-161	104	54	1	1	NUM
fis-161	104	55	2	2	NUM
fis-161	104	56	,	,	PUNCT
fis-161	104	57	1	1	NUM
fis-161	104	58	1	1	NUM
fis-161	104	59	,	,	PUNCT
fis-161	104	60	2	2	NUM
fis-161	104	61	2	2	NUM
fis-161	104	62	,	,	PUNCT
fis-161	104	63	,	,	PUNCT
fis-161	104	64	,	,	PUNCT
fis-161	104	65	(	(	PUNCT
fis-161	104	66	,	,	PUNCT
fis-161	104	67	,	,	PUNCT
fis-161	104	68	)	)	PUNCT
fis-161	104	69	(	(	PUNCT
fis-161	104	70	,	,	PUNCT
fis-161	104	71	,	,	PUNCT
fis-161	104	72	)	)	PUNCT
fis-161	104	73	(	(	PUNCT
fis-161	104	74	)	)	PUNCT
fis-161	104	75	f	f	PROPN
fis-161	104	76	f	f	X
fis-161	104	77	f	f	PROPN
fis-161	104	78	sf	sf	INTJ
fis-161	105	1	v	v	X
fis-161	105	2	v	v	NOUN
fis-161	105	3	f	f	PROPN
fis-161	106	1	d	d	X
fis-161	106	2	v	v	NOUN
fis-161	106	3	f	f	X
fis-161	106	4	d	d	X
fis-161	106	5	v	v	X
fis-161	106	6	f	f	NOUN
fis-161	106	7	d	d	PROPN
fis-161	106	8			NUM
fis-161	106	9			NUM
fis-161	106	10			NUM
fis-161	106	11			NUM
fis-161	106	12			NUM
fis-161	106	13			NUM
fis-161	106	14			PROPN
fis-161	106	15			ADJ
fis-161	106	16			PROPN
fis-161	106	17			PROPN
fis-161	106	18			ADV
fis-161	106	19			NOUN
fis-161	106	20			NOUN
fis-161	106	21			NOUN
fis-161	106	22	(	(	PUNCT
fis-161	106	23	12	12	NUM
fis-161	106	24	)	)	PUNCT
fis-161	106	25	where	where	SCONJ
fis-161	106	26	,	,	PUNCT
fis-161	106	27	with	with	ADP
fis-161	106	28	obvious	obvious	ADJ
fis-161	106	29	notation	notation	NOUN
fis-161	106	30	,	,	PUNCT
fis-161	106	31	,	,	PUNCT
fis-161	106	32	2	2	NUM
fis-161	106	33	,	,	PUNCT
fis-161	106	34	2	2	NUM
fis-161	106	35	,	,	PUNCT
fis-161	106	36	2f	2f	NUM
fis-161	106	37	ve	ve	VERB
fis-161	106	38	emf	emf	PROPN
fis-161	106	39	f	f	PROPN
fis-161	106	40	f	f	PROPN
fis-161	106	41			PROPN
fis-161	106	42	is	be	AUX
fis-161	106	43	the	the	DET
fis-161	106	44	reaction	reaction	NOUN
fis-161	106	45	force	force	NOUN
fis-161	106	46	of	of	ADP
fis-161	106	47	the	the	DET
fis-161	106	48	de	de	X
fis-161	106	49	film	film	NOUN
fis-161	106	50	#	#	SYM
fis-161	106	51	2	2	NUM
fis-161	106	52	.	.	PUNCT
fis-161	107	1	in	in	ADP
fis-161	107	2	particular	particular	ADJ
fis-161	107	3	,	,	PUNCT
fis-161	107	4	figs	fig	NOUN
fis-161	107	5	.	.	X
fis-161	108	1	5	5	NUM
fis-161	108	2	and	and	CCONJ
fis-161	108	3	6	6	NUM
fis-161	108	4	report	report	NOUN
fis-161	108	5	the	the	DET
fis-161	108	6	simulated	simulated	ADJ
fis-161	108	7	force	force	NOUN
fis-161	108	8	-	-	PUNCT
fis-161	108	9	position	position	NOUN
fis-161	108	10	(	(	PUNCT
fis-161	108	11	fp	fp	NOUN
fis-161	108	12	)	)	PUNCT
fis-161	108	13	curves	curve	NOUN
fis-161	108	14	of	of	ADP
fis-161	108	15	the	the	DET
fis-161	108	16	prototype	prototype	NOUN
fis-161	108	17	actuator	actuator	NOUN
fis-161	108	18	for	for	ADP
fis-161	108	19	the	the	DET
fis-161	108	20	voltage	voltage	NOUN
fis-161	108	21	sets	set	NOUN
fis-161	108	22	{	{	PUNCT
fis-161	108	23	1	1	NUM
fis-161	108	24	20	20	NUM
fis-161	108	25	,	,	PUNCT
fis-161	108	26	0v	0v	NOUN
fis-161	108	27	v	v	ADV
fis-161	108	28			NUM
fis-161	108	29	}	}	PUNCT
fis-161	108	30	(	(	PUNCT
fis-161	108	31	solid	solid	ADJ
fis-161	108	32	line	line	NOUN
fis-161	108	33	)	)	PUNCT
fis-161	108	34	,	,	PUNCT
fis-161	108	35	{	{	PUNCT
fis-161	108	36	1	1	NUM
fis-161	108	37	26.7	26.7	NUM
fis-161	108	38	,	,	PUNCT
fis-161	108	39	0v	0v	PROPN
fis-161	108	40	kv	kv	PROPN
fis-161	108	41	v	v	ADV
fis-161	108	42			NUM
fis-161	108	43	}	}	PUNCT
fis-161	108	44	(	(	PUNCT
fis-161	108	45	circle	circle	NOUN
fis-161	108	46	marks	mark	NOUN
fis-161	108	47	)	)	PUNCT
fis-161	108	48	and	and	CCONJ
fis-161	108	49	{	{	PUNCT
fis-161	108	50	1	1	NUM
fis-161	108	51	20	20	NUM
fis-161	108	52	,	,	PUNCT
fis-161	108	53	6.7v	6.7v	NUM
fis-161	108	54	v	v	ADP
fis-161	108	55	kv	kv	NOUN
fis-161	108	56			PROPN
fis-161	108	57	}	}	PUNCT
fis-161	108	58	(	(	PUNCT
fis-161	108	59	dot	dot	NOUN
fis-161	108	60	marks	mark	NOUN
fis-161	108	61	)	)	PUNCT
fis-161	108	62	,	,	PUNCT
fis-161	108	63	for	for	ADP
fis-161	108	64	two	two	NUM
fis-161	108	65	sinusoidal	sinusoidal	NOUN
fis-161	108	66	trajectories	trajectory	NOUN
fis-161	108	67	with	with	ADP
fis-161	108	68	10	10	NUM
fis-161	108	69	mm	mm	NOUN
fis-161	108	70	amplitude	amplitude	NOUN
fis-161	108	71	but	but	CCONJ
fis-161	108	72	different	different	ADJ
fis-161	108	73	frequencies	frequency	NOUN
fis-161	108	74	equalling	equal	VERB
fis-161	108	75	1	1	NUM
fis-161	108	76	mhz	mhz	NOUN
fis-161	108	77	and	and	CCONJ
fis-161	108	78	0.5	0.5	NUM
fis-161	108	79	hz	hz	VERB
fis-161	108	80	respectively	respectively	ADV
fis-161	108	81	.	.	PUNCT
fis-161	109	1	these	these	DET
fis-161	109	2	plots	plot	NOUN
fis-161	109	3	highlight	highlight	VERB
fis-161	109	4	that	that	SCONJ
fis-161	109	5	,	,	PUNCT
fis-161	109	6	within	within	ADP
fis-161	109	7	the	the	DET
fis-161	109	8	considered	considered	ADJ
fis-161	109	9	range	range	NOUN
fis-161	109	10	of	of	ADP
fis-161	109	11	motion	motion	NOUN
fis-161	109	12	,	,	PUNCT
fis-161	109	13	the	the	DET
fis-161	109	14	quasi	quasi	ADJ
fis-161	109	15	-	-	ADJ
fis-161	109	16	static	static	ADJ
fis-161	109	17	response	response	NOUN
fis-161	109	18	of	of	ADP
fis-161	109	19	the	the	DET
fis-161	109	20	considered	consider	VERB
fis-161	109	21	de	de	X
fis-161	109	22	actuator	actuator	NOUN
fis-161	109	23	is	be	AUX
fis-161	109	24	rather	rather	ADV
fis-161	109	25	elastic	elastic	ADJ
fis-161	109	26	and	and	CCONJ
fis-161	109	27	linear	linear	ADJ
fis-161	109	28	,	,	PUNCT
fis-161	109	29	whereas	whereas	SCONJ
fis-161	109	30	its	its	PRON
fis-161	109	31	dynamic	dynamic	ADJ
fis-161	109	32	behavior	behavior	NOUN
fis-161	109	33	is	be	AUX
fis-161	109	34	severely	severely	ADV
fis-161	109	35	affected	affect	VERB
fis-161	109	36	by	by	ADP
fis-161	109	37	the	the	DET
fis-161	109	38	hysteresis	hysteresis	NOUN
fis-161	109	39	of	of	ADP
fis-161	109	40	the	the	DET
fis-161	109	41	acrylic	acrylic	ADJ
fis-161	109	42	elastomeric	elastomeric	ADJ
fis-161	109	43	material	material	NOUN
fis-161	109	44	,	,	PUNCT
fis-161	109	45	which	which	PRON
fis-161	109	46	worsens	worsen	VERB
fis-161	109	47	the	the	DET
fis-161	109	48	actuator	actuator	NOUN
fis-161	109	49	response	response	NOUN
fis-161	109	50	as	as	ADP
fis-161	109	51	the	the	DET
fis-161	109	52	motion	motion	NOUN
fis-161	109	53	speed	speed	NOUN
fis-161	109	54	increases	increase	NOUN
fis-161	109	55	.	.	PUNCT
fis-161	110	1	this	this	DET
fis-161	110	2	time	time	NOUN
fis-161	110	3	-	-	PUNCT
fis-161	110	4	dependent	dependent	ADJ
fis-161	110	5	effect	effect	NOUN
fis-161	110	6	renders	render	VERB
fis-161	110	7	actuator	actuator	NOUN
fis-161	110	8	control	control	NOUN
fis-161	110	9	very	very	ADV
fis-161	110	10	challenging	challenging	ADJ
fis-161	110	11	and	and	CCONJ
fis-161	110	12	,	,	PUNCT
fis-161	110	13	in	in	ADP
fis-161	110	14	practice	practice	NOUN
fis-161	110	15	,	,	PUNCT
fis-161	110	16	limits	limit	VERB
fis-161	110	17	the	the	DET
fis-161	110	18	functioning	functioning	NOUN
fis-161	110	19	of	of	ADP
fis-161	110	20	this	this	DET
fis-161	110	21	prototype	prototype	NOUN
fis-161	110	22	to	to	ADP
fis-161	110	23	applications	application	NOUN
fis-161	110	24	involving	involve	VERB
fis-161	110	25	movements	movement	NOUN
fis-161	110	26	with	with	ADP
fis-161	110	27	limited	limited	ADJ
fis-161	110	28	dynamics	dynamic	NOUN
fis-161	110	29	(	(	PUNCT
fis-161	110	30	less	less	ADJ
fis-161	110	31	than	than	ADP
fis-161	110	32	0.5	0.5	NUM
fis-161	110	33	hz	hz	VERB
fis-161	110	34	position	position	NOUN
fis-161	110	35	cycles	cycle	NOUN
fis-161	110	36	)	)	PUNCT
fis-161	110	37	.	.	PUNCT
fis-161	111	1	for	for	ADP
fis-161	111	2	larger	large	ADJ
fis-161	111	3	movement	movement	NOUN
fis-161	111	4	dynamics	dynamic	NOUN
fis-161	111	5	,	,	PUNCT
fis-161	111	6	different	different	ADJ
fis-161	111	7	de	de	X
fis-161	111	8	materials	material	NOUN
fis-161	111	9	,	,	PUNCT
fis-161	111	10	such	such	ADJ
fis-161	111	11	as	as	ADP
fis-161	111	12	silicone	silicone	NOUN
fis-161	111	13	elastomers	elastomer	NOUN
fis-161	111	14	,	,	PUNCT
fis-161	111	15	should	should	AUX
fis-161	111	16	be	be	AUX
fis-161	111	17	employed	employ	VERB
fis-161	111	18	.	.	PUNCT
fis-161	112	1	figure	figure	VERB
fis-161	112	2	5	5	NUM
fis-161	112	3	:	:	PUNCT
fis-161	112	4	actuator	actuator	NOUN
fis-161	112	5	response	response	NOUN
fis-161	112	6	(	(	PUNCT
fis-161	112	7	1	1	NUM
fis-161	112	8	mhz	mhz	NOUN
fis-161	112	9	position	position	NOUN
fis-161	112	10	cycle	cycle	NOUN
fis-161	112	11	)	)	PUNCT
fis-161	112	12	.	.	PUNCT
fis-161	113	1	figure	figure	VERB
fis-161	113	2	6	6	NUM
fis-161	113	3	:	:	PUNCT
fis-161	113	4	actuator	actuator	NOUN
fis-161	113	5	response	response	NOUN
fis-161	113	6	(	(	PUNCT
fis-161	113	7	0.5	0.5	NUM
fis-161	113	8	hz	hz	VERB
fis-161	113	9	position	position	NOUN
fis-161	113	10	cycle	cycle	NOUN
fis-161	113	11	)	)	PUNCT
fis-161	113	12	.	.	PUNCT
fis-161	114	1	http://www.gruppofrattura.it	http://www.gruppofrattura.it	PROPN
fis-161	114	2	http://dx.medra.org/10.3221/igf-esis.23.05&auth=true	http://dx.medra.org/10.3221/igf-esis.23.05&auth=true	PROPN
fis-161	114	3	r.	r.	PROPN
fis-161	114	4	vertechy	vertechy	PROPN
fis-161	114	5	et	et	PROPN
fis-161	114	6	alii	alii	PROPN
fis-161	114	7	,	,	PUNCT
fis-161	114	8	frattura	frattura	PROPN
fis-161	114	9	ed	ed	PROPN
fis-161	114	10	integrità	integrità	PROPN
fis-161	114	11	strutturale	strutturale	PROPN
fis-161	114	12	,	,	PUNCT
fis-161	114	13	23	23	NUM
fis-161	114	14	(	(	PUNCT
fis-161	114	15	2013	2013	NUM
fis-161	114	16	)	)	PUNCT
fis-161	114	17	47	47	NUM
fis-161	114	18	-	-	SYM
fis-161	114	19	56	56	NUM
fis-161	114	20	;	;	PUNCT
fis-161	114	21	doi	doi	NOUN
fis-161	114	22	:	:	PUNCT
fis-161	114	23	10.3221	10.3221	NUM
fis-161	114	24	/	/	SYM
fis-161	114	25	igf	igf	PROPN
fis-161	114	26	-	-	PUNCT
fis-161	114	27	esis.23.05	esis.23.05	PROPN
fis-161	114	28	52	52	NUM
fis-161	114	29	control	control	NOUN
fis-161	114	30	system	system	NOUN
fis-161	114	31	his	his	PRON
fis-161	114	32	section	section	NOUN
fis-161	114	33	describes	describe	VERB
fis-161	114	34	an	an	DET
fis-161	114	35	interaction	interaction	NOUN
fis-161	114	36	-	-	PUNCT
fis-161	114	37	force	force	NOUN
fis-161	114	38	control	control	NOUN
fis-161	114	39	system	system	NOUN
fis-161	114	40	for	for	ADP
fis-161	114	41	the	the	DET
fis-161	114	42	considered	consider	VERB
fis-161	114	43	agonist	agonist	NOUN
fis-161	114	44	-	-	PUNCT
fis-161	114	45	antagonist	antagonist	NOUN
fis-161	114	46	de	de	NOUN
fis-161	114	47	actuator	actuator	NOUN
fis-161	114	48	.	.	PUNCT
fis-161	115	1	the	the	DET
fis-161	115	2	controller	controller	NOUN
fis-161	115	3	is	be	AUX
fis-161	115	4	based	base	VERB
fis-161	115	5	on	on	ADP
fis-161	115	6	an	an	DET
fis-161	115	7	optimum	optimum	ADJ
fis-161	115	8	observer	observer	NOUN
fis-161	115	9	and	and	CCONJ
fis-161	115	10	on	on	ADP
fis-161	115	11	a	a	DET
fis-161	115	12	suitable	suitable	ADJ
fis-161	115	13	state	state	NOUN
fis-161	115	14	-	-	PUNCT
fis-161	115	15	feedback	feedback	NOUN
fis-161	115	16	law	law	NOUN
fis-161	115	17	.	.	PUNCT
fis-161	116	1	in	in	ADP
fis-161	116	2	particular	particular	ADJ
fis-161	116	3	,	,	PUNCT
fis-161	116	4	for	for	ADP
fis-161	116	5	controller	controller	NOUN
fis-161	116	6	design	design	NOUN
fis-161	116	7	purposes	purpose	NOUN
fis-161	116	8	and	and	CCONJ
fis-161	116	9	owing	owe	VERB
fis-161	116	10	to	to	ADP
fis-161	116	11	simulation	simulation	NOUN
fis-161	116	12	results	result	NOUN
fis-161	116	13	reported	report	VERB
fis-161	116	14	in	in	ADP
fis-161	116	15	the	the	DET
fis-161	116	16	previous	previous	ADJ
fis-161	116	17	section	section	NOUN
fis-161	116	18	,	,	PUNCT
fis-161	116	19	the	the	DET
fis-161	116	20	actuator	actuator	NOUN
fis-161	116	21	model	model	NOUN
fis-161	116	22	has	have	AUX
fis-161	116	23	been	be	AUX
fis-161	116	24	linearized	linearize	VERB
fis-161	116	25	such	such	ADJ
fis-161	116	26	that	that	SCONJ
fis-161	116	27	the	the	DET
fis-161	116	28	considered	consider	VERB
fis-161	116	29	prototype	prototype	NOUN
fis-161	116	30	can	can	AUX
fis-161	116	31	be	be	AUX
fis-161	116	32	described	describe	VERB
fis-161	116	33	via	via	ADP
fis-161	116	34	the	the	DET
fis-161	116	35	lumped	lump	VERB
fis-161	116	36	parameter	parameter	NOUN
fis-161	116	37	system	system	NOUN
fis-161	116	38	depicted	depict	VERB
fis-161	116	39	in	in	ADP
fis-161	116	40	fig	fig	NOUN
fis-161	116	41	.	.	PUNCT
fis-161	117	1	7	7	NUM
fis-161	117	2	,	,	PUNCT
fis-161	117	3	where	where	SCONJ
fis-161	117	4	m	m	PROPN
fis-161	117	5	(	(	PUNCT
fis-161	117	6	m=105	m=105	PROPN
fis-161	117	7	g	g	NOUN
fis-161	117	8	)	)	PUNCT
fis-161	117	9	is	be	AUX
fis-161	117	10	the	the	DET
fis-161	117	11	effective	effective	ADJ
fis-161	117	12	inertia	inertia	NOUN
fis-161	117	13	of	of	ADP
fis-161	117	14	the	the	DET
fis-161	117	15	actuator	actuator	NOUN
fis-161	117	16	output	output	NOUN
fis-161	117	17	(	(	PUNCT
fis-161	117	18	comprising	comprise	VERB
fis-161	117	19	the	the	DET
fis-161	117	20	sensor	sensor	NOUN
fis-161	117	21	mass	mass	VERB
fis-161	117	22	too	too	ADV
fis-161	117	23	)	)	PUNCT
fis-161	117	24	,	,	PUNCT
fis-161	117	25	kl	kl	X
fis-161	117	26	(	(	PUNCT
fis-161	117	27	kl	kl	NOUN
fis-161	117	28	=	=	NOUN
fis-161	117	29	66.5n	66.5n	NUM
fis-161	117	30	/	/	SYM
fis-161	117	31	m	m	NOUN
fis-161	117	32	)	)	PUNCT
fis-161	117	33	is	be	AUX
fis-161	117	34	a	a	DET
fis-161	117	35	constant	constant	ADJ
fis-161	117	36	stiffness	stiffness	NOUN
fis-161	117	37	coefficient	coefficient	NOUN
fis-161	117	38	capturing	capture	VERB
fis-161	117	39	the	the	DET
fis-161	117	40	off	off	ADP
fis-161	117	41	-	-	PUNCT
fis-161	117	42	state	state	NOUN
fis-161	117	43	quasi	quasi	ADJ
fis-161	117	44	-	-	ADJ
fis-161	117	45	static	static	ADJ
fis-161	117	46	linear	linear	ADJ
fis-161	117	47	elastic	elastic	ADJ
fis-161	117	48	response	response	NOUN
fis-161	117	49	of	of	ADP
fis-161	117	50	the	the	DET
fis-161	117	51	actuator	actuator	NOUN
fis-161	117	52	,	,	PUNCT
fis-161	117	53	fint	fint	NOUN
fis-161	117	54	is	be	AUX
fis-161	117	55	the	the	DET
fis-161	117	56	interaction	interaction	NOUN
fis-161	117	57	force	force	NOUN
fis-161	117	58	exchanged	exchange	VERB
fis-161	117	59	with	with	ADP
fis-161	117	60	the	the	DET
fis-161	117	61	environment	environment	NOUN
fis-161	117	62	,	,	PUNCT
fis-161	117	63	fdist	fdist	ADJ
fis-161	117	64	is	be	AUX
fis-161	117	65	a	a	DET
fis-161	117	66	disturbance	disturbance	NOUN
fis-161	117	67	force	force	NOUN
fis-161	117	68	accounting	account	VERB
fis-161	117	69	for	for	ADP
fis-161	117	70	the	the	DET
fis-161	117	71	unmodelled	unmodelled	ADJ
fis-161	117	72	non	non	ADJ
fis-161	117	73	-	-	ADJ
fis-161	117	74	linear	linear	ADJ
fis-161	117	75	and	and	CCONJ
fis-161	117	76	time	time	NOUN
fis-161	117	77	-	-	PUNCT
fis-161	117	78	dependent	dependent	ADJ
fis-161	117	79	mechanical	mechanical	ADJ
fis-161	117	80	response	response	NOUN
fis-161	117	81	of	of	ADP
fis-161	117	82	the	the	DET
fis-161	117	83	system	system	NOUN
fis-161	117	84	(	(	PUNCT
fis-161	117	85	comprising	comprise	VERB
fis-161	117	86	de	de	ADP
fis-161	117	87	film	film	NOUN
fis-161	117	88	visco	visco	NOUN
fis-161	117	89	-	-	PUNCT
fis-161	117	90	elasticity	elasticity	NOUN
fis-161	117	91	)	)	PUNCT
fis-161	117	92	,	,	PUNCT
fis-161	117	93	and	and	CCONJ
fis-161	117	94	fem	fem	NOUN
fis-161	117	95	,	,	PUNCT
fis-161	117	96	l	l	PROPN
fis-161	117	97	is	be	AUX
fis-161	117	98	the	the	DET
fis-161	117	99	“	"	PUNCT
fis-161	117	100	electric	electric	ADJ
fis-161	117	101	”	"	PUNCT
fis-161	117	102	force	force	NOUN
fis-161	117	103	generated	generate	VERB
fis-161	117	104	by	by	ADP
fis-161	117	105	the	the	DET
fis-161	117	106	electrical	electrical	ADJ
fis-161	117	107	activation	activation	NOUN
fis-161	117	108	of	of	ADP
fis-161	117	109	the	the	DET
fis-161	117	110	agonist	agonist	NOUN
fis-161	117	111	-	-	PUNCT
fis-161	117	112	antagonist	antagonist	NOUN
fis-161	117	113	de	de	NOUN
fis-161	117	114	films	film	NOUN
fis-161	117	115	.	.	PUNCT
fis-161	118	1	based	base	VERB
fis-161	118	2	on	on	ADP
fis-161	118	3	eq	eq	PROPN
fis-161	118	4	.	.	PUNCT
fis-161	119	1	(	(	PUNCT
fis-161	119	2	2	2	NUM
fis-161	119	3	)	)	PUNCT
fis-161	119	4	,	,	PUNCT
fis-161	119	5	for	for	ADP
fis-161	119	6	the	the	DET
fis-161	119	7	considered	consider	VERB
fis-161	119	8	de	de	X
fis-161	119	9	actuator	actuator	NOUN
fis-161	119	10	prototype	prototype	NOUN
fis-161	119	11			NOUN
fis-161	119	12			SYM
fis-161	119	13			NOUN
fis-161	119	14			NOUN
fis-161	119	15	2	2	NUM
fis-161	119	16	2	2	NUM
fis-161	119	17	2	2	NUM
fis-161	119	18	1	1	NUM
fis-161	119	19	,	,	PUNCT
fis-161	119	20	em	em	PRON
fis-161	119	21	l	l	NOUN
fis-161	119	22	l	l	NOUN
fis-161	120	1	max	max	PROPN
fis-161	120	2	max	max	PROPN
fis-161	120	3	v	v	PROPN
fis-161	120	4	v	v	PROPN
fis-161	121	1	f	f	PROPN
fis-161	121	2	k	k	PROPN
fis-161	121	3	d	d	PROPN
fis-161	121	4	d	d	PROPN
fis-161	121	5	v	v	ADP
fis-161	121	6	v	v	ADP
fis-161	121	7			NUM
fis-161	121	8			NUM
fis-161	121	9			PROPN
fis-161	121	10			PROPN
fis-161	121	11			PROPN
fis-161	121	12			NOUN
fis-161	121	13			NOUN
fis-161	121	14			VERB
fis-161	122	1			PROPN
fis-161	122	2			PROPN
fis-161	122	3			PROPN
fis-161	122	4			PROPN
fis-161	122	5			PROPN
fis-161	122	6			PROPN
fis-161	122	7			PROPN
fis-161	122	8			NOUN
fis-161	122	9			NOUN
fis-161	122	10			NOUN
fis-161	122	11			PROPN
fis-161	122	12			PROPN
fis-161	122	13			PROPN
fis-161	122	14	(	(	PUNCT
fis-161	122	15	13	13	NUM
fis-161	122	16	)	)	PUNCT
fis-161	122	17	where	where	SCONJ
fis-161	122	18	vmax	vmax	PROPN
fis-161	122	19	(	(	PUNCT
fis-161	122	20	vmax	vmax	PROPN
fis-161	122	21	=	=	SYM
fis-161	122	22	6.7kv	6.7kv	NUM
fis-161	122	23	)	)	PUNCT
fis-161	122	24	is	be	AUX
fis-161	122	25	the	the	DET
fis-161	122	26	maximum	maximum	ADJ
fis-161	122	27	voltage	voltage	NOUN
fis-161	122	28	which	which	PRON
fis-161	122	29	can	can	AUX
fis-161	122	30	be	be	AUX
fis-161	122	31	placed	place	VERB
fis-161	122	32	between	between	ADP
fis-161	122	33	each	each	DET
fis-161	122	34	pair	pair	NOUN
fis-161	122	35	of	of	ADP
fis-161	122	36	de	de	X
fis-161	122	37	actuator	actuator	NOUN
fis-161	122	38	electrodes	electrode	NOUN
fis-161	122	39	.	.	PUNCT
fis-161	123	1	as	as	ADP
fis-161	123	2	a	a	DET
fis-161	123	3	result	result	NOUN
fis-161	123	4	,	,	PUNCT
fis-161	123	5	the	the	DET
fis-161	123	6	de	de	X
fis-161	123	7	actuator	actuator	NOUN
fis-161	123	8	dynamics	dynamic	NOUN
fis-161	123	9	can	can	AUX
fis-161	123	10	be	be	AUX
fis-161	123	11	written	write	VERB
fis-161	123	12	as	as	ADP
fis-161	123	13	,	,	PUNCT
fis-161	123	14	int	int	NOUN
fis-161	123	15	l	l	NOUN
fis-161	123	16	dist	dist	NOUN
fis-161	123	17	em	em	PRON
fis-161	123	18	lf	lf	ADP
fis-161	123	19	m	m	PROPN
fis-161	123	20	k	k	PROPN
fis-161	123	21	f	f	PROPN
fis-161	123	22	f	f	PROPN
fis-161	123	23			PROPN
fis-161	123	24			PUNCT
fis-161	123	25			PUNCT
fis-161	123	26			PROPN
fis-161	123	27	(	(	PUNCT
fis-161	123	28	14	14	NUM
fis-161	123	29	)	)	PUNCT
fis-161	123	30	figure	figure	NOUN
fis-161	123	31	7	7	NUM
fis-161	123	32	:	:	PUNCT
fis-161	123	33	actuator	actuator	NOUN
fis-161	123	34	lumped	lump	VERB
fis-161	123	35	-	-	PUNCT
fis-161	123	36	parameter	parameter	NOUN
fis-161	123	37	model	model	NOUN
fis-161	123	38	.	.	PUNCT
fis-161	124	1	optimal	optimal	ADJ
fis-161	124	2	actuator	actuator	NOUN
fis-161	124	3	state	state	NOUN
fis-161	124	4	estimator	estimator	NOUN
fis-161	124	5	controller	controller	PROPN
fis-161	124	6	development	development	NOUN
fis-161	124	7	requires	require	VERB
fis-161	124	8	the	the	DET
fis-161	124	9	complete	complete	ADJ
fis-161	124	10	knowledge	knowledge	NOUN
fis-161	124	11	of	of	ADP
fis-161	124	12	the	the	DET
fis-161	124	13	variables	variable	NOUN
fis-161	124	14			NUM
fis-161	124	15	(	(	PUNCT
fis-161	124	16	along	along	ADP
fis-161	124	17	with	with	ADP
fis-161	124	18	its	its	PRON
fis-161	124	19	time	time	NOUN
fis-161	124	20	derivative	derivative	ADJ
fis-161	124	21	)	)	PUNCT
fis-161	124	22	,	,	PUNCT
fis-161	124	23	fint	fint	NOUN
fis-161	124	24	and	and	CCONJ
fis-161	124	25	fdist	fdist	NOUN
fis-161	124	26	.	.	PUNCT
fis-161	125	1	the	the	DET
fis-161	125	2	considered	consider	VERB
fis-161	125	3	actuator	actuator	NOUN
fis-161	125	4	is	be	AUX
fis-161	125	5	equipped	equip	VERB
fis-161	125	6	with	with	ADP
fis-161	125	7	a	a	DET
fis-161	125	8	position	position	NOUN
fis-161	125	9	and	and	CCONJ
fis-161	125	10	a	a	DET
fis-161	125	11	force	force	NOUN
fis-161	125	12	sensor	sensor	NOUN
fis-161	125	13	that	that	PRON
fis-161	125	14	enable	enable	VERB
fis-161	125	15	the	the	DET
fis-161	125	16	straight	straight	ADJ
fis-161	125	17	measurement	measurement	NOUN
fis-161	125	18	of	of	ADP
fis-161	125	19			NUM
fis-161	125	20	and	and	CCONJ
fis-161	125	21	fint	fint	NOUN
fis-161	125	22	;	;	PUNCT
fis-161	125	23	however	however	ADV
fis-161	125	24	,	,	PUNCT
fis-161	125	25	no	no	DET
fis-161	125	26	direct	direct	ADJ
fis-161	125	27	information	information	NOUN
fis-161	125	28	is	be	AUX
fis-161	125	29	available	available	ADJ
fis-161	125	30	for	for	ADP
fis-161	125	31	fdist	fdist	NOUN
fis-161	125	32	.	.	PUNCT
fis-161	126	1	while	while	SCONJ
fis-161	126	2	this	this	DET
fis-161	126	3	disturbance	disturbance	NOUN
fis-161	126	4	force	force	NOUN
fis-161	126	5	could	could	AUX
fis-161	126	6	be	be	AUX
fis-161	126	7	determined	determine	VERB
fis-161	126	8	via	via	ADP
fis-161	126	9	the	the	DET
fis-161	126	10	visco	visco	ADJ
fis-161	126	11	-	-	PUNCT
fis-161	126	12	elastic	elastic	ADJ
fis-161	126	13	model	model	NOUN
fis-161	126	14	described	describe	VERB
fis-161	126	15	before	before	ADV
fis-161	126	16	,	,	PUNCT
fis-161	126	17	for	for	ADP
fis-161	126	18	control	control	NOUN
fis-161	126	19	purposes	purpose	NOUN
fis-161	126	20	we	we	PRON
fis-161	126	21	have	have	AUX
fis-161	126	22	preferred	prefer	VERB
fis-161	126	23	to	to	PART
fis-161	126	24	estimate	estimate	VERB
fis-161	126	25	it	it	PRON
fis-161	126	26	via	via	ADP
fis-161	126	27	a	a	DET
fis-161	126	28	kalman	kalman	NOUN
fis-161	126	29	filter	filter	NOUN
fis-161	126	30	.	.	PUNCT
fis-161	127	1	specifically	specifically	ADV
fis-161	127	2	,	,	PUNCT
fis-161	127	3	consider	consider	VERB
fis-161	127	4	the	the	DET
fis-161	127	5	augmented	augment	VERB
fis-161	127	6	state	state	NOUN
fis-161	127	7	-	-	PUNCT
fis-161	127	8	space	space	NOUN
fis-161	127	9	system	system	NOUN
fis-161	127	10	of	of	ADP
fis-161	127	11	the	the	DET
fis-161	127	12	de	de	X
fis-161	127	13	actuator	actuator	NOUN
fis-161	127	14	dynamics	dynamic	NOUN
fis-161	127	15			PROPN
fis-161	127	16	elef	elef	PROPN
fis-161	127	17			ADV
fis-161	127	18			PROPN
fis-161	127	19			PROPN
fis-161	127	20			PUNCT
fis-161	127	21	a	a	DET
fis-161	127	22	b	b	X
fis-161	127	23	c	c	X
fis-161	127	24	x	x	X
fis-161	127	25	x	x	SYM
fis-161	127	26	u	u	NOUN
fis-161	127	27	y	y	PROPN
fis-161	127	28	x	x	VERB
fis-161	127	29	w	w	ADP
fis-161	127	30			VERB
fis-161	127	31	(	(	PUNCT
fis-161	127	32	15.1	15.1	NUM
fis-161	127	33	)	)	PUNCT
fis-161	127	34	1	1	NUM
fis-161	127	35	2	2	NUM
fis-161	127	36	0	0	NUM
fis-161	127	37	1	1	NUM
fis-161	127	38	1	1	NUM
fis-161	127	39	1	1	NUM
fis-161	127	40	0	0	NUM
fis-161	127	41	0	0	NUM
fis-161	127	42	0	0	NUM
fis-161	127	43	0	0	NUM
fis-161	127	44	1	1	NUM
fis-161	127	45	0	0	NUM
fis-161	127	46	0	0	NUM
fis-161	127	47	0	0	NUM
fis-161	127	48	0	0	NUM
fis-161	127	49	0	0	NUM
fis-161	127	50	0	0	NUM
fis-161	127	51	1	1	NUM
fis-161	127	52	0	0	NUM
fis-161	127	53	,	,	PUNCT
fis-161	127	54	,	,	PUNCT
fis-161	127	55	,	,	PUNCT
fis-161	127	56	,	,	PUNCT
fis-161	127	57	0	0	NUM
fis-161	127	58	0	0	NUM
fis-161	127	59	0	0	NUM
fis-161	127	60	0	0	NUM
fis-161	127	61	0	0	NUM
fis-161	127	62	0	0	NUM
fis-161	127	63	1	1	NUM
fis-161	127	64	0	0	NUM
fis-161	127	65	0	0	NUM
fis-161	127	66	0	0	NUM
fis-161	127	67	0	0	NUM
fis-161	127	68	0	0	NUM
fis-161	127	69	0	0	NUM
fis-161	127	70	0	0	NUM
fis-161	127	71	1	1	NUM
fis-161	127	72	0	0	NUM
fis-161	127	73	0	0	NUM
fis-161	127	74	1	1	NUM
fis-161	127	75	t	t	NOUN
fis-161	127	76	k	k	NOUN
fis-161	127	77	m	m	VERB
fis-161	127	78	m	m	VERB
fis-161	127	79	m	m	VERB
fis-161	127	80	m	m	VERB
fis-161	127	81	u	u	ADJ
fis-161	127	82	u	u	NOUN
fis-161	127	83			PROPN
fis-161	127	84			NOUN
fis-161	127	85			NOUN
fis-161	127	86			NOUN
fis-161	127	87			PROPN
fis-161	127	88			ADJ
fis-161	127	89			PROPN
fis-161	127	90			ADJ
fis-161	127	91			PROPN
fis-161	127	92			ADJ
fis-161	127	93			PROPN
fis-161	127	94			X
fis-161	127	95			ADJ
fis-161	127	96			NOUN
fis-161	127	97			NOUN
fis-161	127	98			NOUN
fis-161	127	99			NOUN
fis-161	127	100			NOUN
fis-161	127	101			NOUN
fis-161	127	102			PROPN
fis-161	127	103			PROPN
fis-161	127	104			PROPN
fis-161	127	105			NOUN
fis-161	127	106			NOUN
fis-161	127	107			NOUN
fis-161	127	108			NOUN
fis-161	127	109			PROPN
fis-161	127	110			PROPN
fis-161	127	111			NOUN
fis-161	127	112			PROPN
fis-161	127	113			NOUN
fis-161	127	114			NOUN
fis-161	127	115			NOUN
fis-161	127	116			NOUN
fis-161	127	117			NOUN
fis-161	127	118			PROPN
fis-161	127	119			PROPN
fis-161	127	120			NOUN
fis-161	127	121			PROPN
fis-161	127	122			NOUN
fis-161	127	123			PROPN
fis-161	127	124			VERB
fis-161	127	125			PROPN
fis-161	127	126	a=	a=	NOUN
fis-161	127	127	b=	b=	NOUN
fis-161	127	128	=	=	SYM
fis-161	128	1	c	c	X
fis-161	128	2	=	=	X
fis-161	128	3	u	u	PROPN
fis-161	128	4	(	(	PUNCT
fis-161	128	5	15.2	15.2	NUM
fis-161	128	6	)	)	PUNCT
fis-161	128	7	where	where	SCONJ
fis-161	128	8	t	t	PROPN
fis-161	128	9	dist	dist	NOUN
fis-161	128	10	intf	intf	PROPN
fis-161	128	11	f	f	PROPN
fis-161	128	12			PROPN
fis-161	129	1			ADJ
fis-161	129	2			PROPN
fis-161	129	3	x	x	X
fis-161	129	4	(	(	PUNCT
fis-161	129	5	15.3	15.3	NUM
fis-161	129	6	)	)	PUNCT
fis-161	129	7			NOUN
fis-161	129	8	tpos	tpos	PROPN
fis-161	129	9	forcew	forcew	VERB
fis-161	129	10	ww	ww	NOUN
fis-161	129	11	(	(	PUNCT
fis-161	129	12	15.4	15.4	NUM
fis-161	129	13	)	)	PUNCT
fis-161	129	14	are	be	AUX
fis-161	129	15	respectively	respectively	ADV
fis-161	129	16	the	the	DET
fis-161	129	17	state	state	NOUN
fis-161	129	18	-	-	PUNCT
fis-161	129	19	space	space	NOUN
fis-161	129	20	variable	variable	NOUN
fis-161	129	21	and	and	CCONJ
fis-161	129	22	the	the	DET
fis-161	129	23	sensor	sensor	NOUN
fis-161	129	24	noise	noise	NOUN
fis-161	129	25	vectors	vector	NOUN
fis-161	129	26	(	(	PUNCT
fis-161	129	27	with	with	ADP
fis-161	129	28	wforce	wforce	NOUN
fis-161	129	29	and	and	CCONJ
fis-161	129	30	wpos	wpos	NOUN
fis-161	129	31	being	be	AUX
fis-161	129	32	the	the	DET
fis-161	129	33	effective	effective	ADJ
fis-161	129	34	sensor	sensor	NOUN
fis-161	129	35	variances	variance	NOUN
fis-161	129	36	)	)	PUNCT
fis-161	129	37	,	,	PUNCT
fis-161	129	38	and	and	CCONJ
fis-161	129	39	u1	u1	NOUN
fis-161	129	40	and	and	CCONJ
fis-161	129	41	u2	u2	PROPN
fis-161	129	42	are	be	AUX
fis-161	129	43	white	white	ADJ
fis-161	129	44	noise	noise	NOUN
fis-161	129	45	processes	process	NOUN
fis-161	129	46	with	with	ADP
fis-161	129	47	variances	variance	NOUN
fis-161	129	48	u1	u1	NOUN
fis-161	129	49	and	and	CCONJ
fis-161	129	50	u2	u2	PROPN
fis-161	129	51	.	.	PROPN
fis-161	130	1	in	in	ADP
fis-161	130	2	the	the	DET
fis-161	130	3	system	system	NOUN
fis-161	130	4	,	,	PUNCT
fis-161	130	5	fdist	fdist	ADJ
fis-161	130	6	and	and	CCONJ
fis-161	130	7	fint	fint	NOUN
fis-161	130	8	have	have	AUX
fis-161	130	9	been	be	AUX
fis-161	130	10	considered	consider	VERB
fis-161	130	11	as	as	ADP
fis-161	130	12	wiener	wiener	NOUN
fis-161	130	13	processes	process	NOUN
fis-161	130	14	[	[	X
fis-161	130	15	9	9	NUM
fis-161	130	16	]	]	PUNCT
fis-161	130	17	,	,	PUNCT
fis-161	130	18	that	that	PRON
fis-161	130	19	is	be	AUX
fis-161	130	20	as	as	ADP
fis-161	130	21	continuous	continuous	ADJ
fis-161	130	22	functions	function	NOUN
fis-161	130	23	which	which	PRON
fis-161	130	24	vary	vary	VERB
fis-161	130	25	slowly	slowly	ADV
fis-161	130	26	with	with	ADP
fis-161	130	27	independent	independent	ADJ
fis-161	130	28	increments	increment	NOUN
fis-161	130	29	(	(	PUNCT
fis-161	130	30	namely	namely	ADV
fis-161	130	31	1distf	1distf	NUM
fis-161	130	32	u	u	NOUN
fis-161	130	33	and	and	CCONJ
fis-161	130	34	2intf	2intf	NUM
fis-161	130	35	u	u	NOUN
fis-161	130	36	)	)	PUNCT
fis-161	130	37	.	.	PUNCT
fis-161	131	1	then	then	ADV
fis-161	131	2	,	,	PUNCT
fis-161	131	3	the	the	DET
fis-161	131	4	estimate	estimate	NOUN
fis-161	131	5	t	t	PROPN
fis-161	131	6	http://www.gruppofrattura.it	http://www.gruppofrattura.it	PROPN
fis-161	131	7	http://dx.medra.org/10.3221/igf-esis.23.05&auth=true	http://dx.medra.org/10.3221/igf-esis.23.05&auth=true	PROPN
fis-161	131	8	r.	r.	PROPN
fis-161	131	9	vertechy	vertechy	PROPN
fis-161	131	10	et	et	PROPN
fis-161	131	11	alii	alii	PROPN
fis-161	131	12	,	,	PUNCT
fis-161	131	13	frattura	frattura	PROPN
fis-161	131	14	ed	ed	PROPN
fis-161	131	15	integrità	integrità	PROPN
fis-161	131	16	strutturale	strutturale	PROPN
fis-161	131	17	,	,	PUNCT
fis-161	131	18	23	23	NUM
fis-161	131	19	(	(	PUNCT
fis-161	131	20	2013	2013	NUM
fis-161	131	21	)	)	PUNCT
fis-161	131	22	47	47	NUM
fis-161	131	23	-	-	SYM
fis-161	131	24	56	56	NUM
fis-161	131	25	;	;	PUNCT
fis-161	131	26	doi	doi	NOUN
fis-161	131	27	:	:	PUNCT
fis-161	131	28	10.3221	10.3221	NUM
fis-161	131	29	/	/	SYM
fis-161	131	30	igf	igf	PROPN
fis-161	131	31	-	-	NOUN
fis-161	131	32	esis.23.05	esis.23.05	PROPN
fis-161	131	33	53	53	NUM
fis-161	131	34	ˆ	ˆ	NOUN
fis-161	131	35	ˆ	ˆ	ADV
fis-161	131	36	ˆ	ˆ	ADP
fis-161	131	37	ˆˆ	ˆˆ	PROPN
fis-161	131	38	t	t	PROPN
fis-161	131	39	dist	dist	NOUN
fis-161	131	40	intf	intf	PROPN
fis-161	132	1	f	f	PROPN
fis-161	132	2			PROPN
fis-161	133	1			PROPN
fis-161	133	2			PROPN
fis-161	133	3			PROPN
fis-161	133	4	x	x	X
fis-161	133	5	(	(	PUNCT
fis-161	133	6	16.1	16.1	NUM
fis-161	133	7	)	)	PUNCT
fis-161	133	8	of	of	ADP
fis-161	133	9	the	the	DET
fis-161	133	10	state	state	NOUN
fis-161	133	11	-	-	PUNCT
fis-161	133	12	space	space	NOUN
fis-161	133	13	variable	variable	ADJ
fis-161	133	14	vector	vector	NOUN
fis-161	133	15	follows	follow	VERB
fis-161	133	16	as	as	ADP
fis-161	133	17			NOUN
fis-161	133	18	,ˆ	,ˆ	PUNCT
fis-161	133	19	ˆ	ˆ	ADJ
fis-161	133	20	ˆem	ˆem	NOUN
fis-161	133	21	lf	lf	PROPN
fis-161	133	22			ADV
fis-161	133	23			VERB
fis-161	133	24	a	a	ADV
fis-161	134	1	b	b	X
fis-161	135	1	l	l	NOUN
fis-161	135	2	cx	cx	NOUN
fis-161	135	3	x	x	PUNCT
fis-161	135	4	y	y	NOUN
fis-161	135	5	x	x	X
fis-161	135	6	(	(	PUNCT
fis-161	135	7	16.2	16.2	NUM
fis-161	135	8	)	)	PUNCT
fis-161	135	9	with	with	ADP
fis-161	135	10	l	l	NOUN
fis-161	135	11	being	be	AUX
fis-161	135	12	the	the	DET
fis-161	135	13	steady	steady	ADJ
fis-161	135	14	-	-	PUNCT
fis-161	135	15	state	state	NOUN
fis-161	135	16	observer	observer	NOUN
fis-161	135	17	gain	gain	NOUN
fis-161	135	18	matrix	matrix	NOUN
fis-161	135	19	which	which	PRON
fis-161	135	20	can	can	AUX
fis-161	135	21	be	be	AUX
fis-161	135	22	determined	determine	VERB
fis-161	135	23	via	via	ADP
fis-161	135	24	the	the	DET
fis-161	135	25	procedure	procedure	NOUN
fis-161	135	26	described	describe	VERB
fis-161	135	27	in	in	ADP
fis-161	135	28	[	[	X
fis-161	135	29	9	9	NUM
fis-161	135	30	]	]	PUNCT
fis-161	135	31	once	once	SCONJ
fis-161	135	32	the	the	DET
fis-161	135	33	unknown	unknown	ADJ
fis-161	135	34	observer	observer	NOUN
fis-161	135	35	parameters	parameter	NOUN
fis-161	135	36	u1	u1	VERB
fis-161	135	37	and	and	CCONJ
fis-161	135	38	u2	u2	NOUN
fis-161	135	39	are	be	AUX
fis-161	135	40	chosen	choose	VERB
fis-161	135	41	.	.	PUNCT
fis-161	136	1	actuator	actuator	NOUN
fis-161	136	2	controller	controller	NOUN
fis-161	136	3	for	for	ADP
fis-161	136	4	a	a	DET
fis-161	136	5	given	give	VERB
fis-161	136	6	desired	desire	VERB
fis-161	136	7	interaction	interaction	NOUN
fis-161	136	8	force	force	NOUN
fis-161	136	9	d	d	PROPN
fis-161	136	10	intf	intf	PROPN
fis-161	136	11	,	,	PUNCT
fis-161	136	12	the	the	DET
fis-161	136	13	following	follow	VERB
fis-161	136	14	state	state	NOUN
fis-161	136	15	-	-	PUNCT
fis-161	136	16	feedback	feedback	NOUN
fis-161	136	17	law	law	NOUN
fis-161	136	18	is	be	AUX
fis-161	136	19	chosen	choose	VERB
fis-161	136	20	for	for	ADP
fis-161	136	21	the	the	DET
fis-161	136	22	controller	controller	NOUN
fis-161	136	23	,	,	PUNCT
fis-161	136	24	ˆ	ˆ	DET
fis-161	136	25	ˆ	ˆ	NOUN
fis-161	136	26	ˆ	ˆ	ADJ
fis-161	136	27	(	(	PUNCT
fis-161	136	28	)	)	PUNCT
fis-161	136	29	c	c	NOUN
fis-161	137	1	d	d	PUNCT
fis-161	137	2	d	d	X
fis-161	137	3	em	em	PRON
fis-161	137	4	l	l	NOUN
fis-161	137	5	l	l	NOUN
fis-161	137	6	dist	dist	NOUN
fis-161	137	7	int	int	NOUN
fis-161	137	8	int	int	NOUN
fis-161	137	9	intf	intf	NOUN
fis-161	138	1	k	k	PROPN
fis-161	138	2	f	f	PROPN
fis-161	139	1	f	f	PROPN
fis-161	139	2	g	g	PROPN
fis-161	139	3	f	f	PROPN
fis-161	139	4	f	f	PROPN
fis-161	139	5			PROPN
fis-161	139	6			PUNCT
fis-161	139	7			PUNCT
fis-161	139	8			X
fis-161	139	9	(	(	PUNCT
fis-161	139	10	17	17	NUM
fis-161	139	11	)	)	PUNCT
fis-161	139	12	with	with	ADP
fis-161	139	13	g	g	NOUN
fis-161	139	14	being	be	AUX
fis-161	139	15	the	the	DET
fis-161	139	16	force	force	NOUN
fis-161	139	17	error	error	NOUN
fis-161	139	18	gain	gain	NOUN
fis-161	139	19	.	.	PUNCT
fis-161	140	1	then	then	ADV
fis-161	140	2	,	,	PUNCT
fis-161	140	3	among	among	ADP
fis-161	140	4	all	all	DET
fis-161	140	5	the	the	DET
fis-161	140	6	possible	possible	ADJ
fis-161	140	7	infinite	infinite	ADJ
fis-161	140	8	choices	choice	NOUN
fis-161	140	9	granted	grant	VERB
fis-161	140	10	by	by	ADP
fis-161	140	11	eq	eq	PROPN
fis-161	140	12	.	.	PUNCT
fis-161	140	13	(	(	PUNCT
fis-161	140	14	13	13	NUM
fis-161	140	15	)	)	PUNCT
fis-161	140	16	,	,	PUNCT
fis-161	140	17	the	the	DET
fis-161	140	18	following	follow	VERB
fis-161	140	19	activation	activation	NOUN
fis-161	140	20	laws	law	NOUN
fis-161	140	21	have	have	AUX
fis-161	140	22	been	be	AUX
fis-161	140	23	chosen	choose	VERB
fis-161	140	24	for	for	ADP
fis-161	140	25	the	the	DET
fis-161	140	26	agonist	agonist	NOUN
fis-161	140	27	and	and	CCONJ
fis-161	140	28	antagonist	antagonist	NOUN
fis-161	140	29	de	de	NOUN
fis-161	140	30	films	film	NOUN
fis-161	140	31			NOUN
fis-161	140	32			SYM
fis-161	140	33			NOUN
fis-161	140	34	1	1	ADJ
fis-161	140	35	max	max	PROPN
fis-161	140	36	,	,	PUNCT
fis-161	140	37	,	,	PUNCT
fis-161	140	38	2c	2c	NOUN
fis-161	140	39	c	c	NOUN
fis-161	140	40	em	em	PRON
fis-161	141	1	l	l	VERB
fis-161	141	2	em	em	PRON
fis-161	142	1	l	l	X
fis-161	142	2	lv	lv	INTJ
fis-161	142	3	v	v	INTJ
fis-161	143	1	f	f	PROPN
fis-161	143	2	f	f	PROPN
fis-161	143	3	k	k	PROPN
fis-161	144	1	d	d	PROPN
fis-161	144	2			PROPN
fis-161	144	3			PROPN
fis-161	144	4			X
fis-161	144	5	(	(	PUNCT
fis-161	144	6	18.1	18.1	NUM
fis-161	144	7	)	)	PUNCT
fis-161	144	8			NOUN
fis-161	144	9			SYM
fis-161	144	10			NOUN
fis-161	144	11	2	2	NOUN
fis-161	144	12	max	max	PROPN
fis-161	144	13	,	,	PUNCT
fis-161	144	14	,	,	PUNCT
fis-161	144	15	2c	2c	NOUN
fis-161	144	16	c	c	NOUN
fis-161	144	17	em	em	PRON
fis-161	145	1	l	l	VERB
fis-161	145	2	em	em	PRON
fis-161	146	1	l	l	X
fis-161	146	2	lv	lv	INTJ
fis-161	146	3	v	v	INTJ
fis-161	147	1	f	f	PROPN
fis-161	147	2	f	f	PROPN
fis-161	147	3	k	k	PROPN
fis-161	147	4	d	d	PROPN
fis-161	147	5			PROPN
fis-161	147	6			VERB
fis-161	147	7			NOUN
fis-161	147	8	(	(	PUNCT
fis-161	147	9	18.2	18.2	NUM
fis-161	147	10	)	)	PUNCT
fis-161	147	11	note	note	VERB
fis-161	147	12	that	that	SCONJ
fis-161	147	13	eq	eq	X
fis-161	147	14	.	.	PUNCT
fis-161	148	1	(	(	PUNCT
fis-161	148	2	18	18	NUM
fis-161	148	3	)	)	PUNCT
fis-161	148	4	implies	imply	VERB
fis-161	148	5	reciprocal	reciprocal	ADJ
fis-161	148	6	activation	activation	NOUN
fis-161	148	7	of	of	ADP
fis-161	148	8	the	the	DET
fis-161	148	9	agonist	agonist	NOUN
fis-161	148	10	-	-	PUNCT
fis-161	148	11	antagonist	antagonist	NOUN
fis-161	148	12	de	de	NOUN
fis-161	148	13	films	film	NOUN
fis-161	148	14	.	.	PUNCT
fis-161	149	1	this	this	PRON
fis-161	149	2	is	be	AUX
fis-161	149	3	the	the	DET
fis-161	149	4	simplest	simple	ADJ
fis-161	149	5	form	form	NOUN
fis-161	149	6	of	of	ADP
fis-161	149	7	agonistantagonist	agonistantagonist	NOUN
fis-161	149	8	actuator	actuator	NOUN
fis-161	149	9	command	command	NOUN
fis-161	149	10	.	.	PUNCT
fis-161	150	1	experimental	experimental	ADJ
fis-161	150	2	results	result	NOUN
fis-161	150	3	or	or	CCONJ
fis-161	150	4	validation	validation	NOUN
fis-161	150	5	purposes	purpose	NOUN
fis-161	150	6	,	,	PUNCT
fis-161	150	7	a	a	DET
fis-161	150	8	prototype	prototype	NOUN
fis-161	150	9	of	of	ADP
fis-161	150	10	the	the	DET
fis-161	150	11	agonist	agonist	NOUN
fis-161	150	12	-	-	PUNCT
fis-161	150	13	antagonist	antagonist	NOUN
fis-161	150	14	de	de	NOUN
fis-161	150	15	actuator	actuator	NOUN
fis-161	150	16	depicted	depict	VERB
fis-161	150	17	in	in	ADP
fis-161	150	18	fig	fig	NOUN
fis-161	150	19	.	.	PUNCT
fis-161	151	1	1	1	NUM
fis-161	151	2	has	have	AUX
fis-161	151	3	been	be	AUX
fis-161	151	4	embedded	embed	VERB
fis-161	151	5	and	and	CCONJ
fis-161	151	6	tested	test	VERB
fis-161	151	7	in	in	ADP
fis-161	151	8	a	a	DET
fis-161	151	9	properly	properly	ADV
fis-161	151	10	designed	design	VERB
fis-161	151	11	test	test	NOUN
fis-161	151	12	-	-	PUNCT
fis-161	151	13	bench	bench	NOUN
fis-161	151	14	as	as	SCONJ
fis-161	151	15	shown	show	VERB
fis-161	151	16	in	in	ADP
fis-161	151	17	fig	fig	NOUN
fis-161	151	18	.	.	PUNCT
fis-161	152	1	8	8	X
fis-161	152	2	.	.	X
fis-161	153	1	in	in	ADP
fis-161	153	2	the	the	DET
fis-161	153	3	reported	report	VERB
fis-161	153	4	set	set	NOUN
fis-161	153	5	-	-	PUNCT
fis-161	153	6	up	up	NOUN
fis-161	153	7	,	,	PUNCT
fis-161	153	8	the	the	DET
fis-161	153	9	de	de	X
fis-161	153	10	actuator	actuator	NOUN
fis-161	153	11	output	output	NOUN
fis-161	153	12	is	be	AUX
fis-161	153	13	connected	connect	VERB
fis-161	153	14	through	through	ADP
fis-161	153	15	a	a	DET
fis-161	153	16	custom	custom	ADV
fis-161	153	17	-	-	PUNCT
fis-161	153	18	made	make	VERB
fis-161	153	19	force	force	NOUN
fis-161	153	20	sensor	sensor	NOUN
fis-161	153	21	to	to	ADP
fis-161	153	22	a	a	DET
fis-161	153	23	position	position	NOUN
fis-161	153	24	-	-	PUNCT
fis-161	153	25	controlled	control	VERB
fis-161	153	26	linear	linear	NOUN
fis-161	153	27	brushless	brushless	NOUN
fis-161	153	28	dc	dc	PROPN
fis-161	153	29	motor	motor	NOUN
fis-161	153	30	equipped	equip	VERB
fis-161	153	31	with	with	ADP
fis-161	153	32	a	a	DET
fis-161	153	33	built	build	VERB
fis-161	153	34	-	-	PUNCT
fis-161	153	35	in	in	ADP
fis-161	153	36	position	position	NOUN
fis-161	153	37	sensor	sensor	NOUN
fis-161	153	38	.	.	PUNCT
fis-161	154	1	in	in	ADP
fis-161	154	2	the	the	DET
fis-161	154	3	experiments	experiment	NOUN
fis-161	154	4	,	,	PUNCT
fis-161	154	5	these	these	DET
fis-161	154	6	sensors	sensor	NOUN
fis-161	154	7	are	be	AUX
fis-161	154	8	used	use	VERB
fis-161	154	9	to	to	PART
fis-161	154	10	infer	infer	VERB
fis-161	154	11	actuator	actuator	NOUN
fis-161	154	12	interaction	interaction	NOUN
fis-161	154	13	force	force	NOUN
fis-161	154	14	fint	fint	NOUN
fis-161	154	15	and	and	CCONJ
fis-161	154	16	output	output	NOUN
fis-161	154	17	position	position	NOUN
fis-161	154	18	δ	δ	PROPN
fis-161	154	19	respectively	respectively	ADV
fis-161	154	20	.	.	PUNCT
fis-161	155	1	the	the	DET
fis-161	155	2	employed	employ	VERB
fis-161	155	3	force	force	NOUN
fis-161	155	4	and	and	CCONJ
fis-161	155	5	position	position	NOUN
fis-161	155	6	sensors	sensor	NOUN
fis-161	155	7	are	be	AUX
fis-161	155	8	affected	affect	VERB
fis-161	155	9	by	by	ADP
fis-161	155	10	white	white	ADJ
fis-161	155	11	noise	noise	NOUN
fis-161	155	12	disturbances	disturbance	NOUN
fis-161	155	13	wforce	wforce	NOUN
fis-161	155	14	and	and	CCONJ
fis-161	155	15	wpos	wpos	NOUN
fis-161	155	16	with	with	ADP
fis-161	155	17	variances	variance	NOUN
fis-161	155	18	equaling	equal	VERB
fis-161	155	19	wforce=10e-5	wforce=10e-5	PROPN
fis-161	155	20	n	n	CCONJ
fis-161	155	21	and	and	CCONJ
fis-161	155	22	wpos=8e-10	wpos=8e-10	PROPN
fis-161	155	23	m.	m.	NOUN
fis-161	155	24	as	as	ADP
fis-161	155	25	for	for	ADP
fis-161	155	26	the	the	DET
fis-161	155	27	employed	employ	VERB
fis-161	155	28	driving	driving	NOUN
fis-161	155	29	electronics	electronic	NOUN
fis-161	155	30	,	,	PUNCT
fis-161	155	31	each	each	PRON
fis-161	155	32	of	of	ADP
fis-161	155	33	the	the	DET
fis-161	155	34	agonist	agonist	NOUN
fis-161	155	35	and	and	CCONJ
fis-161	155	36	antagonist	antagonist	NOUN
fis-161	155	37	de	de	NOUN
fis-161	155	38	films	film	NOUN
fis-161	155	39	is	be	AUX
fis-161	155	40	activated	activate	VERB
fis-161	155	41	by	by	ADP
fis-161	155	42	an	an	DET
fis-161	155	43	efficient	efficient	ADJ
fis-161	155	44	compact	compact	ADJ
fis-161	155	45	and	and	CCONJ
fis-161	155	46	low	low	ADJ
fis-161	155	47	-	-	PUNCT
fis-161	155	48	cost	cost	NOUN
fis-161	155	49	electronic	electronic	ADJ
fis-161	155	50	driver	driver	NOUN
fis-161	155	51	,	,	PUNCT
fis-161	155	52	which	which	PRON
fis-161	155	53	is	be	AUX
fis-161	155	54	custom	custom	ADV
fis-161	155	55	-	-	PUNCT
fis-161	155	56	made	make	VERB
fis-161	155	57	and	and	CCONJ
fis-161	155	58	based	base	VERB
fis-161	155	59	on	on	ADP
fis-161	155	60	a	a	DET
fis-161	155	61	two	two	NUM
fis-161	155	62	-	-	PUNCT
fis-161	155	63	transistor	transistor	NOUN
fis-161	155	64	discontinuous	discontinuous	ADJ
fis-161	155	65	-	-	PUNCT
fis-161	155	66	mode	mode	NOUN
fis-161	155	67	fly	fly	NOUN
fis-161	155	68	-	-	PUNCT
fis-161	155	69	back	back	NOUN
fis-161	155	70	converter	converter	NOUN
fis-161	155	71	topology	topology	NOUN
fis-161	155	72	.	.	PUNCT
fis-161	156	1	regarding	regard	VERB
fis-161	156	2	specifications	specification	NOUN
fis-161	156	3	,	,	PUNCT
fis-161	156	4	the	the	DET
fis-161	156	5	two	two	NUM
fis-161	156	6	considered	consider	VERB
fis-161	156	7	drivers	driver	NOUN
fis-161	156	8	are	be	AUX
fis-161	156	9	capable	capable	ADJ
fis-161	156	10	of	of	ADP
fis-161	156	11	regulating	regulate	VERB
fis-161	156	12	their	their	PRON
fis-161	156	13	output	output	NOUN
fis-161	156	14	voltages	voltage	NOUN
fis-161	156	15	(	(	PUNCT
fis-161	156	16	namely	namely	ADV
fis-161	156	17	v1	v1	NOUN
fis-161	156	18	and	and	CCONJ
fis-161	156	19	v2	v2	NOUN
fis-161	156	20	)	)	PUNCT
fis-161	156	21	from	from	ADP
fis-161	156	22	0	0	NUM
fis-161	156	23	to	to	ADP
fis-161	156	24	vmax	vmax	PROPN
fis-161	156	25	(	(	PUNCT
fis-161	156	26	vmax	vmax	PROPN
fis-161	156	27	=	=	SYM
fis-161	156	28	6.7kv	6.7kv	NUM
fis-161	156	29	)	)	PUNCT
fis-161	156	30	with	with	ADP
fis-161	156	31	a	a	DET
fis-161	156	32	12	12	NUM
fis-161	156	33	hz	hz	PRON
fis-161	156	34	cut	cut	NOUN
fis-161	156	35	-	-	PUNCT
fis-161	156	36	off	off	ADP
fis-161	156	37	frequency	frequency	NOUN
fis-161	156	38	.	.	PUNCT
fis-161	157	1	a	a	DET
fis-161	157	2	picture	picture	NOUN
fis-161	157	3	of	of	ADP
fis-161	157	4	one	one	NUM
fis-161	157	5	of	of	ADP
fis-161	157	6	the	the	DET
fis-161	157	7	driver	driver	NOUN
fis-161	157	8	prototypes	prototype	NOUN
fis-161	157	9	is	be	AUX
fis-161	157	10	reported	report	VERB
fis-161	157	11	in	in	ADP
fis-161	157	12	fig	fig	NOUN
fis-161	157	13	.	.	PUNCT
fis-161	158	1	9	9	NUM
fis-161	158	2	;	;	PUNCT
fis-161	158	3	more	more	ADJ
fis-161	158	4	details	detail	NOUN
fis-161	158	5	on	on	ADP
fis-161	158	6	driver	driver	NOUN
fis-161	158	7	design	design	NOUN
fis-161	158	8	and	and	CCONJ
fis-161	158	9	performances	performance	NOUN
fis-161	158	10	can	can	AUX
fis-161	158	11	be	be	AUX
fis-161	158	12	found	find	VERB
fis-161	158	13	in	in	ADP
fis-161	158	14	[	[	X
fis-161	158	15	15	15	NUM
fis-161	158	16	]	]	PUNCT
fis-161	158	17	.	.	PUNCT
fis-161	159	1	figure	figure	NOUN
fis-161	159	2	8	8	NUM
fis-161	159	3	:	:	PUNCT
fis-161	159	4	actuator	actuator	NOUN
fis-161	159	5	test	test	NOUN
fis-161	159	6	-	-	PUNCT
fis-161	159	7	bench	bench	NOUN
fis-161	159	8	.	.	PUNCT
fis-161	160	1	f	f	PROPN
fis-161	160	2	http://www.gruppofrattura.it	http://www.gruppofrattura.it	PROPN
fis-161	160	3	http://dx.medra.org/10.3221/igf-esis.23.05&auth=true	http://dx.medra.org/10.3221/igf-esis.23.05&auth=true	PROPN
fis-161	160	4	r.	r.	PROPN
fis-161	160	5	vertechy	vertechy	PROPN
fis-161	160	6	et	et	PROPN
fis-161	160	7	alii	alii	PROPN
fis-161	160	8	,	,	PUNCT
fis-161	160	9	frattura	frattura	PROPN
fis-161	160	10	ed	ed	PROPN
fis-161	160	11	integrità	integrità	PROPN
fis-161	160	12	strutturale	strutturale	PROPN
fis-161	160	13	,	,	PUNCT
fis-161	160	14	23	23	NUM
fis-161	160	15	(	(	PUNCT
fis-161	160	16	2013	2013	NUM
fis-161	160	17	)	)	PUNCT
fis-161	160	18	47	47	NUM
fis-161	160	19	-	-	SYM
fis-161	160	20	56	56	NUM
fis-161	160	21	;	;	PUNCT
fis-161	160	22	doi	doi	NOUN
fis-161	160	23	:	:	PUNCT
fis-161	160	24	10.3221	10.3221	NUM
fis-161	160	25	/	/	SYM
fis-161	160	26	igf	igf	PROPN
fis-161	160	27	-	-	PUNCT
fis-161	160	28	esis.23.05	esis.23.05	PROPN
fis-161	160	29	54	54	NUM
fis-161	160	30	(	(	PUNCT
fis-161	160	31	a	a	NOUN
fis-161	160	32	)	)	PUNCT
fis-161	160	33	(	(	PUNCT
fis-161	160	34	b	b	X
fis-161	160	35	)	)	PUNCT
fis-161	160	36	figure	figure	NOUN
fis-161	160	37	9	9	NUM
fis-161	160	38	:	:	PUNCT
fis-161	160	39	custom	custom	NOUN
fis-161	160	40	made	make	VERB
fis-161	160	41	electronic	electronic	ADJ
fis-161	160	42	driver	driver	NOUN
fis-161	160	43	prototype	prototype	NOUN
fis-161	160	44	.	.	PUNCT
fis-161	161	1	(	(	PUNCT
fis-161	161	2	a	a	X
fis-161	161	3	)	)	PUNCT
fis-161	161	4	circuit	circuit	NOUN
fis-161	161	5	diagram	diagram	NOUN
fis-161	161	6	;	;	PUNCT
fis-161	161	7	(	(	PUNCT
fis-161	161	8	b	b	X
fis-161	161	9	)	)	PUNCT
fis-161	161	10	pcb	pcb	PROPN
fis-161	161	11	circuit	circuit	PROPN
fis-161	161	12	board	board	PROPN
fis-161	161	13	prototype	prototype	NOUN
fis-161	161	14	.	.	PUNCT
fis-161	162	1	in	in	ADP
fis-161	162	2	the	the	DET
fis-161	162	3	experimental	experimental	ADJ
fis-161	162	4	tests	test	NOUN
fis-161	162	5	,	,	PUNCT
fis-161	162	6	the	the	DET
fis-161	162	7	interaction	interaction	NOUN
fis-161	162	8	force	force	NOUN
fis-161	162	9	exchanged	exchange	VERB
fis-161	162	10	between	between	ADP
fis-161	162	11	de	de	X
fis-161	162	12	actuator	actuator	NOUN
fis-161	162	13	and	and	CCONJ
fis-161	162	14	dc	dc	PROPN
fis-161	162	15	motor	motor	NOUN
fis-161	162	16	is	be	AUX
fis-161	162	17	forced	force	VERB
fis-161	162	18	to	to	PART
fis-161	162	19	follow	follow	VERB
fis-161	162	20	a	a	DET
fis-161	162	21	triangular	triangular	NOUN
fis-161	162	22	interaction	interaction	NOUN
fis-161	162	23	-	-	PUNCT
fis-161	162	24	force	force	NOUN
fis-161	162	25	signal	signal	NOUN
fis-161	162	26	d	d	PROPN
fis-161	162	27	intf	intf	PROPN
fis-161	162	28	,	,	PUNCT
fis-161	162	29	while	while	SCONJ
fis-161	162	30	the	the	DET
fis-161	162	31	dc	dc	PROPN
fis-161	162	32	motor	motor	NOUN
fis-161	162	33	cyclically	cyclically	ADV
fis-161	162	34	displaces	displace	VERB
fis-161	162	35	the	the	DET
fis-161	162	36	de	de	X
fis-161	162	37	actuator	actuator	NOUN
fis-161	162	38	output	output	NOUN
fis-161	162	39	about	about	ADP
fis-161	162	40	its	its	PRON
fis-161	162	41	offstate	offstate	ADJ
fis-161	162	42	rest	rest	NOUN
fis-161	162	43	position	position	NOUN
fis-161	162	44	with	with	ADP
fis-161	162	45	a	a	DET
fis-161	162	46	sinusoidal	sinusoidal	ADJ
fis-161	162	47	trajectory	trajectory	NOUN
fis-161	162	48	.	.	PUNCT
fis-161	163	1	the	the	DET
fis-161	163	2	gain	gain	NOUN
fis-161	163	3	g	g	PROPN
fis-161	163	4	of	of	ADP
fis-161	163	5	the	the	DET
fis-161	163	6	control	control	NOUN
fis-161	163	7	law	law	NOUN
fis-161	163	8	described	describe	VERB
fis-161	163	9	by	by	ADP
fis-161	163	10	eq	eq	PROPN
fis-161	163	11	.	.	PUNCT
fis-161	164	1	(	(	PUNCT
fis-161	164	2	17	17	NUM
fis-161	164	3	)	)	PUNCT
fis-161	164	4	is	be	AUX
fis-161	164	5	set	set	VERB
fis-161	164	6	to	to	ADP
fis-161	164	7	3	3	NUM
fis-161	164	8	.	.	PUNCT
fis-161	165	1	with	with	ADP
fis-161	165	2	the	the	DET
fis-161	165	3	choice	choice	NOUN
fis-161	165	4	u1	u1	NOUN
fis-161	165	5	=	=	SYM
fis-161	165	6	u2=10	u2=10	PROPN
fis-161	165	7	,	,	PUNCT
fis-161	165	8	the	the	DET
fis-161	165	9	steady	steady	ADJ
fis-161	165	10	-	-	PUNCT
fis-161	165	11	state	state	NOUN
fis-161	165	12	observer	observer	NOUN
fis-161	165	13	(	(	PUNCT
fis-161	165	14	kalman	kalman	NOUN
fis-161	165	15	)	)	PUNCT
fis-161	165	16	matrix	matrix	NOUN
fis-161	165	17	to	to	PART
fis-161	165	18	be	be	AUX
fis-161	165	19	used	use	VERB
fis-161	165	20	in	in	ADP
fis-161	165	21	eq	eq	ADP
fis-161	165	22	.	.	PUNCT
fis-161	166	1	(	(	PUNCT
fis-161	166	2	16	16	NUM
fis-161	166	3	)	)	PUNCT
fis-161	166	4	is	be	AUX
fis-161	166	5	set	set	VERB
fis-161	166	6	to	to	ADP
fis-161	166	7	20363	20363	NUM
fis-161	166	8	201	201	NUM
fis-161	166	9	111785	111785	NUM
fis-161	166	10	2	2	NUM
fis-161	166	11	3	3	NUM
fis-161	166	12	8.29	8.29	NUM
fis-161	166	13	0.016	0.016	NUM
fis-161	166	14	5.6595	5.6595	NUM
fis-161	166	15	316	316	NUM
fis-161	166	16	t	t	NOUN
fis-161	166	17	e	e	NOUN
fis-161	166	18			NOUN
fis-161	166	19			VERB
fis-161	166	20			PROPN
fis-161	166	21			PROPN
fis-161	166	22	l=	l=	ADJ
fis-161	166	23	(	(	PUNCT
fis-161	166	24	19	19	NUM
fis-161	166	25	)	)	PUNCT
fis-161	166	26	the	the	DET
fis-161	166	27	experimental	experimental	ADJ
fis-161	166	28	results	result	NOUN
fis-161	166	29	for	for	ADP
fis-161	166	30	a	a	DET
fis-161	166	31	desired	desire	VERB
fis-161	166	32	interaction	interaction	NOUN
fis-161	166	33	-	-	PUNCT
fis-161	166	34	force	force	NOUN
fis-161	166	35	varying	vary	VERB
fis-161	166	36	linearly	linearly	ADV
fis-161	166	37	between	between	ADP
fis-161	166	38	1.5n	1.5n	PROPN
fis-161	166	39	with	with	ADP
fis-161	166	40	frequency	frequency	NOUN
fis-161	166	41	equalling	equalling	NOUN
fis-161	166	42	1/6hz	1/6hz	NUM
fis-161	166	43	and	and	CCONJ
fis-161	166	44	for	for	ADP
fis-161	166	45	a	a	DET
fis-161	166	46	sinusoidal	sinusoidal	ADJ
fis-161	166	47	output	output	NOUN
fis-161	166	48	motion	motion	NOUN
fis-161	166	49	varying	vary	VERB
fis-161	166	50	between	between	ADP
fis-161	166	51	10	10	NOUN
fis-161	166	52	mm	mm	PROPN
fis-161	166	53	with	with	ADP
fis-161	166	54	frequency	frequency	NOUN
fis-161	166	55	equalling	equal	VERB
fis-161	166	56	0.5hz	0.5hz	NUM
fis-161	166	57	are	be	AUX
fis-161	166	58	reported	report	VERB
fis-161	166	59	in	in	ADP
fis-161	166	60	fig	fig	NOUN
fis-161	166	61	.	.	PUNCT
fis-161	167	1	10	10	NUM
fis-161	167	2	.	.	X
fis-161	167	3	figure	figure	NOUN
fis-161	167	4	10	10	NUM
fis-161	167	5	:	:	PUNCT
fis-161	167	6	de	de	X
fis-161	167	7	actuator	actuator	NOUN
fis-161	167	8	force	force	NOUN
fis-161	167	9	-	-	PUNCT
fis-161	167	10	controller	controller	NOUN
fis-161	167	11	validation	validation	NOUN
fis-161	167	12	.	.	PUNCT
fis-161	168	1	http://www.gruppofrattura.it	http://www.gruppofrattura.it	PROPN
fis-161	168	2	http://dx.medra.org/10.3221/igf-esis.23.05&auth=true	http://dx.medra.org/10.3221/igf-esis.23.05&auth=true	PROPN
fis-161	168	3	r.	r.	PROPN
fis-161	168	4	vertechy	vertechy	PROPN
fis-161	168	5	et	et	PROPN
fis-161	168	6	alii	alii	PROPN
fis-161	168	7	,	,	PUNCT
fis-161	168	8	frattura	frattura	PROPN
fis-161	168	9	ed	ed	PROPN
fis-161	168	10	integrità	integrità	PROPN
fis-161	168	11	strutturale	strutturale	PROPN
fis-161	168	12	,	,	PUNCT
fis-161	168	13	23	23	NUM
fis-161	168	14	(	(	PUNCT
fis-161	168	15	2013	2013	NUM
fis-161	168	16	)	)	PUNCT
fis-161	168	17	47	47	NUM
fis-161	168	18	-	-	SYM
fis-161	168	19	56	56	NUM
fis-161	168	20	;	;	PUNCT
fis-161	168	21	doi	doi	NOUN
fis-161	168	22	:	:	PUNCT
fis-161	168	23	10.3221	10.3221	NUM
fis-161	168	24	/	/	SYM
fis-161	168	25	igf	igf	PROPN
fis-161	168	26	-	-	PUNCT
fis-161	168	27	esis.23.05	esis.23.05	PROPN
fis-161	168	28	55	55	NUM
fis-161	168	29	imposed	impose	VERB
fis-161	168	30	output	output	NOUN
fis-161	168	31	motion	motion	NOUN
fis-161	168	32	and	and	CCONJ
fis-161	168	33	desired	desire	VERB
fis-161	168	34	interaction	interaction	NOUN
fis-161	168	35	force	force	NOUN
fis-161	168	36	command	command	NOUN
fis-161	168	37	are	be	AUX
fis-161	168	38	shown	show	VERB
fis-161	168	39	in	in	ADP
fis-161	168	40	the	the	DET
fis-161	168	41	first	first	ADJ
fis-161	168	42	(	(	PUNCT
fis-161	168	43	upper	upper	ADJ
fis-161	168	44	)	)	PUNCT
fis-161	168	45	plot	plot	NOUN
fis-161	168	46	.	.	PUNCT
fis-161	169	1	measured	measure	VERB
fis-161	169	2	and	and	CCONJ
fis-161	169	3	estimated	estimate	VERB
fis-161	169	4	interaction	interaction	NOUN
fis-161	169	5	force	force	NOUN
fis-161	169	6	tracking	track	VERB
fis-161	169	7	errors	error	NOUN
fis-161	169	8	are	be	AUX
fis-161	169	9	shown	show	VERB
fis-161	169	10	in	in	ADP
fis-161	169	11	the	the	DET
fis-161	169	12	second	second	ADJ
fis-161	169	13	plot	plot	NOUN
fis-161	169	14	.	.	PUNCT
fis-161	170	1	the	the	DET
fis-161	170	2	reciprocal	reciprocal	ADJ
fis-161	170	3	de	de	X
fis-161	170	4	actuator	actuator	NOUN
fis-161	170	5	activation	activation	NOUN
fis-161	170	6	voltages	voltage	NOUN
fis-161	170	7	computed	compute	VERB
fis-161	170	8	via	via	ADP
fis-161	170	9	eq	eq	PROPN
fis-161	170	10	.	.	PUNCT
fis-161	171	1	(	(	PUNCT
fis-161	171	2	18	18	NUM
fis-161	171	3	)	)	PUNCT
fis-161	171	4	are	be	AUX
fis-161	171	5	reported	report	VERB
fis-161	171	6	in	in	ADP
fis-161	171	7	the	the	DET
fis-161	171	8	third	third	ADJ
fis-161	171	9	plot	plot	NOUN
fis-161	171	10	.	.	PUNCT
fis-161	172	1	real	real	ADJ
fis-161	172	2	(	(	PUNCT
fis-161	172	3	a	a	PRON
fis-161	172	4	-	-	PUNCT
fis-161	172	5	priori	priori	NOUN
fis-161	172	6	measured	measure	VERB
fis-161	172	7	)	)	PUNCT
fis-161	172	8	and	and	CCONJ
fis-161	172	9	estimated	estimate	VERB
fis-161	172	10	(	(	PUNCT
fis-161	172	11	via	via	ADP
fis-161	172	12	eq	eq	NOUN
fis-161	172	13	.	.	PUNCT
fis-161	173	1	(	(	PUNCT
fis-161	173	2	16	16	NUM
fis-161	173	3	)	)	PUNCT
fis-161	173	4	)	)	PUNCT
fis-161	174	1	disturbance	disturbance	NOUN
fis-161	174	2	forces	force	NOUN
fis-161	174	3	are	be	AUX
fis-161	174	4	shown	show	VERB
fis-161	174	5	in	in	ADP
fis-161	174	6	the	the	DET
fis-161	174	7	fourth	fourth	ADJ
fis-161	174	8	plot	plot	NOUN
fis-161	174	9	.	.	PUNCT
fis-161	175	1	in	in	ADP
fis-161	175	2	particular	particular	ADJ
fis-161	175	3	,	,	PUNCT
fis-161	175	4	the	the	DET
fis-161	175	5	second	second	ADJ
fis-161	175	6	plot	plot	NOUN
fis-161	175	7	highlights	highlight	NOUN
fis-161	175	8	that	that	PRON
fis-161	175	9	,	,	PUNCT
fis-161	175	10	for	for	ADP
fis-161	175	11	a	a	DET
fis-161	175	12	large	large	ADJ
fis-161	175	13	part	part	NOUN
fis-161	175	14	of	of	ADP
fis-161	175	15	the	the	DET
fis-161	175	16	experiment	experiment	NOUN
fis-161	175	17	duration	duration	NOUN
fis-161	175	18	,	,	PUNCT
fis-161	175	19	the	the	DET
fis-161	175	20	proposed	propose	VERB
fis-161	175	21	controller	controller	NOUN
fis-161	175	22	is	be	AUX
fis-161	175	23	able	able	ADJ
fis-161	175	24	to	to	PART
fis-161	175	25	keep	keep	VERB
fis-161	175	26	the	the	DET
fis-161	175	27	measured	measured	ADJ
fis-161	175	28	interaction	interaction	NOUN
fis-161	175	29	-	-	PUNCT
fis-161	175	30	force	force	NOUN
fis-161	175	31	tracking	tracking	NOUN
fis-161	175	32	error	error	NOUN
fis-161	175	33	within	within	ADP
fis-161	175	34	±0.05n	±0.05n	PROPN
fis-161	175	35	,	,	PUNCT
fis-161	175	36	which	which	PRON
fis-161	175	37	is	be	AUX
fis-161	175	38	roughly	roughly	ADV
fis-161	175	39	equal	equal	ADJ
fis-161	175	40	to	to	ADP
fis-161	175	41	the	the	DET
fis-161	175	42	force	force	NOUN
fis-161	175	43	sensor	sensor	NOUN
fis-161	175	44	measurement	measurement	NOUN
fis-161	175	45	noise	noise	NOUN
fis-161	175	46	.	.	PUNCT
fis-161	176	1	problems	problem	NOUN
fis-161	176	2	occur	occur	VERB
fis-161	176	3	between	between	ADP
fis-161	176	4	the	the	DET
fis-161	176	5	time	time	NOUN
fis-161	176	6	intervals	interval	NOUN
fis-161	176	7	spanning	span	VERB
fis-161	176	8	from	from	ADP
fis-161	176	9	4.4s	4.4s	NUM
fis-161	176	10	and	and	CCONJ
fis-161	176	11	5.1s	5.1s	NOUN
fis-161	176	12	and	and	CCONJ
fis-161	176	13	from	from	ADP
fis-161	176	14	7.5	7.5	NUM
fis-161	176	15	and	and	CCONJ
fis-161	176	16	8s	8s	NUM
fis-161	176	17	which	which	PRON
fis-161	176	18	,	,	PUNCT
fis-161	176	19	as	as	ADP
fis-161	176	20	the	the	DET
fis-161	176	21	third	third	ADJ
fis-161	176	22	plot	plot	NOUN
fis-161	176	23	shows	show	NOUN
fis-161	176	24	,	,	PUNCT
fis-161	176	25	are	be	AUX
fis-161	176	26	only	only	ADV
fis-161	176	27	due	due	ADJ
fis-161	176	28	to	to	ADP
fis-161	176	29	the	the	DET
fis-161	176	30	saturation	saturation	NOUN
fis-161	176	31	of	of	ADP
fis-161	176	32	the	the	DET
fis-161	176	33	voltage	voltage	NOUN
fis-161	176	34	commands	command	VERB
fis-161	176	35	v2	v2	PROPN
fis-161	176	36	and	and	CCONJ
fis-161	176	37	v1	v1	PROPN
fis-161	176	38	(	(	PUNCT
fis-161	176	39	respectively	respectively	ADV
fis-161	176	40	)	)	PUNCT
fis-161	176	41	rather	rather	ADV
fis-161	176	42	than	than	ADP
fis-161	176	43	to	to	ADP
fis-161	176	44	a	a	DET
fis-161	176	45	fault	fault	NOUN
fis-161	176	46	of	of	ADP
fis-161	176	47	the	the	DET
fis-161	176	48	controller	controller	NOUN
fis-161	176	49	.	.	PUNCT
fis-161	177	1	note	note	VERB
fis-161	177	2	indeed	indeed	ADV
fis-161	177	3	from	from	ADP
fis-161	177	4	fig	fig	NOUN
fis-161	177	5	.	.	PUNCT
fis-161	178	1	6	6	NUM
fis-161	178	2	that	that	PRON
fis-161	178	3	,	,	PUNCT
fis-161	178	4	because	because	SCONJ
fis-161	178	5	of	of	ADP
fis-161	178	6	the	the	DET
fis-161	178	7	large	large	ADJ
fis-161	178	8	hysteresis	hysteresis	NOUN
fis-161	178	9	affecting	affect	VERB
fis-161	178	10	the	the	DET
fis-161	178	11	employed	employ	VERB
fis-161	178	12	de	de	X
fis-161	178	13	films	film	NOUN
fis-161	178	14	at	at	ADP
fis-161	178	15	the	the	DET
fis-161	178	16	imposed	impose	VERB
fis-161	178	17	motion	motion	NOUN
fis-161	178	18	frequency	frequency	NOUN
fis-161	178	19	,	,	PUNCT
fis-161	178	20	the	the	DET
fis-161	178	21	considered	consider	VERB
fis-161	178	22	agonist	agonist	NOUN
fis-161	178	23	-	-	PUNCT
fis-161	178	24	antagonist	antagonist	NOUN
fis-161	178	25	de	de	NOUN
fis-161	178	26	actuator	actuator	NOUN
fis-161	178	27	can	can	AUX
fis-161	178	28	not	not	PART
fis-161	178	29	generate	generate	VERB
fis-161	178	30	forces	force	NOUN
fis-161	178	31	greater	great	ADJ
fis-161	178	32	than	than	ADP
fis-161	178	33	1n	1n	NUM
fis-161	178	34	for	for	ADP
fis-161	178	35	large	large	ADJ
fis-161	178	36	part	part	NOUN
fis-161	178	37	of	of	ADP
fis-161	178	38	its	its	PRON
fis-161	178	39	backward	backward	ADJ
fis-161	178	40	stroke	stroke	NOUN
fis-161	178	41	(	(	PUNCT
fis-161	178	42	forces	force	NOUN
fis-161	178	43	greater	great	ADJ
fis-161	178	44	than	than	ADP
fis-161	178	45	1.5n	1.5n	NUM
fis-161	178	46	can	can	AUX
fis-161	178	47	instead	instead	ADV
fis-161	178	48	be	be	AUX
fis-161	178	49	produced	produce	VERB
fis-161	178	50	for	for	ADP
fis-161	178	51	large	large	ADJ
fis-161	178	52	part	part	NOUN
fis-161	178	53	of	of	ADP
fis-161	178	54	its	its	PRON
fis-161	178	55	forward	forward	ADJ
fis-161	178	56	stroke	stroke	NOUN
fis-161	178	57	)	)	PUNCT
fis-161	178	58	.	.	PUNCT
fis-161	179	1	conclusions	conclusion	NOUN
fis-161	179	2	n	n	CCONJ
fis-161	179	3	this	this	DET
fis-161	179	4	paper	paper	NOUN
fis-161	179	5	,	,	PUNCT
fis-161	179	6	a	a	DET
fis-161	179	7	closed	close	VERB
fis-161	179	8	-	-	PUNCT
fis-161	179	9	loop	loop	NOUN
fis-161	179	10	interaction	interaction	NOUN
fis-161	179	11	-	-	PUNCT
fis-161	179	12	force	force	NOUN
fis-161	179	13	controller	controller	NOUN
fis-161	179	14	for	for	ADP
fis-161	179	15	an	an	DET
fis-161	179	16	agonist	agonist	NOUN
fis-161	179	17	-	-	PUNCT
fis-161	179	18	antagonist	antagonist	NOUN
fis-161	179	19	linear	linear	ADJ
fis-161	179	20	actuator	actuator	NOUN
fis-161	179	21	based	base	VERB
fis-161	179	22	on	on	ADP
fis-161	179	23	conicallyshaped	conicallyshape	VERB
fis-161	179	24	dielectric	dielectric	ADJ
fis-161	179	25	elastomer	elastomer	NOUN
fis-161	179	26	films	film	NOUN
fis-161	179	27	has	have	AUX
fis-161	179	28	been	be	AUX
fis-161	179	29	proposed	propose	VERB
fis-161	179	30	and	and	CCONJ
fis-161	179	31	validated	validate	VERB
fis-161	179	32	.	.	PUNCT
fis-161	180	1	the	the	DET
fis-161	180	2	system	system	NOUN
fis-161	180	3	represents	represent	VERB
fis-161	180	4	a	a	DET
fis-161	180	5	first	first	ADJ
fis-161	180	6	step	step	NOUN
fis-161	180	7	towards	towards	ADP
fis-161	180	8	the	the	DET
fis-161	180	9	production	production	NOUN
fis-161	180	10	of	of	ADP
fis-161	180	11	practical	practical	ADJ
fis-161	180	12	de	de	ADJ
fis-161	180	13	-	-	PUNCT
fis-161	180	14	based	base	VERB
fis-161	180	15	force	force	NOUN
fis-161	180	16	feedback	feedback	NOUN
fis-161	180	17	devices	device	NOUN
fis-161	180	18	and	and	CCONJ
fis-161	180	19	hi	hi	INTJ
fis-161	180	20	.	.	PUNCT
fis-161	181	1	at	at	ADP
fis-161	181	2	first	first	ADV
fis-161	181	3	,	,	PUNCT
fis-161	181	4	a	a	DET
fis-161	181	5	model	model	NOUN
fis-161	181	6	accounting	account	VERB
fis-161	181	7	for	for	ADP
fis-161	181	8	the	the	DET
fis-161	181	9	viscohyperelastic	viscohyperelastic	ADJ
fis-161	181	10	nature	nature	NOUN
fis-161	181	11	of	of	ADP
fis-161	181	12	the	the	DET
fis-161	181	13	de	de	PROPN
fis-161	181	14	films	film	NOUN
fis-161	181	15	has	have	AUX
fis-161	181	16	been	be	AUX
fis-161	181	17	presented	present	VERB
fis-161	181	18	for	for	ADP
fis-161	181	19	actuator	actuator	NOUN
fis-161	181	20	electro	electro	ADJ
fis-161	181	21	-	-	PUNCT
fis-161	181	22	mechanical	mechanical	ADJ
fis-161	181	23	design	design	NOUN
fis-161	181	24	purposes	purpose	NOUN
fis-161	181	25	.	.	PUNCT
fis-161	182	1	the	the	DET
fis-161	182	2	model	model	NOUN
fis-161	182	3	was	be	AUX
fis-161	182	4	then	then	ADV
fis-161	182	5	linearized	linearize	VERB
fis-161	182	6	and	and	CCONJ
fis-161	182	7	employed	employ	VERB
fis-161	182	8	for	for	ADP
fis-161	182	9	controller	controller	NOUN
fis-161	182	10	synthesis	synthesis	NOUN
fis-161	182	11	purposes	purpose	NOUN
fis-161	182	12	.	.	PUNCT
fis-161	183	1	the	the	DET
fis-161	183	2	developed	develop	VERB
fis-161	183	3	controller	controller	NOUN
fis-161	183	4	requires	require	VERB
fis-161	183	5	a	a	DET
fis-161	183	6	position	position	NOUN
fis-161	183	7	sensor	sensor	NOUN
fis-161	183	8	and	and	CCONJ
fis-161	183	9	a	a	DET
fis-161	183	10	force	force	NOUN
fis-161	183	11	sensor	sensor	NOUN
fis-161	183	12	,	,	PUNCT
fis-161	183	13	implements	implement	VERB
fis-161	183	14	a	a	DET
fis-161	183	15	reciprocal	reciprocal	ADJ
fis-161	183	16	activation	activation	NOUN
fis-161	183	17	strategy	strategy	NOUN
fis-161	183	18	of	of	ADP
fis-161	183	19	the	the	DET
fis-161	183	20	agonist	agonist	NOUN
fis-161	183	21	-	-	PUNCT
fis-161	183	22	antagonist	antagonist	NOUN
fis-161	183	23	dielectric	dielectric	ADJ
fis-161	183	24	elastomer	elastomer	NOUN
fis-161	183	25	films	film	NOUN
fis-161	183	26	,	,	PUNCT
fis-161	183	27	employs	employ	VERB
fis-161	183	28	a	a	DET
fis-161	183	29	state	state	NOUN
fis-161	183	30	-	-	PUNCT
fis-161	183	31	feedback	feedback	NOUN
fis-161	183	32	control	control	NOUN
fis-161	183	33	law	law	NOUN
fis-161	183	34	and	and	CCONJ
fis-161	183	35	features	feature	VERB
fis-161	183	36	a	a	DET
fis-161	183	37	kalman	kalman	NOUN
fis-161	183	38	filter	filter	NOUN
fis-161	183	39	which	which	PRON
fis-161	183	40	,	,	PUNCT
fis-161	183	41	beside	beside	ADP
fis-161	183	42	reducing	reduce	VERB
fis-161	183	43	the	the	DET
fis-161	183	44	measurement	measurement	NOUN
fis-161	183	45	noise	noise	NOUN
fis-161	183	46	,	,	PUNCT
fis-161	183	47	enables	enable	VERB
fis-161	183	48	accurate	accurate	ADJ
fis-161	183	49	estimation	estimation	NOUN
fis-161	183	50	of	of	ADP
fis-161	183	51	the	the	DET
fis-161	183	52	dynamic	dynamic	ADJ
fis-161	183	53	viscous	viscous	ADJ
fis-161	183	54	response	response	NOUN
fis-161	183	55	of	of	ADP
fis-161	183	56	the	the	DET
fis-161	183	57	actuator	actuator	NOUN
fis-161	183	58	.	.	PUNCT
fis-161	184	1	experimental	experimental	ADJ
fis-161	184	2	results	result	NOUN
fis-161	184	3	showed	show	VERB
fis-161	184	4	that	that	SCONJ
fis-161	184	5	the	the	DET
fis-161	184	6	proposed	propose	VERB
fis-161	184	7	interactionforce	interactionforce	PROPN
fis-161	184	8	controller	controller	PROPN
fis-161	184	9	possesses	possess	VERB
fis-161	184	10	good	good	ADJ
fis-161	184	11	force	force	NOUN
fis-161	184	12	tracking	track	VERB
fis-161	184	13	performance	performance	NOUN
fis-161	184	14	whose	whose	DET
fis-161	184	15	accuracy	accuracy	NOUN
fis-161	184	16	is	be	AUX
fis-161	184	17	comparable	comparable	ADJ
fis-161	184	18	to	to	ADP
fis-161	184	19	that	that	PRON
fis-161	184	20	of	of	ADP
fis-161	184	21	the	the	DET
fis-161	184	22	employed	employ	VERB
fis-161	184	23	force	force	NOUN
fis-161	184	24	sensor	sensor	NOUN
fis-161	184	25	.	.	PUNCT
fis-161	185	1	due	due	ADP
fis-161	185	2	to	to	ADP
fis-161	185	3	the	the	DET
fis-161	185	4	significant	significant	ADJ
fis-161	185	5	hysteretic	hysteretic	ADJ
fis-161	185	6	response	response	NOUN
fis-161	185	7	of	of	ADP
fis-161	185	8	the	the	DET
fis-161	185	9	adopted	adopt	VERB
fis-161	185	10	elastomeric	elastomeric	ADJ
fis-161	185	11	material	material	NOUN
fis-161	185	12	,	,	PUNCT
fis-161	185	13	the	the	DET
fis-161	185	14	force	force	NOUN
fis-161	185	15	generating	generate	VERB
fis-161	185	16	ability	ability	NOUN
fis-161	185	17	of	of	ADP
fis-161	185	18	the	the	DET
fis-161	185	19	proposed	propose	VERB
fis-161	185	20	actuator	actuator	NOUN
fis-161	185	21	-	-	PUNCT
fis-161	185	22	controller	controller	NOUN
fis-161	185	23	system	system	NOUN
fis-161	185	24	demonstrated	demonstrate	VERB
fis-161	185	25	to	to	PART
fis-161	185	26	be	be	AUX
fis-161	185	27	valid	valid	ADJ
fis-161	185	28	only	only	ADV
fis-161	185	29	for	for	ADP
fis-161	185	30	interaction	interaction	NOUN
fis-161	185	31	applications	application	NOUN
fis-161	185	32	involving	involve	VERB
fis-161	185	33	movements	movement	NOUN
fis-161	185	34	with	with	ADP
fis-161	185	35	small	small	ADJ
fis-161	185	36	-	-	PUNCT
fis-161	185	37	to	to	ADP
fis-161	185	38	-	-	PUNCT
fis-161	185	39	medium	medium	NOUN
fis-161	185	40	dynamics	dynamic	NOUN
fis-161	185	41	.	.	PUNCT
fis-161	186	1	in	in	ADP
fis-161	186	2	case	case	NOUN
fis-161	186	3	higher	high	ADJ
fis-161	186	4	speeds	speed	NOUN
fis-161	186	5	of	of	ADP
fis-161	186	6	motion	motion	NOUN
fis-161	186	7	are	be	AUX
fis-161	186	8	required	require	VERB
fis-161	186	9	,	,	PUNCT
fis-161	186	10	different	different	ADJ
fis-161	186	11	de	de	X
fis-161	186	12	materials	material	NOUN
fis-161	186	13	such	such	ADJ
fis-161	186	14	as	as	ADP
fis-161	186	15	silicone	silicone	NOUN
fis-161	186	16	elastomers	elastomer	NOUN
fis-161	186	17	can	can	AUX
fis-161	186	18	be	be	AUX
fis-161	186	19	used	use	VERB
fis-161	186	20	.	.	PUNCT
fis-161	187	1	references	reference	NOUN
fis-161	187	2	[	[	X
fis-161	187	3	1	1	NUM
fis-161	187	4	]	]	X
fis-161	187	5	r.	r.	PROPN
fis-161	187	6	pelrine	pelrine	PROPN
fis-161	187	7	,	,	PUNCT
fis-161	187	8	r.	r.	PROPN
fis-161	187	9	kornbluh	kornbluh	PROPN
fis-161	187	10	,	,	PUNCT
fis-161	187	11	j.	j.	PROPN
fis-161	187	12	joseph	joseph	PROPN
fis-161	187	13	,	,	PUNCT
fis-161	187	14	sensors	sensor	NOUN
fis-161	187	15	actuators	actuator	NOUN
fis-161	187	16	a	a	DET
fis-161	187	17	,	,	PUNCT
fis-161	187	18	64(1	64(1	NUM
fis-161	187	19	)	)	PUNCT
fis-161	187	20	(	(	PUNCT
fis-161	187	21	1998	1998	NUM
fis-161	187	22	)	)	PUNCT
fis-161	187	23	77	77	NUM
fis-161	187	24	.	.	PUNCT
fis-161	188	1	[	[	X
fis-161	188	2	2	2	NUM
fis-161	188	3	]	]	PUNCT
fis-161	188	4	r.	r.	PROPN
fis-161	188	5	vertechy	vertechy	NOUN
fis-161	188	6	,	,	PUNCT
fis-161	188	7	g.	g.	PROPN
fis-161	188	8	berselli	berselli	PROPN
fis-161	188	9	,	,	PUNCT
fis-161	188	10	v.	v.	ADP
fis-161	188	11	parenti	parenti	PROPN
fis-161	188	12	castelli	castelli	PROPN
fis-161	188	13	,	,	PUNCT
fis-161	188	14	g.	g.	PROPN
fis-161	188	15	vassura	vassura	PROPN
fis-161	188	16	,	,	PUNCT
fis-161	188	17	journal	journal	NOUN
fis-161	188	18	of	of	ADP
fis-161	188	19	intelligent	intelligent	ADJ
fis-161	188	20	material	material	NOUN
fis-161	188	21	systems	system	NOUN
fis-161	188	22	and	and	CCONJ
fis-161	188	23	structures	structure	NOUN
fis-161	188	24	,	,	PUNCT
fis-161	188	25	doi	doi	NOUN
fis-161	188	26	:	:	PUNCT
fis-161	188	27	10.1177/1045389x09356608	10.1177/1045389x09356608	NUM
fis-161	188	28	,	,	PUNCT
fis-161	188	29	21(5	21(5	NUM
fis-161	188	30	)	)	PUNCT
fis-161	188	31	(	(	PUNCT
fis-161	188	32	2010	2010	NUM
fis-161	188	33	)	)	PUNCT
fis-161	188	34	503	503	NUM
fis-161	188	35	.	.	PUNCT
fis-161	189	1	[	[	X
fis-161	189	2	3	3	X
fis-161	189	3	]	]	X
fis-161	189	4	r.	r.	PROPN
fis-161	189	5	vertechy	vertechy	NOUN
fis-161	189	6	,	,	PUNCT
fis-161	189	7	g.	g.	PROPN
fis-161	189	8	berselli	berselli	PROPN
fis-161	189	9	m.	m.	PROPN
fis-161	189	10	bergamasco	bergamasco	PROPN
fis-161	189	11	,	,	PUNCT
fis-161	189	12	v.	v.	PROPN
fis-161	189	13	parenti	parenti	PROPN
fis-161	189	14	castelli	castelli	PROPN
fis-161	189	15	,	,	PUNCT
fis-161	189	16	in	in	ADP
fis-161	189	17	:	:	PUNCT
fis-161	189	18	advances	advance	NOUN
fis-161	189	19	in	in	ADP
fis-161	189	20	robot	robot	NOUN
fis-161	189	21	kinematics	kinematic	NOUN
fis-161	189	22	:	:	PUNCT
fis-161	189	23	motion	motion	NOUN
fis-161	189	24	in	in	ADP
fis-161	189	25	man	man	NOUN
fis-161	189	26	and	and	CCONJ
fis-161	189	27	machine	machine	NOUN
fis-161	189	28	,	,	PUNCT
fis-161	189	29	j.	j.	PROPN
fis-161	189	30	lenarcic	lenarcic	PROPN
fis-161	189	31	and	and	CCONJ
fis-161	189	32	m.	m.	NOUN
fis-161	189	33	stanisic	stanisic	PROPN
fis-161	189	34	eds	ed	NOUN
fis-161	189	35	.	.	PROPN
fis-161	189	36	,	,	PUNCT
fis-161	189	37	springer	springer	NOUN
fis-161	189	38	,	,	PUNCT
fis-161	189	39	doi	doi	NOUN
fis-161	189	40	:	:	PUNCT
fis-161	189	41	10.1007/978	10.1007/978	NUM
fis-161	189	42	-	-	SYM
fis-161	189	43	90	90	NUM
fis-161	189	44	-	-	PUNCT
fis-161	189	45	481	481	NUM
fis-161	189	46	-	-	PUNCT
fis-161	189	47	9262	9262	NUM
fis-161	189	48	-	-	PUNCT
fis-161	189	49	5_14	5_14	NUM
fis-161	189	50	,	,	PUNCT
fis-161	189	51	dordrecht	dordrecht	PROPN
fis-161	189	52	,	,	PUNCT
fis-161	189	53	the	the	DET
fis-161	189	54	netherlands	netherlands	PROPN
fis-161	189	55	,	,	PUNCT
fis-161	189	56	(	(	PUNCT
fis-161	189	57	2010	2010	NUM
fis-161	189	58	)	)	PUNCT
fis-161	189	59	127	127	NUM
fis-161	189	60	.	.	PUNCT
fis-161	190	1	[	[	X
fis-161	190	2	4	4	NUM
fis-161	190	3	]	]	X
fis-161	190	4	f.	f.	PROPN
fis-161	190	5	carpi	carpi	PROPN
fis-161	190	6	,	,	PUNCT
fis-161	190	7	g.	g.	PROPN
fis-161	190	8	frediani	frediani	PROPN
fis-161	190	9	,	,	PUNCT
fis-161	190	10	d.	d.	PROPN
fis-161	190	11	de	de	PROPN
fis-161	190	12	rossi	rossi	PROPN
fis-161	190	13	,	,	PUNCT
fis-161	190	14	ieee	ieee	NOUN
fis-161	190	15	trans	tran	NOUN
fis-161	190	16	.	.	PUNCT
fis-161	191	1	on	on	ADP
fis-161	191	2	biomedical	biomedical	ADJ
fis-161	191	3	engineering	engineering	NOUN
fis-161	191	4	,	,	PUNCT
fis-161	191	5	56(9	56(9	NUM
fis-161	191	6	)	)	PUNCT
fis-161	191	7	(	(	PUNCT
fis-161	191	8	2009	2009	NUM
fis-161	191	9	)	)	PUNCT
fis-161	191	10	2327	2327	NUM
fis-161	191	11	.	.	PUNCT
fis-161	192	1	[	[	X
fis-161	192	2	5	5	NUM
fis-161	192	3	]	]	PUNCT
fis-161	192	4	m.	m.	NOUN
fis-161	192	5	y.	y.	PROPN
fis-161	192	6	ozsecen	ozsecen	PROPN
fis-161	192	7	,	,	PUNCT
fis-161	192	8	m.	m.	NOUN
fis-161	192	9	sivak	sivak	PROPN
fis-161	192	10	,	,	PUNCT
fis-161	192	11	c.	c.	PROPN
fis-161	192	12	mavroidis	mavroidi	NOUN
fis-161	192	13	,	,	PUNCT
fis-161	192	14	in	in	ADP
fis-161	192	15	:	:	PUNCT
fis-161	192	16	proc	proc	NOUN
fis-161	192	17	.	.	PROPN
fis-161	193	1	of	of	ADP
fis-161	193	2	spie	spie	ADJ
fis-161	193	3	,	,	PUNCT
fis-161	193	4	7647	7647	NUM
fis-161	193	5	(	(	PUNCT
fis-161	193	6	2010	2010	NUM
fis-161	193	7	)	)	PUNCT
fis-161	193	8	764737(7	764737(7	PROPN
fis-161	193	9	)	)	PUNCT
fis-161	193	10	.	.	PUNCT
fis-161	194	1	[	[	X
fis-161	194	2	6	6	NUM
fis-161	194	3	]	]	SYM
fis-161	194	4	berselli	berselli	PROPN
fis-161	194	5	,	,	PUNCT
fis-161	194	6	r.	r.	PROPN
fis-161	194	7	vertechy	vertechy	NOUN
fis-161	194	8	,	,	PUNCT
fis-161	194	9	g.	g.	PROPN
fis-161	194	10	vassura	vassura	PROPN
fis-161	194	11	,	,	PUNCT
fis-161	194	12	v.	v.	PROPN
fis-161	194	13	parenti	parenti	PROPN
fis-161	194	14	castelli	castelli	PROPN
fis-161	194	15	,	,	PUNCT
fis-161	194	16	ieee	ieee	NOUN
fis-161	194	17	transactions	transaction	NOUN
fis-161	194	18	on	on	ADP
fis-161	194	19	mechatronics	mechatronic	NOUN
fis-161	194	20	,	,	PUNCT
fis-161	194	21	doi	doi	NOUN
fis-161	194	22	:	:	PUNCT
fis-161	194	23	10.1109	10.1109	NUM
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fis-161	194	28	)	)	PUNCT
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fis-161	194	31	)	)	PUNCT
fis-161	194	32	67	67	NUM
fis-161	194	33	.	.	PUNCT
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fis-161	195	2	7	7	X
fis-161	195	3	]	]	X
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fis-161	195	5	c.	c.	PROPN
fis-161	195	6	fung	fung	PROPN
fis-161	195	7	,	,	PUNCT
fis-161	195	8	biomechanics	biomechanic	NOUN
fis-161	195	9	:	:	PUNCT
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fis-161	195	11	properties	property	NOUN
fis-161	195	12	of	of	ADP
fis-161	195	13	living	live	VERB
fis-161	195	14	tissues	tissue	NOUN
fis-161	195	15	,	,	PUNCT
fis-161	195	16	springer	springer	NOUN
fis-161	195	17	-	-	PUNCT
fis-161	195	18	verlag	verlag	PROPN
fis-161	195	19	,	,	PUNCT
fis-161	195	20	berlin	berlin	PROPN
fis-161	195	21	,	,	PUNCT
fis-161	195	22	(	(	PUNCT
fis-161	195	23	1993	1993	NUM
fis-161	195	24	)	)	PUNCT
fis-161	195	25	.	.	PUNCT
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fis-161	196	2	8	8	NUM
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fis-161	196	7	r.	r.	PROPN
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fis-161	196	9	,	,	PUNCT
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fis-161	196	20	material	material	NOUN
fis-161	196	21	systems	system	NOUN
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fis-161	196	23	structures	structure	NOUN
fis-161	196	24	,	,	PUNCT
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fis-161	196	34	(	(	PUNCT
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fis-161	196	36	)	)	PUNCT
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fis-161	197	5	friedland	friedland	PROPN
fis-161	197	6	,	,	PUNCT
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fis-161	197	8	system	system	NOUN
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fis-161	197	10	:	:	PUNCT
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fis-161	197	12	introduction	introduction	NOUN
fis-161	197	13	to	to	ADP
fis-161	197	14	state	state	NOUN
fis-161	197	15	space	space	NOUN
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fis-161	198	3	,	,	PUNCT
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fis-161	198	7	(	(	PUNCT
fis-161	198	8	2005	2005	NUM
fis-161	198	9	)	)	PUNCT
fis-161	198	10	.	.	PUNCT
fis-161	199	1	[	[	X
fis-161	199	2	10	10	NUM
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fis-161	199	4	l.	l.	PROPN
fis-161	199	5	howell	howell	PROPN
fis-161	199	6	,	,	PUNCT
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fis-161	199	8	mechanisms	mechanism	NOUN
fis-161	199	9	,	,	PUNCT
fis-161	199	10	john	john	PROPN
fis-161	199	11	wiley	wiley	PROPN
fis-161	199	12	and	and	CCONJ
fis-161	199	13	sons	son	NOUN
fis-161	199	14	,	,	PUNCT
fis-161	199	15	new	new	PROPN
fis-161	199	16	york	york	PROPN
fis-161	199	17	,	,	PUNCT
fis-161	199	18	(	(	PUNCT
fis-161	199	19	2001	2001	NUM
fis-161	199	20	)	)	PUNCT
fis-161	199	21	.	.	PUNCT
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fis-161	200	3	]	]	X
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fis-161	200	6	,	,	PUNCT
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fis-161	200	11	of	of	ADP
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fis-161	200	13	elastomer	elastomer	NOUN
fis-161	200	14	actuators	actuator	NOUN
fis-161	200	15	:	:	PUNCT
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fis-161	200	18	pre	pre	ADJ
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fis-161	200	22	actuation	actuation	NOUN
fis-161	200	23	?	?	PUNCT
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fis-161	200	25	.	.	PUNCT
fis-161	201	1	j.	j.	PROPN
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fis-161	202	2	:	:	PUNCT
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fis-161	203	3	,	,	PUNCT
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fis-161	203	7	,	,	PUNCT
fis-161	203	8	pp	pp	ADJ
fis-161	203	9	.	.	PUNCT
fis-161	204	1	215405(11	215405(11	NUM
fis-161	204	2	)	)	PUNCT
fis-161	204	3	,	,	PUNCT
fis-161	204	4	2008	2008	NUM
fis-161	204	5	.	.	PUNCT
fis-161	205	1	[	[	X
fis-161	205	2	12	12	NUM
fis-161	205	3	]	]	PUNCT
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fis-161	205	5	s.	s.	PROPN
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fis-161	205	7	,	,	PUNCT
fis-161	205	8	s.	s.	PROPN
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fis-161	205	16	16(2	16(2	NUM
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fis-161	205	20	)	)	PUNCT
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fis-161	205	22	.	.	PUNCT
fis-161	206	1	[	[	X
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fis-161	206	3	]	]	PUNCT
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fis-161	206	21	materials	material	NOUN
fis-161	206	22	:	:	PUNCT
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fis-161	206	24	an	an	DET
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fis-161	207	7	(	(	PUNCT
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fis-161	207	9	)	)	PUNCT
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fis-161	208	3	]	]	X
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fis-161	208	5	h.	h.	PROPN
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fis-161	208	16	)	)	PUNCT
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fis-161	209	1	i	i	PRON
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fis-161	209	4	r.	r.	PROPN
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fis-161	209	17	)	)	PUNCT
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fis-161	209	19	-	-	SYM
fis-161	209	20	56	56	NUM
fis-161	209	21	;	;	PUNCT
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fis-161	209	23	:	:	PUNCT
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fis-161	209	25	/	/	SYM
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fis-161	209	39	g.	g.	PROPN
fis-161	209	40	berselli	berselli	PROPN
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fis-161	209	42	j.	j.	PROPN
fis-161	209	43	lenarcic	lenarcic	PROPN
fis-161	209	44	,	,	PUNCT
fis-161	209	45	v.	v.	CCONJ
fis-161	209	46	parenti	parenti	PROPN
fis-161	209	47	castelli	castelli	PROPN
fis-161	209	48	,	,	PUNCT
fis-161	209	49	g.	g.	PROPN
fis-161	209	50	vassura	vassura	PROPN
fis-161	209	51	,	,	PUNCT
fis-161	209	52	mechatronics	mechatronic	NOUN
fis-161	209	53	,	,	PUNCT
fis-161	209	54	doi	doi	NOUN
fis-161	209	55	:	:	PUNCT
fis-161	209	56	10.1016	10.1016	NUM
fis-161	209	57	/	/	SYM
fis-161	209	58	j.mechatronics.2009.11.006	j.mechatronics.2009.11.006	PROPN
fis-161	209	59	,	,	PUNCT
fis-161	209	60	20(2	20(2	NUM
fis-161	209	61	)	)	PUNCT
fis-161	209	62	(	(	PUNCT
fis-161	209	63	2010	2010	NUM
fis-161	209	64	)	)	PUNCT
fis-161	209	65	201	201	NUM
fis-161	209	66	.	.	PUNCT
fis-161	210	1	http://www.gruppofrattura.it	http://www.gruppofrattura.it	PROPN
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