id	sid	tid	token	lemma	pos
fcis-30524	1	1	frontiers	frontier	NOUN
fcis-30524	1	2	in	in	ADP
fcis-30524	1	3	computing	computing	NOUN
fcis-30524	1	4	and	and	CCONJ
fcis-30524	1	5	intelligent	intelligent	ADJ
fcis-30524	1	6	systems	system	NOUN
fcis-30524	1	7	issn	issn	VERB
fcis-30524	1	8	:	:	PUNCT
fcis-30524	1	9	2832	2832	NUM
fcis-30524	1	10	-	-	SYM
fcis-30524	1	11	6024	6024	NUM
fcis-30524	1	12	|	|	NOUN
fcis-30524	1	13	vol	vol	NOUN
fcis-30524	1	14	.	.	PROPN
fcis-30524	2	1	12	12	NUM
fcis-30524	2	2	,	,	PUNCT
fcis-30524	2	3	no	no	INTJ
fcis-30524	2	4	.	.	NOUN
fcis-30524	2	5	1	1	NUM
fcis-30524	2	6	,	,	PUNCT
fcis-30524	2	7	2025	2025	NUM
fcis-30524	2	8	83	83	NUM
fcis-30524	2	9	a	a	DET
fcis-30524	2	10	method	method	NOUN
fcis-30524	2	11	for	for	ADP
fcis-30524	2	12	redirecting	redirect	VERB
fcis-30524	2	13	humanoid	humanoid	NOUN
fcis-30524	2	14	robots	robot	NOUN
fcis-30524	2	15	based	base	VERB
fcis-30524	2	16	on	on	ADP
fcis-30524	2	17	segmented	segment	VERB
fcis-30524	2	18	geometric	geometric	ADJ
fcis-30524	2	19	inverse	inverse	NOUN
fcis-30524	2	20	kinematics	kinematic	NOUN
fcis-30524	2	21	haotian	haotian	PROPN
fcis-30524	2	22	wang	wang	PROPN
fcis-30524	2	23	a	a	PROPN
fcis-30524	2	24	,	,	PUNCT
fcis-30524	2	25	zhongxue	zhongxue	PROPN
fcis-30524	2	26	gan	gan	PROPN
fcis-30524	2	27	*	*	PUNCT
fcis-30524	2	28	academy	academy	PROPN
fcis-30524	2	29	for	for	ADP
fcis-30524	2	30	engineering	engineering	NOUN
fcis-30524	2	31	and	and	CCONJ
fcis-30524	2	32	technology	technology	NOUN
fcis-30524	2	33	,	,	PUNCT
fcis-30524	2	34	fudan	fudan	PROPN
fcis-30524	2	35	university	university	PROPN
fcis-30524	2	36	,	,	PUNCT
fcis-30524	2	37	shanghai	shanghai	PROPN
fcis-30524	2	38	,	,	PUNCT
fcis-30524	2	39	200433	200433	NUM
fcis-30524	2	40	,	,	PUNCT
fcis-30524	2	41	china	china	PROPN
fcis-30524	2	42	*	*	PUNCT
fcis-30524	2	43	corresponding	correspond	VERB
fcis-30524	2	44	author	author	NOUN
fcis-30524	2	45	:	:	PUNCT
fcis-30524	2	46	zhongxue	zhongxue	PROPN
fcis-30524	2	47	gan	gan	PROPN
fcis-30524	2	48	(	(	PUNCT
fcis-30524	2	49	email	email	NOUN
fcis-30524	2	50	:	:	PUNCT
fcis-30524	2	51	ganzhongxue@fudan.edu.cn	ganzhongxue@fudan.edu.cn	NOUN
fcis-30524	2	52	)	)	PUNCT
fcis-30524	2	53	,	,	PUNCT
fcis-30524	2	54	a	a	DET
fcis-30524	2	55	22210860060@m.fudan.edu.cn	22210860060@m.fudan.edu.cn	NUM
fcis-30524	2	56	abstract	abstract	NOUN
fcis-30524	2	57	:	:	PUNCT
fcis-30524	2	58	the	the	DET
fcis-30524	2	59	current	current	ADJ
fcis-30524	2	60	vision	vision	NOUN
fcis-30524	2	61	-	-	PUNCT
fcis-30524	2	62	based	base	VERB
fcis-30524	2	63	dexterous	dexterous	ADJ
fcis-30524	2	64	teleoperation	teleoperation	NOUN
fcis-30524	2	65	system	system	NOUN
fcis-30524	2	66	for	for	ADP
fcis-30524	2	67	robotic	robotic	ADJ
fcis-30524	2	68	upper	upper	ADJ
fcis-30524	2	69	limbs	limb	NOUN
fcis-30524	2	70	mainly	mainly	ADV
fcis-30524	2	71	focuses	focus	VERB
fcis-30524	2	72	on	on	ADP
fcis-30524	2	73	the	the	DET
fcis-30524	2	74	recognition	recognition	NOUN
fcis-30524	2	75	and	and	CCONJ
fcis-30524	2	76	reconstruction	reconstruction	NOUN
fcis-30524	2	77	of	of	ADP
fcis-30524	2	78	human	human	ADJ
fcis-30524	2	79	hand	hand	NOUN
fcis-30524	2	80	and	and	CCONJ
fcis-30524	2	81	finger	finger	NOUN
fcis-30524	2	82	postures	posture	NOUN
fcis-30524	2	83	,	,	PUNCT
fcis-30524	2	84	while	while	SCONJ
fcis-30524	2	85	the	the	DET
fcis-30524	2	86	consideration	consideration	NOUN
fcis-30524	2	87	of	of	ADP
fcis-30524	2	88	the	the	DET
fcis-30524	2	89	overall	overall	ADJ
fcis-30524	2	90	arm	arm	NOUN
fcis-30524	2	91	postures	posture	NOUN
fcis-30524	2	92	is	be	AUX
fcis-30524	2	93	relatively	relatively	ADV
fcis-30524	2	94	insufficient	insufficient	ADJ
fcis-30524	2	95	,	,	PUNCT
fcis-30524	2	96	resulting	result	VERB
fcis-30524	2	97	in	in	ADP
fcis-30524	2	98	a	a	DET
fcis-30524	2	99	non	non	ADJ
fcis-30524	2	100	-	-	ADJ
fcis-30524	2	101	negligible	negligible	ADJ
fcis-30524	2	102	accumulation	accumulation	NOUN
fcis-30524	2	103	of	of	ADP
fcis-30524	2	104	errors	error	NOUN
fcis-30524	2	105	in	in	ADP
fcis-30524	2	106	specific	specific	ADJ
fcis-30524	2	107	operation	operation	NOUN
fcis-30524	2	108	scenarios	scenario	NOUN
fcis-30524	2	109	.	.	PUNCT
fcis-30524	3	1	to	to	PART
fcis-30524	3	2	address	address	VERB
fcis-30524	3	3	this	this	DET
fcis-30524	3	4	problem	problem	NOUN
fcis-30524	3	5	,	,	PUNCT
fcis-30524	3	6	this	this	DET
fcis-30524	3	7	study	study	NOUN
fcis-30524	3	8	proposes	propose	VERB
fcis-30524	3	9	a	a	DET
fcis-30524	3	10	novel	novel	ADJ
fcis-30524	3	11	teleoperation	teleoperation	NOUN
fcis-30524	3	12	framework	framework	NOUN
fcis-30524	3	13	based	base	VERB
fcis-30524	3	14	on	on	ADP
fcis-30524	3	15	the	the	DET
fcis-30524	3	16	human	human	ADJ
fcis-30524	3	17	skeleton	skeleton	NOUN
fcis-30524	3	18	tree	tree	NOUN
fcis-30524	3	19	topology	topology	NOUN
fcis-30524	3	20	.	.	PUNCT
fcis-30524	4	1	the	the	DET
fcis-30524	4	2	method	method	NOUN
fcis-30524	4	3	captures	capture	VERB
fcis-30524	4	4	the	the	DET
fcis-30524	4	5	operator	operator	NOUN
fcis-30524	4	6	's	's	PART
fcis-30524	4	7	complete	complete	ADJ
fcis-30524	4	8	upper	upper	ADJ
fcis-30524	4	9	limb	limb	NOUN
fcis-30524	4	10	posture	posture	NOUN
fcis-30524	4	11	information	information	NOUN
fcis-30524	4	12	in	in	ADP
fcis-30524	4	13	real	real	ADJ
fcis-30524	4	14	time	time	NOUN
fcis-30524	4	15	through	through	ADP
fcis-30524	4	16	optical	optical	ADJ
fcis-30524	4	17	sensing	sense	VERB
fcis-30524	4	18	devices	device	NOUN
fcis-30524	4	19	,	,	PUNCT
fcis-30524	4	20	maps	map	VERB
fcis-30524	4	21	the	the	DET
fcis-30524	4	22	human	human	ADJ
fcis-30524	4	23	body	body	NOUN
fcis-30524	4	24	motion	motion	NOUN
fcis-30524	4	25	to	to	ADP
fcis-30524	4	26	the	the	DET
fcis-30524	4	27	robot	robot	NOUN
fcis-30524	4	28	joint	joint	ADJ
fcis-30524	4	29	space	space	NOUN
fcis-30524	4	30	using	use	VERB
fcis-30524	4	31	an	an	DET
fcis-30524	4	32	optimised	optimise	VERB
fcis-30524	4	33	skeleton	skeleton	NOUN
fcis-30524	4	34	reorientation	reorientation	NOUN
fcis-30524	4	35	algorithm	algorithm	NOUN
fcis-30524	4	36	,	,	PUNCT
fcis-30524	4	37	and	and	CCONJ
fcis-30524	4	38	achieves	achieve	VERB
fcis-30524	4	39	closed	close	VERB
fcis-30524	4	40	-	-	PUNCT
fcis-30524	4	41	loop	loop	NOUN
fcis-30524	4	42	feedback	feedback	NOUN
fcis-30524	4	43	through	through	ADP
fcis-30524	4	44	a	a	DET
fcis-30524	4	45	stereo	stereo	ADJ
fcis-30524	4	46	vision	vision	NOUN
fcis-30524	4	47	system	system	NOUN
fcis-30524	4	48	.	.	PUNCT
fcis-30524	5	1	the	the	DET
fcis-30524	5	2	experimental	experimental	ADJ
fcis-30524	5	3	results	result	NOUN
fcis-30524	5	4	show	show	VERB
fcis-30524	5	5	that	that	SCONJ
fcis-30524	5	6	the	the	DET
fcis-30524	5	7	proposed	propose	VERB
fcis-30524	5	8	method	method	NOUN
fcis-30524	5	9	has	have	VERB
fcis-30524	5	10	significant	significant	ADJ
fcis-30524	5	11	improvement	improvement	NOUN
fcis-30524	5	12	in	in	ADP
fcis-30524	5	13	motion	motion	NOUN
fcis-30524	5	14	acquisition	acquisition	NOUN
fcis-30524	5	15	efficiency	efficiency	NOUN
fcis-30524	5	16	,	,	PUNCT
fcis-30524	5	17	mapping	mapping	NOUN
fcis-30524	5	18	accuracy	accuracy	NOUN
fcis-30524	5	19	and	and	CCONJ
fcis-30524	5	20	system	system	NOUN
fcis-30524	5	21	robustness	robustness	NOUN
fcis-30524	5	22	,	,	PUNCT
fcis-30524	5	23	and	and	CCONJ
fcis-30524	5	24	provides	provide	VERB
fcis-30524	5	25	reliable	reliable	ADJ
fcis-30524	5	26	technical	technical	ADJ
fcis-30524	5	27	support	support	NOUN
fcis-30524	5	28	for	for	ADP
fcis-30524	5	29	accurate	accurate	ADJ
fcis-30524	5	30	teleoperation	teleoperation	NOUN
fcis-30524	5	31	in	in	ADP
fcis-30524	5	32	complex	complex	ADJ
fcis-30524	5	33	environments	environment	NOUN
fcis-30524	5	34	.	.	PUNCT
fcis-30524	6	1	this	this	DET
fcis-30524	6	2	study	study	NOUN
fcis-30524	6	3	provides	provide	VERB
fcis-30524	6	4	a	a	DET
fcis-30524	6	5	new	new	ADJ
fcis-30524	6	6	research	research	NOUN
fcis-30524	6	7	idea	idea	NOUN
fcis-30524	6	8	and	and	CCONJ
fcis-30524	6	9	implementation	implementation	NOUN
fcis-30524	6	10	way	way	NOUN
fcis-30524	6	11	for	for	ADP
fcis-30524	6	12	human	human	ADJ
fcis-30524	6	13	-	-	PUNCT
fcis-30524	6	14	robot	robot	NOUN
fcis-30524	6	15	collaboration	collaboration	NOUN
fcis-30524	6	16	in	in	ADP
fcis-30524	6	17	robot	robot	NOUN
fcis-30524	6	18	upper	upper	ADJ
fcis-30524	6	19	limb	limb	PROPN
fcis-30524	6	20	teleoperation	teleoperation	NOUN
fcis-30524	6	21	.	.	PUNCT
fcis-30524	7	1	keywords	keyword	NOUN
fcis-30524	7	2	:	:	PUNCT
fcis-30524	7	3	humanoid	humanoid	NOUN
fcis-30524	7	4	robot	robot	NOUN
fcis-30524	7	5	;	;	PUNCT
fcis-30524	7	6	motion	motion	NOUN
fcis-30524	7	7	reorientation	reorientation	NOUN
fcis-30524	7	8	;	;	PUNCT
fcis-30524	7	9	inverse	inverse	NOUN
fcis-30524	7	10	kinematics	kinematic	NOUN
fcis-30524	7	11	;	;	PUNCT
fcis-30524	7	12	teleoperation	teleoperation	NOUN
fcis-30524	7	13	.	.	PUNCT
fcis-30524	8	1	1	1	X
fcis-30524	8	2	.	.	X
fcis-30524	8	3	introduction	introduction	NOUN
fcis-30524	8	4	remote	remote	ADJ
fcis-30524	8	5	teleoperated	teleoperate	VERB
fcis-30524	8	6	robotic	robotic	ADJ
fcis-30524	8	7	technology	technology	NOUN
fcis-30524	8	8	shows	show	VERB
fcis-30524	8	9	a	a	DET
fcis-30524	8	10	broad	broad	ADJ
fcis-30524	8	11	application	application	NOUN
fcis-30524	8	12	prospect	prospect	NOUN
fcis-30524	8	13	in	in	ADP
fcis-30524	8	14	high	high	ADJ
fcis-30524	8	15	-	-	PUNCT
fcis-30524	8	16	precision	precision	NOUN
fcis-30524	8	17	operation	operation	NOUN
fcis-30524	8	18	fields	field	NOUN
fcis-30524	8	19	such	such	ADJ
fcis-30524	8	20	as	as	ADP
fcis-30524	8	21	hazardous	hazardous	ADJ
fcis-30524	8	22	environment	environment	NOUN
fcis-30524	8	23	operation	operation	NOUN
fcis-30524	8	24	,	,	PUNCT
fcis-30524	8	25	medical	medical	ADJ
fcis-30524	8	26	surgery	surgery	NOUN
fcis-30524	8	27	and	and	CCONJ
fcis-30524	8	28	space	space	NOUN
fcis-30524	8	29	exploration	exploration	NOUN
fcis-30524	8	30	.	.	PUNCT
fcis-30524	9	1	traditional	traditional	ADJ
fcis-30524	9	2	teleoperation	teleoperation	NOUN
fcis-30524	9	3	systems	system	NOUN
fcis-30524	9	4	usually	usually	ADV
fcis-30524	9	5	rely	rely	VERB
fcis-30524	9	6	on	on	ADP
fcis-30524	9	7	specialized	specialized	ADJ
fcis-30524	9	8	control	control	NOUN
fcis-30524	9	9	equipment	equipment	NOUN
fcis-30524	9	10	,	,	PUNCT
fcis-30524	9	11	which	which	PRON
fcis-30524	9	12	is	be	AUX
fcis-30524	9	13	not	not	PART
fcis-30524	9	14	only	only	ADV
fcis-30524	9	15	complicated	complicated	ADJ
fcis-30524	9	16	to	to	PART
fcis-30524	9	17	operate	operate	VERB
fcis-30524	9	18	,	,	PUNCT
fcis-30524	9	19	but	but	CCONJ
fcis-30524	9	20	also	also	ADV
fcis-30524	9	21	requires	require	VERB
fcis-30524	9	22	specialized	specialized	ADJ
fcis-30524	9	23	training	training	NOUN
fcis-30524	9	24	,	,	PUNCT
fcis-30524	9	25	limiting	limit	VERB
fcis-30524	9	26	the	the	DET
fcis-30524	9	27	popularity	popularity	NOUN
fcis-30524	9	28	of	of	ADP
fcis-30524	9	29	the	the	DET
fcis-30524	9	30	application	application	NOUN
fcis-30524	9	31	.	.	PUNCT
fcis-30524	10	1	although	although	SCONJ
fcis-30524	10	2	vision	vision	NOUN
fcis-30524	10	3	-	-	PUNCT
fcis-30524	10	4	based	base	VERB
fcis-30524	10	5	intuitive	intuitive	ADJ
fcis-30524	10	6	teleoperation	teleoperation	NOUN
fcis-30524	10	7	methods	method	NOUN
fcis-30524	10	8	provide	provide	VERB
fcis-30524	10	9	a	a	DET
fcis-30524	10	10	“	"	PUNCT
fcis-30524	10	11	what	what	PRON
fcis-30524	10	12	you	you	PRON
fcis-30524	10	13	see	see	VERB
fcis-30524	10	14	is	be	AUX
fcis-30524	10	15	what	what	PRON
fcis-30524	10	16	you	you	PRON
fcis-30524	10	17	get	get	VERB
fcis-30524	10	18	”	"	PUNCT
fcis-30524	10	19	control	control	NOUN
fcis-30524	10	20	mode	mode	NOUN
fcis-30524	10	21	,	,	PUNCT
fcis-30524	10	22	most	most	ADJ
fcis-30524	10	23	of	of	ADP
fcis-30524	10	24	the	the	DET
fcis-30524	10	25	existing	exist	VERB
fcis-30524	10	26	systems	system	NOUN
fcis-30524	10	27	focus	focus	VERB
fcis-30524	10	28	on	on	ADP
fcis-30524	10	29	the	the	DET
fcis-30524	10	30	hand	hand	NOUN
fcis-30524	10	31	posture	posture	NOUN
fcis-30524	10	32	and	and	CCONJ
fcis-30524	10	33	ignore	ignore	VERB
fcis-30524	10	34	the	the	DET
fcis-30524	10	35	whole	whole	ADJ
fcis-30524	10	36	upper	upper	ADJ
fcis-30524	10	37	limb	limb	NOUN
fcis-30524	10	38	,	,	PUNCT
fcis-30524	10	39	and	and	CCONJ
fcis-30524	10	40	when	when	SCONJ
fcis-30524	10	41	dealing	deal	VERB
fcis-30524	10	42	with	with	ADP
fcis-30524	10	43	the	the	DET
fcis-30524	10	44	differences	difference	NOUN
fcis-30524	10	45	in	in	ADP
fcis-30524	10	46	human	human	ADJ
fcis-30524	10	47	-	-	PUNCT
fcis-30524	10	48	computer	computer	NOUN
fcis-30524	10	49	structure	structure	NOUN
fcis-30524	10	50	,	,	PUNCT
fcis-30524	10	51	it	it	PRON
fcis-30524	10	52	is	be	AUX
fcis-30524	10	53	difficult	difficult	ADJ
fcis-30524	10	54	to	to	PART
fcis-30524	10	55	accurately	accurately	ADV
fcis-30524	10	56	map	map	VERB
fcis-30524	10	57	the	the	DET
fcis-30524	10	58	complex	complex	ADJ
fcis-30524	10	59	three	three	NUM
fcis-30524	10	60	-	-	PUNCT
fcis-30524	10	61	dimensional	dimensional	ADJ
fcis-30524	10	62	operation	operation	NOUN
fcis-30524	10	63	trajectory	trajectory	NOUN
fcis-30524	10	64	by	by	ADP
fcis-30524	10	65	simple	simple	ADJ
fcis-30524	10	66	scaling	scaling	NOUN
fcis-30524	10	67	,	,	PUNCT
fcis-30524	10	68	which	which	PRON
fcis-30524	10	69	leads	lead	VERB
fcis-30524	10	70	to	to	ADP
fcis-30524	10	71	the	the	DET
fcis-30524	10	72	accumulation	accumulation	NOUN
fcis-30524	10	73	of	of	ADP
fcis-30524	10	74	errors	error	NOUN
fcis-30524	10	75	.	.	PUNCT
fcis-30524	11	1	aiming	aim	VERB
fcis-30524	11	2	at	at	ADP
fcis-30524	11	3	these	these	DET
fcis-30524	11	4	problems	problem	NOUN
fcis-30524	11	5	,	,	PUNCT
fcis-30524	11	6	this	this	DET
fcis-30524	11	7	paper	paper	NOUN
fcis-30524	11	8	proposes	propose	VERB
fcis-30524	11	9	a	a	DET
fcis-30524	11	10	teleoperation	teleoperation	NOUN
fcis-30524	11	11	scheme	scheme	NOUN
fcis-30524	11	12	based	base	VERB
fcis-30524	11	13	on	on	ADP
fcis-30524	11	14	human	human	ADJ
fcis-30524	11	15	skeleton	skeleton	NOUN
fcis-30524	11	16	tree	tree	NOUN
fcis-30524	11	17	reorientation	reorientation	NOUN
fcis-30524	11	18	,	,	PUNCT
fcis-30524	11	19	which	which	PRON
fcis-30524	11	20	collects	collect	VERB
fcis-30524	11	21	the	the	DET
fcis-30524	11	22	operator	operator	NOUN
fcis-30524	11	23	's	's	PART
fcis-30524	11	24	complete	complete	ADJ
fcis-30524	11	25	upper	upper	ADJ
fcis-30524	11	26	limb	limb	NOUN
fcis-30524	11	27	posture	posture	NOUN
fcis-30524	11	28	information	information	NOUN
fcis-30524	11	29	through	through	ADP
fcis-30524	11	30	a	a	DET
fcis-30524	11	31	high	high	ADJ
fcis-30524	11	32	-	-	PUNCT
fcis-30524	11	33	precision	precision	NOUN
fcis-30524	11	34	visual	visual	ADJ
fcis-30524	11	35	sensing	sense	VERB
fcis-30524	11	36	system	system	NOUN
fcis-30524	11	37	,	,	PUNCT
fcis-30524	11	38	establishes	establish	VERB
fcis-30524	11	39	a	a	DET
fcis-30524	11	40	human	human	ADJ
fcis-30524	11	41	-	-	PUNCT
fcis-30524	11	42	robot	robot	NOUN
fcis-30524	11	43	mapping	mapping	NOUN
fcis-30524	11	44	model	model	NOUN
fcis-30524	11	45	considering	consider	VERB
fcis-30524	11	46	structural	structural	ADJ
fcis-30524	11	47	differences	difference	NOUN
fcis-30524	11	48	and	and	CCONJ
fcis-30524	11	49	kinematic	kinematic	ADJ
fcis-30524	11	50	constraints	constraint	NOUN
fcis-30524	11	51	,	,	PUNCT
fcis-30524	11	52	and	and	CCONJ
fcis-30524	11	53	designs	design	VERB
fcis-30524	11	54	a	a	DET
fcis-30524	11	55	real	real	ADJ
fcis-30524	11	56	-	-	PUNCT
fcis-30524	11	57	time	time	NOUN
fcis-30524	11	58	optimization	optimization	NOUN
fcis-30524	11	59	algorithm	algorithm	NOUN
fcis-30524	11	60	to	to	PART
fcis-30524	11	61	ensure	ensure	VERB
fcis-30524	11	62	the	the	DET
fcis-30524	11	63	accuracy	accuracy	NOUN
fcis-30524	11	64	of	of	ADP
fcis-30524	11	65	the	the	DET
fcis-30524	11	66	motion	motion	NOUN
fcis-30524	11	67	while	while	SCONJ
fcis-30524	11	68	taking	take	VERB
fcis-30524	11	69	into	into	ADP
fcis-30524	11	70	account	account	NOUN
fcis-30524	11	71	the	the	DET
fcis-30524	11	72	operability	operability	NOUN
fcis-30524	11	73	and	and	CCONJ
fcis-30524	11	74	stability	stability	NOUN
fcis-30524	11	75	of	of	ADP
fcis-30524	11	76	the	the	DET
fcis-30524	11	77	system	system	NOUN
fcis-30524	11	78	,	,	PUNCT
fcis-30524	11	79	so	so	SCONJ
fcis-30524	11	80	as	as	SCONJ
fcis-30524	11	81	to	to	PART
fcis-30524	11	82	enhance	enhance	VERB
fcis-30524	11	83	the	the	DET
fcis-30524	11	84	efficiency	efficiency	NOUN
fcis-30524	11	85	and	and	CCONJ
fcis-30524	11	86	quality	quality	NOUN
fcis-30524	11	87	of	of	ADP
fcis-30524	11	88	the	the	DET
fcis-30524	11	89	operation	operation	NOUN
fcis-30524	11	90	in	in	ADP
fcis-30524	11	91	the	the	DET
fcis-30524	11	92	complex	complex	ADJ
fcis-30524	11	93	tasks	task	NOUN
fcis-30524	11	94	.	.	PUNCT
fcis-30524	12	1	the	the	DET
fcis-30524	12	2	system	system	NOUN
fcis-30524	12	3	is	be	AUX
fcis-30524	12	4	optimized	optimize	VERB
fcis-30524	12	5	in	in	ADP
fcis-30524	12	6	real	real	ADJ
fcis-30524	12	7	time	time	NOUN
fcis-30524	12	8	to	to	PART
fcis-30524	12	9	ensure	ensure	VERB
fcis-30524	12	10	the	the	DET
fcis-30524	12	11	accuracy	accuracy	NOUN
fcis-30524	12	12	of	of	ADP
fcis-30524	12	13	the	the	DET
fcis-30524	12	14	motion	motion	NOUN
fcis-30524	12	15	while	while	SCONJ
fcis-30524	12	16	taking	take	VERB
fcis-30524	12	17	into	into	ADP
fcis-30524	12	18	account	account	NOUN
fcis-30524	12	19	the	the	DET
fcis-30524	12	20	maneuverability	maneuverability	NOUN
fcis-30524	12	21	and	and	CCONJ
fcis-30524	12	22	stability	stability	NOUN
fcis-30524	12	23	of	of	ADP
fcis-30524	12	24	the	the	DET
fcis-30524	12	25	system	system	NOUN
fcis-30524	12	26	,	,	PUNCT
fcis-30524	12	27	so	so	SCONJ
fcis-30524	12	28	as	as	SCONJ
fcis-30524	12	29	to	to	PART
fcis-30524	12	30	improve	improve	VERB
fcis-30524	12	31	the	the	DET
fcis-30524	12	32	efficiency	efficiency	NOUN
fcis-30524	12	33	and	and	CCONJ
fcis-30524	12	34	quality	quality	NOUN
fcis-30524	12	35	of	of	ADP
fcis-30524	12	36	operation	operation	NOUN
fcis-30524	12	37	in	in	ADP
fcis-30524	12	38	complex	complex	ADJ
fcis-30524	12	39	tasks	task	NOUN
fcis-30524	12	40	.	.	PUNCT
fcis-30524	13	1	2	2	X
fcis-30524	13	2	.	.	X
fcis-30524	13	3	related	relate	VERB
fcis-30524	13	4	work	work	NOUN
fcis-30524	13	5	in	in	ADP
fcis-30524	13	6	this	this	DET
fcis-30524	13	7	paper	paper	NOUN
fcis-30524	13	8	,	,	PUNCT
fcis-30524	13	9	we	we	PRON
fcis-30524	13	10	use	use	VERB
fcis-30524	13	11	the	the	DET
fcis-30524	13	12	smpl	smpl	NOUN
fcis-30524	13	13	(	(	PUNCT
fcis-30524	13	14	skinned	skinned	ADJ
fcis-30524	13	15	multi	multi	ADJ
fcis-30524	13	16	-	-	ADJ
fcis-30524	13	17	person	person	ADJ
fcis-30524	13	18	linear	linear	PROPN
fcis-30524	13	19	model	model	NOUN
fcis-30524	13	20	)	)	PUNCT
fcis-30524	13	21	format	format	NOUN
fcis-30524	13	22	to	to	PART
fcis-30524	13	23	save	save	VERB
fcis-30524	13	24	human	human	ADJ
fcis-30524	13	25	whole	whole	ADJ
fcis-30524	13	26	-	-	PUNCT
fcis-30524	13	27	body	body	NOUN
fcis-30524	13	28	motion	motion	NOUN
fcis-30524	13	29	information	information	NOUN
fcis-30524	13	30	,	,	PUNCT
fcis-30524	13	31	which	which	PRON
fcis-30524	13	32	is	be	AUX
fcis-30524	13	33	a	a	DET
fcis-30524	13	34	widely	widely	ADV
fcis-30524	13	35	used	use	VERB
fcis-30524	13	36	parametric	parametric	ADJ
fcis-30524	13	37	human	human	ADJ
fcis-30524	13	38	model	model	NOUN
fcis-30524	13	39	proposed	propose	VERB
fcis-30524	13	40	by	by	ADP
fcis-30524	13	41	loper	loper	PROPN
fcis-30524	13	42	et	et	PROPN
fcis-30524	13	43	al	al	PROPN
fcis-30524	13	44	.	.	PROPN
fcis-30524	14	1	in	in	ADP
fcis-30524	14	2	2015.smpl	2015.smpl	PRON
fcis-30524	14	3	captures	capture	NOUN
fcis-30524	14	4	the	the	DET
fcis-30524	14	5	complex	complex	ADJ
fcis-30524	14	6	morphology	morphology	NOUN
fcis-30524	14	7	and	and	CCONJ
fcis-30524	14	8	motion	motion	NOUN
fcis-30524	14	9	of	of	ADP
fcis-30524	14	10	the	the	DET
fcis-30524	14	11	human	human	ADJ
fcis-30524	14	12	body	body	NOUN
fcis-30524	14	13	through	through	ADP
fcis-30524	14	14	a	a	DET
fcis-30524	14	15	small	small	ADJ
fcis-30524	14	16	number	number	NOUN
fcis-30524	14	17	of	of	ADP
fcis-30524	14	18	parameters	parameter	NOUN
fcis-30524	14	19	,	,	PUNCT
fcis-30524	14	20	which	which	PRON
fcis-30524	14	21	mainly	mainly	ADV
fcis-30524	14	22	contains	contain	VERB
fcis-30524	14	23	two	two	NUM
fcis-30524	14	24	types	type	NOUN
fcis-30524	14	25	of	of	ADP
fcis-30524	14	26	parameters	parameter	NOUN
fcis-30524	14	27	:	:	PUNCT
fcis-30524	14	28	shape	shape	NOUN
fcis-30524	14	29	parameters	parameter	NOUN
fcis-30524	14	30	and	and	CCONJ
fcis-30524	14	31	posture	posture	NOUN
fcis-30524	14	32	parameters	parameter	NOUN
fcis-30524	14	33	.	.	PUNCT
fcis-30524	15	1	shape	shape	NOUN
fcis-30524	15	2	parameters	parameter	NOUN
fcis-30524	15	3	are	be	AUX
fcis-30524	15	4	extracted	extract	VERB
fcis-30524	15	5	from	from	ADP
fcis-30524	15	6	real	real	ADJ
fcis-30524	15	7	human	human	ADJ
fcis-30524	15	8	body	body	NOUN
fcis-30524	15	9	scanning	scan	VERB
fcis-30524	15	10	data	datum	NOUN
fcis-30524	15	11	through	through	ADP
fcis-30524	15	12	principal	principal	ADJ
fcis-30524	15	13	component	component	NOUN
fcis-30524	15	14	analysis	analysis	NOUN
fcis-30524	15	15	,	,	PUNCT
fcis-30524	15	16	describing	describe	VERB
fcis-30524	15	17	body	body	NOUN
fcis-30524	15	18	features	feature	VERB
fcis-30524	15	19	such	such	ADJ
fcis-30524	15	20	as	as	ADP
fcis-30524	15	21	height	height	NOUN
fcis-30524	15	22	,	,	PUNCT
fcis-30524	15	23	weight	weight	NOUN
fcis-30524	15	24	,	,	PUNCT
fcis-30524	15	25	and	and	CCONJ
fcis-30524	15	26	limb	limb	NOUN
fcis-30524	15	27	length	length	NOUN
fcis-30524	15	28	;	;	PUNCT
fcis-30524	15	29	posture	posture	NOUN
fcis-30524	15	30	parameters	parameter	NOUN
fcis-30524	15	31	describe	describe	VERB
fcis-30524	15	32	the	the	DET
fcis-30524	15	33	rotation	rotation	NOUN
fcis-30524	15	34	information	information	NOUN
fcis-30524	15	35	of	of	ADP
fcis-30524	15	36	24	24	NUM
fcis-30524	15	37	joints	joint	NOUN
fcis-30524	15	38	(	(	PUNCT
fcis-30524	15	39	23	23	NUM
fcis-30524	15	40	joints	joint	NOUN
fcis-30524	15	41	in	in	ADP
fcis-30524	15	42	the	the	DET
fcis-30524	15	43	whole	whole	ADJ
fcis-30524	15	44	body	body	NOUN
fcis-30524	15	45	plus	plus	CCONJ
fcis-30524	15	46	1	1	NUM
fcis-30524	15	47	joint	joint	NOUN
fcis-30524	15	48	representing	represent	VERB
fcis-30524	15	49	global	global	ADJ
fcis-30524	15	50	posture	posture	NOUN
fcis-30524	15	51	,	,	PUNCT
fcis-30524	15	52	each	each	PRON
fcis-30524	15	53	with	with	ADP
fcis-30524	15	54	3	3	NUM
fcis-30524	15	55	degrees	degree	NOUN
fcis-30524	15	56	of	of	ADP
fcis-30524	15	57	freedom	freedom	NOUN
fcis-30524	15	58	)	)	PUNCT
fcis-30524	15	59	,	,	PUNCT
fcis-30524	15	60	and	and	CCONJ
fcis-30524	15	61	accurately	accurately	ADV
fcis-30524	15	62	represent	represent	VERB
fcis-30524	15	63	various	various	ADJ
fcis-30524	15	64	postures	posture	NOUN
fcis-30524	15	65	of	of	ADP
fcis-30524	15	66	the	the	DET
fcis-30524	15	67	human	human	ADJ
fcis-30524	15	68	body	body	NOUN
fcis-30524	15	69	through	through	ADP
fcis-30524	15	70	the	the	DET
fcis-30524	15	71	angles	angle	NOUN
fcis-30524	15	72	of	of	ADP
fcis-30524	15	73	the	the	DET
fcis-30524	15	74	joints	joint	NOUN
fcis-30524	15	75	,	,	PUNCT
fcis-30524	15	76	as	as	SCONJ
fcis-30524	15	77	shown	show	VERB
fcis-30524	15	78	in	in	ADP
fcis-30524	15	79	fig	fig	NOUN
fcis-30524	15	80	.	.	PUNCT
fcis-30524	16	1	1	1	X
fcis-30524	16	2	.	.	PUNCT
fcis-30524	16	3	by	by	ADP
fcis-30524	16	4	virtue	virtue	NOUN
fcis-30524	16	5	of	of	ADP
fcis-30524	16	6	its	its	PRON
fcis-30524	16	7	ability	ability	NOUN
fcis-30524	16	8	to	to	PART
fcis-30524	16	9	efficiently	efficiently	ADV
fcis-30524	16	10	represent	represent	VERB
fcis-30524	16	11	the	the	DET
fcis-30524	16	12	shape	shape	NOUN
fcis-30524	16	13	and	and	CCONJ
fcis-30524	16	14	posture	posture	NOUN
fcis-30524	16	15	of	of	ADP
fcis-30524	16	16	the	the	DET
fcis-30524	16	17	human	human	ADJ
fcis-30524	16	18	body	body	NOUN
fcis-30524	16	19	with	with	ADP
fcis-30524	16	20	its	its	PRON
fcis-30524	16	21	ability	ability	NOUN
fcis-30524	16	22	to	to	PART
fcis-30524	16	23	efficiently	efficiently	ADV
fcis-30524	16	24	represent	represent	VERB
fcis-30524	16	25	human	human	ADJ
fcis-30524	16	26	shapes	shape	NOUN
fcis-30524	16	27	and	and	CCONJ
fcis-30524	16	28	postures	posture	NOUN
fcis-30524	16	29	,	,	PUNCT
fcis-30524	16	30	smpl	smpl	NOUN
fcis-30524	16	31	is	be	AUX
fcis-30524	16	32	widely	widely	ADV
fcis-30524	16	33	used	use	VERB
fcis-30524	16	34	in	in	ADP
fcis-30524	16	35	humanoid	humanoid	ADJ
fcis-30524	16	36	robotics	robotic	NOUN
fcis-30524	16	37	,	,	PUNCT
fcis-30524	16	38	motion	motion	NOUN
fcis-30524	16	39	capture	capture	NOUN
fcis-30524	16	40	and	and	CCONJ
fcis-30524	16	41	virtual	virtual	ADJ
fcis-30524	16	42	reality	reality	NOUN
fcis-30524	16	43	.	.	PUNCT
fcis-30524	17	1	fig	fig	NOUN
fcis-30524	17	2	1	1	NUM
fcis-30524	17	3	.	.	PUNCT
fcis-30524	17	4	smpl	smpl	NOUN
fcis-30524	17	5	joint	joint	ADJ
fcis-30524	17	6	order	order	NOUN
fcis-30524	17	7	labeling	labeling	NOUN
fcis-30524	17	8	diagram	diagram	NOUN
fcis-30524	17	9	3	3	NUM
fcis-30524	17	10	.	.	PUNCT
fcis-30524	17	11	upper	upper	ADJ
fcis-30524	17	12	limb	limb	NOUN
fcis-30524	17	13	teleoperation	teleoperation	NOUN
fcis-30524	17	14	for	for	ADP
fcis-30524	17	15	robots	robot	NOUN
fcis-30524	17	16	based	base	VERB
fcis-30524	17	17	on	on	ADP
fcis-30524	17	18	human	human	ADJ
fcis-30524	17	19	skeletal	skeletal	ADJ
fcis-30524	17	20	tree	tree	NOUN
fcis-30524	17	21	reorientation	reorientation	NOUN
fcis-30524	17	22	3.1	3.1	NUM
fcis-30524	17	23	.	.	PUNCT
fcis-30524	18	1	overall	overall	ADJ
fcis-30524	18	2	system	system	NOUN
fcis-30524	18	3	framework	framework	NOUN
fcis-30524	18	4	the	the	DET
fcis-30524	18	5	robot	robot	NOUN
fcis-30524	18	6	upper	upper	ADJ
fcis-30524	18	7	limb	limb	NOUN
fcis-30524	18	8	teleoperation	teleoperation	NOUN
fcis-30524	18	9	system	system	NOUN
fcis-30524	18	10	based	base	VERB
fcis-30524	18	11	on	on	ADP
fcis-30524	18	12	skeleton	skeleton	NOUN
fcis-30524	18	13	tree	tree	NOUN
fcis-30524	18	14	reorientation	reorientation	NOUN
fcis-30524	18	15	proposed	propose	VERB
fcis-30524	18	16	in	in	ADP
fcis-30524	18	17	this	this	DET
fcis-30524	18	18	study	study	NOUN
fcis-30524	18	19	mainly	mainly	ADV
fcis-30524	18	20	contains	contain	VERB
fcis-30524	18	21	three	three	NUM
fcis-30524	18	22	core	core	NOUN
fcis-30524	18	23	modules	module	NOUN
fcis-30524	18	24	:	:	PUNCT
fcis-30524	18	25	human	human	ADJ
fcis-30524	18	26	posture	posture	NOUN
fcis-30524	18	27	recognition	recognition	NOUN
fcis-30524	18	28	module	module	NOUN
fcis-30524	18	29	,	,	PUNCT
fcis-30524	18	30	skeleton	skeleton	NOUN
fcis-30524	18	31	tree	tree	NOUN
fcis-30524	18	32	reorientation	reorientation	NOUN
fcis-30524	18	33	module	module	NOUN
fcis-30524	18	34	and	and	CCONJ
fcis-30524	18	35	robot	robot	NOUN
fcis-30524	18	36	control	control	NOUN
fcis-30524	18	37	module	module	NOUN
fcis-30524	18	38	.	.	PUNCT
fcis-30524	19	1	the	the	DET
fcis-30524	19	2	system	system	NOUN
fcis-30524	19	3	collects	collect	VERB
fcis-30524	19	4	human	human	ADJ
fcis-30524	19	5	upper	upper	ADJ
fcis-30524	19	6	limb	limb	NOUN
fcis-30524	19	7	movements	movement	NOUN
fcis-30524	19	8	through	through	ADP
fcis-30524	19	9	the	the	DET
fcis-30524	19	10	84	84	NUM
fcis-30524	19	11	camera	camera	NOUN
fcis-30524	19	12	,	,	PUNCT
fcis-30524	19	13	converts	convert	VERB
fcis-30524	19	14	them	they	PRON
fcis-30524	19	15	into	into	ADP
fcis-30524	19	16	standardized	standardized	ADJ
fcis-30524	19	17	smpl	smpl	NOUN
fcis-30524	19	18	human	human	ADJ
fcis-30524	19	19	model	model	NOUN
fcis-30524	19	20	parameters	parameter	NOUN
fcis-30524	19	21	through	through	ADP
fcis-30524	19	22	wham	wham	PROPN
fcis-30524	19	23	(	(	PUNCT
fcis-30524	19	24	whole	whole	ADJ
fcis-30524	19	25	-	-	PUNCT
fcis-30524	19	26	body	body	NOUN
fcis-30524	19	27	human	human	ADJ
fcis-30524	19	28	action	action	NOUN
fcis-30524	19	29	model	model	NOUN
fcis-30524	19	30	)	)	PUNCT
fcis-30524	19	31	algorithm	algorithm	NOUN
fcis-30524	19	32	,	,	PUNCT
fcis-30524	19	33	and	and	CCONJ
fcis-30524	19	34	then	then	ADV
fcis-30524	19	35	maps	map	VERB
fcis-30524	19	36	the	the	DET
fcis-30524	19	37	human	human	ADJ
fcis-30524	19	38	movements	movement	NOUN
fcis-30524	19	39	to	to	ADP
fcis-30524	19	40	the	the	DET
fcis-30524	19	41	robot	robot	NOUN
fcis-30524	19	42	joint	joint	ADJ
fcis-30524	19	43	space	space	NOUN
fcis-30524	19	44	based	base	VERB
fcis-30524	19	45	on	on	ADP
fcis-30524	19	46	the	the	DET
fcis-30524	19	47	skeleton	skeleton	NOUN
fcis-30524	19	48	tree	tree	NOUN
fcis-30524	19	49	reorientation	reorientation	NOUN
fcis-30524	19	50	algorithm	algorithm	NOUN
fcis-30524	19	51	,	,	PUNCT
fcis-30524	19	52	and	and	CCONJ
fcis-30524	19	53	finally	finally	ADV
fcis-30524	19	54	drives	drive	VERB
fcis-30524	19	55	the	the	DET
fcis-30524	19	56	robot	robot	NOUN
fcis-30524	19	57	to	to	PART
fcis-30524	19	58	perform	perform	VERB
fcis-30524	19	59	the	the	DET
fcis-30524	19	60	corresponding	corresponding	ADJ
fcis-30524	19	61	actions	action	NOUN
fcis-30524	19	62	through	through	ADP
fcis-30524	19	63	the	the	DET
fcis-30524	19	64	control	control	NOUN
fcis-30524	19	65	module	module	NOUN
fcis-30524	19	66	.	.	PUNCT
fcis-30524	20	1	at	at	ADP
fcis-30524	20	2	the	the	DET
fcis-30524	20	3	same	same	ADJ
fcis-30524	20	4	time	time	NOUN
fcis-30524	20	5	,	,	PUNCT
fcis-30524	20	6	the	the	DET
fcis-30524	20	7	binocular	binocular	ADJ
fcis-30524	20	8	camera	camera	NOUN
fcis-30524	20	9	on	on	ADP
fcis-30524	20	10	the	the	DET
fcis-30524	20	11	robot	robot	NOUN
fcis-30524	20	12	's	's	PART
fcis-30524	20	13	head	head	NOUN
fcis-30524	20	14	provides	provide	VERB
fcis-30524	20	15	real	real	ADJ
fcis-30524	20	16	-	-	PUNCT
fcis-30524	20	17	time	time	NOUN
fcis-30524	20	18	feedback	feedback	NOUN
fcis-30524	20	19	of	of	ADP
fcis-30524	20	20	the	the	DET
fcis-30524	20	21	environment	environment	NOUN
fcis-30524	20	22	to	to	ADP
fcis-30524	20	23	the	the	DET
fcis-30524	20	24	operator	operator	NOUN
fcis-30524	20	25	,	,	PUNCT
fcis-30524	20	26	forming	form	VERB
fcis-30524	20	27	a	a	DET
fcis-30524	20	28	complete	complete	ADJ
fcis-30524	20	29	closed	close	VERB
fcis-30524	20	30	-	-	PUNCT
fcis-30524	20	31	loop	loop	NOUN
fcis-30524	20	32	control	control	NOUN
fcis-30524	20	33	.	.	PUNCT
fcis-30524	21	1	the	the	DET
fcis-30524	21	2	system	system	NOUN
fcis-30524	21	3	architecture	architecture	NOUN
fcis-30524	21	4	is	be	AUX
fcis-30524	21	5	shown	show	VERB
fcis-30524	21	6	in	in	ADP
fcis-30524	21	7	figure	figure	NOUN
fcis-30524	21	8	2	2	NUM
fcis-30524	21	9	.	.	PUNCT
fcis-30524	21	10	fig	fig	NOUN
fcis-30524	21	11	2	2	NUM
fcis-30524	21	12	.	.	PUNCT
fcis-30524	22	1	overall	overall	ADJ
fcis-30524	22	2	algorithm	algorithm	NOUN
fcis-30524	22	3	structure	structure	NOUN
fcis-30524	22	4	3.2	3.2	NUM
fcis-30524	22	5	.	.	PUNCT
fcis-30524	23	1	human	human	ADJ
fcis-30524	23	2	skeleton	skeleton	NOUN
fcis-30524	23	3	tree	tree	NOUN
fcis-30524	23	4	construction	construction	NOUN
fcis-30524	23	5	and	and	CCONJ
fcis-30524	23	6	mapping	mapping	NOUN
fcis-30524	23	7	3.2.1	3.2.1	NUM
fcis-30524	23	8	.	.	PUNCT
fcis-30524	24	1	skeleton	skeleton	NOUN
fcis-30524	24	2	tree	tree	NOUN
fcis-30524	24	3	construction	construction	NOUN
fcis-30524	24	4	in	in	ADP
fcis-30524	24	5	order	order	NOUN
fcis-30524	24	6	to	to	PART
fcis-30524	24	7	realize	realize	VERB
fcis-30524	24	8	the	the	DET
fcis-30524	24	9	accurate	accurate	ADJ
fcis-30524	24	10	retargeting	retargeting	NOUN
fcis-30524	24	11	of	of	ADP
fcis-30524	24	12	upper	upper	ADJ
fcis-30524	24	13	limb	limb	NOUN
fcis-30524	24	14	movements	movement	NOUN
fcis-30524	24	15	,	,	PUNCT
fcis-30524	24	16	it	it	PRON
fcis-30524	24	17	is	be	AUX
fcis-30524	24	18	first	first	ADV
fcis-30524	24	19	necessary	necessary	ADJ
fcis-30524	24	20	to	to	PART
fcis-30524	24	21	build	build	VERB
fcis-30524	24	22	a	a	DET
fcis-30524	24	23	human	human	ADJ
fcis-30524	24	24	skeleton	skeleton	NOUN
fcis-30524	24	25	tree	tree	NOUN
fcis-30524	24	26	model	model	NOUN
fcis-30524	24	27	with	with	ADP
fcis-30524	24	28	the	the	DET
fcis-30524	24	29	parameters	parameter	NOUN
fcis-30524	24	30	of	of	ADP
fcis-30524	24	31	the	the	DET
fcis-30524	24	32	robot	robot	NOUN
fcis-30524	24	33	structure	structure	NOUN
fcis-30524	24	34	.	.	PUNCT
fcis-30524	25	1	unlike	unlike	ADP
fcis-30524	25	2	traditional	traditional	ADJ
fcis-30524	25	3	methods	method	NOUN
fcis-30524	25	4	that	that	PRON
fcis-30524	25	5	focus	focus	VERB
fcis-30524	25	6	only	only	ADV
fcis-30524	25	7	on	on	ADP
fcis-30524	25	8	the	the	DET
fcis-30524	25	9	end	end	NOUN
fcis-30524	25	10	-	-	PUNCT
fcis-30524	25	11	effector	effector	NOUN
fcis-30524	25	12	,	,	PUNCT
fcis-30524	25	13	this	this	PRON
fcis-30524	25	14	study	study	NOUN
fcis-30524	25	15	accurately	accurately	ADV
fcis-30524	25	16	measures	measure	NOUN
fcis-30524	25	17	and	and	CCONJ
fcis-30524	25	18	models	model	VERB
fcis-30524	25	19	the	the	DET
fcis-30524	25	20	relative	relative	ADJ
fcis-30524	25	21	positions	position	NOUN
fcis-30524	25	22	of	of	ADP
fcis-30524	25	23	each	each	DET
fcis-30524	25	24	joint	joint	ADJ
fcis-30524	25	25	node	node	NOUN
fcis-30524	25	26	of	of	ADP
fcis-30524	25	27	the	the	DET
fcis-30524	25	28	robot	robot	NOUN
fcis-30524	25	29	.	.	PUNCT
fcis-30524	26	1	as	as	SCONJ
fcis-30524	26	2	shown	show	VERB
fcis-30524	26	3	in	in	ADP
fcis-30524	26	4	table	table	NOUN
fcis-30524	26	5	1	1	NUM
fcis-30524	26	6	,	,	PUNCT
fcis-30524	26	7	in	in	ADP
fcis-30524	26	8	particular	particular	ADJ
fcis-30524	26	9	,	,	PUNCT
fcis-30524	26	10	specific	specific	ADJ
fcis-30524	26	11	localization	localization	NOUN
fcis-30524	26	12	methods	method	NOUN
fcis-30524	26	13	are	be	AUX
fcis-30524	26	14	used	use	VERB
fcis-30524	26	15	for	for	ADP
fcis-30524	26	16	different	different	ADJ
fcis-30524	26	17	types	type	NOUN
fcis-30524	26	18	of	of	ADP
fcis-30524	26	19	joint	joint	ADJ
fcis-30524	26	20	nodes	node	NOUN
fcis-30524	26	21	:	:	PUNCT
fcis-30524	26	22	1	1	X
fcis-30524	26	23	.	.	X
fcis-30524	27	1	for	for	ADP
fcis-30524	27	2	nodes	node	NOUN
fcis-30524	27	3	driven	drive	VERB
fcis-30524	27	4	by	by	ADP
fcis-30524	27	5	three	three	NUM
fcis-30524	27	6	motors	motor	NOUN
fcis-30524	27	7	,	,	PUNCT
fcis-30524	27	8	such	such	ADJ
fcis-30524	27	9	as	as	ADP
fcis-30524	27	10	shoulders	shoulder	NOUN
fcis-30524	27	11	and	and	CCONJ
fcis-30524	27	12	wrists	wrist	NOUN
fcis-30524	27	13	,	,	PUNCT
fcis-30524	27	14	the	the	DET
fcis-30524	27	15	intersection	intersection	NOUN
fcis-30524	27	16	of	of	ADP
fcis-30524	27	17	the	the	DET
fcis-30524	27	18	rotation	rotation	NOUN
fcis-30524	27	19	axes	axis	NOUN
fcis-30524	27	20	of	of	ADP
fcis-30524	27	21	the	the	DET
fcis-30524	27	22	three	three	NUM
fcis-30524	27	23	motors	motor	NOUN
fcis-30524	27	24	is	be	AUX
fcis-30524	27	25	selected	select	VERB
fcis-30524	27	26	as	as	ADP
fcis-30524	27	27	the	the	DET
fcis-30524	27	28	center	center	NOUN
fcis-30524	27	29	of	of	ADP
fcis-30524	27	30	rotation	rotation	NOUN
fcis-30524	27	31	2	2	NUM
fcis-30524	27	32	.	.	PUNCT
fcis-30524	27	33	for	for	ADP
fcis-30524	27	34	nodes	node	NOUN
fcis-30524	27	35	driven	drive	VERB
fcis-30524	27	36	by	by	ADP
fcis-30524	27	37	a	a	DET
fcis-30524	27	38	single	single	ADJ
fcis-30524	27	39	motor	motor	NOUN
fcis-30524	27	40	,	,	PUNCT
fcis-30524	27	41	such	such	ADJ
fcis-30524	27	42	as	as	ADP
fcis-30524	27	43	the	the	DET
fcis-30524	27	44	elbow	elbow	NOUN
fcis-30524	27	45	,	,	PUNCT
fcis-30524	27	46	the	the	DET
fcis-30524	27	47	intersection	intersection	NOUN
fcis-30524	27	48	of	of	ADP
fcis-30524	27	49	the	the	DET
fcis-30524	27	50	line	line	NOUN
fcis-30524	27	51	between	between	ADP
fcis-30524	27	52	the	the	DET
fcis-30524	27	53	centers	center	NOUN
fcis-30524	27	54	of	of	ADP
fcis-30524	27	55	the	the	DET
fcis-30524	27	56	upper	upper	ADJ
fcis-30524	27	57	and	and	CCONJ
fcis-30524	27	58	lower	low	ADJ
fcis-30524	27	59	nodes	node	NOUN
fcis-30524	27	60	and	and	CCONJ
fcis-30524	27	61	the	the	DET
fcis-30524	27	62	axis	axis	NOUN
fcis-30524	27	63	of	of	ADP
fcis-30524	27	64	the	the	DET
fcis-30524	27	65	motor	motor	NOUN
fcis-30524	27	66	is	be	AUX
fcis-30524	27	67	selected	select	VERB
fcis-30524	27	68	as	as	ADP
fcis-30524	27	69	the	the	DET
fcis-30524	27	70	center	center	NOUN
fcis-30524	27	71	of	of	ADP
fcis-30524	27	72	rotation	rotation	NOUN
fcis-30524	27	73	.	.	PUNCT
fcis-30524	28	1	table	table	NOUN
fcis-30524	28	2	1	1	NUM
fcis-30524	28	3	.	.	PUNCT
fcis-30524	28	4	logical	logical	ADJ
fcis-30524	28	5	parent	parent	NOUN
fcis-30524	28	6	-	-	PUNCT
fcis-30524	28	7	child	child	NOUN
fcis-30524	28	8	relationship	relationship	NOUN
fcis-30524	28	9	mapping	mapping	NOUN
fcis-30524	28	10	of	of	ADP
fcis-30524	28	11	the	the	DET
fcis-30524	28	12	nodes	node	NOUN
fcis-30524	28	13	in	in	ADP
fcis-30524	28	14	the	the	DET
fcis-30524	28	15	skeleton	skeleton	NOUN
fcis-30524	28	16	tree	tree	NOUN
fcis-30524	28	17	of	of	ADP
fcis-30524	28	18	guanghua	guanghua	PROPN
fcis-30524	28	19	1	1	NUM
fcis-30524	28	20	robot	robot	NOUN
fcis-30524	28	21	and	and	CCONJ
fcis-30524	28	22	their	their	PRON
fcis-30524	28	23	initial	initial	ADJ
fcis-30524	28	24	relative	relative	ADJ
fcis-30524	28	25	displacement	displacement	ADJ
fcis-30524	28	26	table	table	NOUN
fcis-30524	28	27	joint	joint	ADJ
fcis-30524	28	28	parent	parent	NOUN
fcis-30524	28	29	node	node	NOUN
fcis-30524	28	30	initial	initial	ADJ
fcis-30524	28	31	relative	relative	ADJ
fcis-30524	28	32	displacement	displacement	NOUN
fcis-30524	28	33	(	(	PUNCT
fcis-30524	28	34	relative	relative	ADJ
fcis-30524	28	35	to	to	ADP
fcis-30524	28	36	parent	parent	NOUN
fcis-30524	28	37	node	node	NOUN
fcis-30524	28	38	)	)	PUNCT
fcis-30524	28	39	root	root	NOUN
fcis-30524	28	40	node	node	ADJ
fcis-30524	28	41	world	world	NOUN
fcis-30524	28	42	coordinate	coordinate	NOUN
fcis-30524	28	43	origin	origin	NOUN
fcis-30524	28	44	[	[	X
fcis-30524	28	45	0,0,1.20	0,0,1.20	NUM
fcis-30524	28	46	]	]	X
fcis-30524	28	47	waist	waist	NOUN
fcis-30524	28	48	node	node	PROPN
fcis-30524	28	49	root	root	NOUN
fcis-30524	28	50	node	node	NOUN
fcis-30524	29	1	[	[	X
fcis-30524	29	2	0,0,0.133	0,0,0.133	X
fcis-30524	29	3	]	]	X
fcis-30524	29	4	left	leave	VERB
fcis-30524	29	5	shoulder	shoulder	NOUN
fcis-30524	29	6	node	node	PROPN
fcis-30524	29	7	waist	waist	NOUN
fcis-30524	29	8	node	node	NOUN
fcis-30524	30	1	[	[	X
fcis-30524	30	2	0,0.240,0.285	0,0.240,0.285	X
fcis-30524	30	3	]	]	X
fcis-30524	30	4	left	leave	VERB
fcis-30524	30	5	elbow	elbow	VERB
fcis-30524	30	6	node	node	PROPN
fcis-30524	30	7	left	leave	VERB
fcis-30524	30	8	shoulder	shoulder	NOUN
fcis-30524	30	9	node	node	NOUN
fcis-30524	30	10	[	[	X
fcis-30524	30	11	0,0.240,0	0,0.240,0	X
fcis-30524	30	12	]	]	X
fcis-30524	30	13	left	leave	VERB
fcis-30524	30	14	wrist	wrist	NOUN
fcis-30524	30	15	node	node	PROPN
fcis-30524	30	16	left	leave	VERB
fcis-30524	30	17	elbow	elbow	VERB
fcis-30524	30	18	node	node	ADJ
fcis-30524	30	19	[	[	X
fcis-30524	30	20	0,0.240,0	0,0.240,0	X
fcis-30524	30	21	]	]	X
fcis-30524	30	22	right	right	ADJ
fcis-30524	30	23	shoulder	shoulder	NOUN
fcis-30524	30	24	node	node	PROPN
fcis-30524	30	25	waist	waist	PROPN
fcis-30524	30	26	node	node	NOUN
fcis-30524	30	27	[	[	X
fcis-30524	30	28	0,-0.214,0.285	0,-0.214,0.285	NUM
fcis-30524	30	29	]	]	X
fcis-30524	30	30	right	right	PROPN
fcis-30524	30	31	elbow	elbow	PROPN
fcis-30524	30	32	node	node	PROPN
fcis-30524	30	33	right	right	PROPN
fcis-30524	30	34	shoulder	shoulder	NOUN
fcis-30524	30	35	node	node	NOUN
fcis-30524	30	36	[	[	X
fcis-30524	30	37	0,-0.240,0	0,-0.240,0	NOUN
fcis-30524	30	38	]	]	X
fcis-30524	30	39	right	right	ADJ
fcis-30524	30	40	wrist	wrist	NOUN
fcis-30524	30	41	node	node	PROPN
fcis-30524	30	42	right	right	PROPN
fcis-30524	30	43	elbow	elbow	VERB
fcis-30524	30	44	node	node	PROPN
fcis-30524	30	45	[	[	X
fcis-30524	30	46	0,-0.240,0	0,-0.240,0	X
fcis-30524	30	47	]	]	X
fcis-30524	30	48	establishing	establish	VERB
fcis-30524	30	49	the	the	DET
fcis-30524	30	50	nodes	node	NOUN
fcis-30524	30	51	in	in	ADP
fcis-30524	30	52	this	this	DET
fcis-30524	30	53	way	way	NOUN
fcis-30524	30	54	ensures	ensure	VERB
fcis-30524	30	55	that	that	SCONJ
fcis-30524	30	56	the	the	DET
fcis-30524	30	57	skeleton	skeleton	NOUN
fcis-30524	30	58	tree	tree	NOUN
fcis-30524	30	59	is	be	AUX
fcis-30524	30	60	precisely	precisely	ADV
fcis-30524	30	61	aligned	align	VERB
fcis-30524	30	62	with	with	ADP
fcis-30524	30	63	the	the	DET
fcis-30524	30	64	individual	individual	ADJ
fcis-30524	30	65	rigid	rigid	ADJ
fcis-30524	30	66	bodies	body	NOUN
fcis-30524	30	67	of	of	ADP
fcis-30524	30	68	the	the	DET
fcis-30524	30	69	robot	robot	NOUN
fcis-30524	30	70	.	.	PUNCT
fcis-30524	31	1	specifically	specifically	ADV
fcis-30524	31	2	,	,	PUNCT
fcis-30524	31	3	the	the	DET
fcis-30524	31	4	core	core	NOUN
fcis-30524	31	5	of	of	ADP
fcis-30524	31	6	this	this	DET
fcis-30524	31	7	method	method	NOUN
fcis-30524	31	8	is	be	AUX
fcis-30524	31	9	to	to	PART
fcis-30524	31	10	completely	completely	ADV
fcis-30524	31	11	match	match	VERB
fcis-30524	31	12	the	the	DET
fcis-30524	31	13	rotation	rotation	NOUN
fcis-30524	31	14	center	center	NOUN
fcis-30524	31	15	of	of	ADP
fcis-30524	31	16	the	the	DET
fcis-30524	31	17	skeleton	skeleton	NOUN
fcis-30524	31	18	with	with	ADP
fcis-30524	31	19	the	the	DET
fcis-30524	31	20	actual	actual	ADJ
fcis-30524	31	21	mechanical	mechanical	ADJ
fcis-30524	31	22	rotation	rotation	NOUN
fcis-30524	31	23	center	center	NOUN
fcis-30524	31	24	of	of	ADP
fcis-30524	31	25	the	the	DET
fcis-30524	31	26	robot	robot	NOUN
fcis-30524	31	27	,	,	PUNCT
fcis-30524	31	28	so	so	SCONJ
fcis-30524	31	29	as	as	SCONJ
fcis-30524	31	30	to	to	PART
fcis-30524	31	31	realize	realize	VERB
fcis-30524	31	32	the	the	DET
fcis-30524	31	33	consistency	consistency	NOUN
fcis-30524	31	34	between	between	ADP
fcis-30524	31	35	the	the	DET
fcis-30524	31	36	geometric	geometric	ADJ
fcis-30524	31	37	structure	structure	NOUN
fcis-30524	31	38	and	and	CCONJ
fcis-30524	31	39	the	the	DET
fcis-30524	31	40	kinematic	kinematic	ADJ
fcis-30524	31	41	behavior	behavior	NOUN
fcis-30524	31	42	,	,	PUNCT
fcis-30524	31	43	and	and	CCONJ
fcis-30524	31	44	thus	thus	ADV
fcis-30524	31	45	the	the	DET
fcis-30524	31	46	kinematic	kinematic	ADJ
fcis-30524	31	47	model	model	NOUN
fcis-30524	31	48	of	of	ADP
fcis-30524	31	49	the	the	DET
fcis-30524	31	50	skeleton	skeleton	NOUN
fcis-30524	31	51	can	can	AUX
fcis-30524	31	52	directly	directly	ADV
fcis-30524	31	53	reflect	reflect	VERB
fcis-30524	31	54	the	the	DET
fcis-30524	31	55	actual	actual	ADJ
fcis-30524	31	56	motion	motion	NOUN
fcis-30524	31	57	state	state	NOUN
fcis-30524	31	58	of	of	ADP
fcis-30524	31	59	the	the	DET
fcis-30524	31	60	robot	robot	NOUN
fcis-30524	31	61	,	,	PUNCT
fcis-30524	31	62	avoiding	avoid	VERB
fcis-30524	31	63	the	the	DET
fcis-30524	31	64	deviation	deviation	NOUN
fcis-30524	31	65	between	between	ADP
fcis-30524	31	66	the	the	DET
fcis-30524	31	67	virtual	virtual	ADJ
fcis-30524	31	68	and	and	CCONJ
fcis-30524	31	69	the	the	DET
fcis-30524	31	70	real	real	NOUN
fcis-30524	31	71	.	.	PUNCT
fcis-30524	32	1	the	the	DET
fcis-30524	32	2	effect	effect	NOUN
fcis-30524	32	3	of	of	ADP
fcis-30524	32	4	the	the	DET
fcis-30524	32	5	completed	complete	VERB
fcis-30524	32	6	human	human	ADJ
fcis-30524	32	7	skeleton	skeleton	NOUN
fcis-30524	32	8	tree	tree	NOUN
fcis-30524	32	9	is	be	AUX
fcis-30524	32	10	shown	show	VERB
fcis-30524	32	11	in	in	ADP
fcis-30524	32	12	figure	figure	NOUN
fcis-30524	32	13	3	3	NUM
fcis-30524	32	14	:	:	PUNCT
fcis-30524	32	15	fig	fig	NOUN
fcis-30524	32	16	3	3	NUM
fcis-30524	32	17	.	.	PUNCT
fcis-30524	32	18	initial	initial	ADJ
fcis-30524	32	19	pose	pose	NOUN
fcis-30524	32	20	of	of	ADP
fcis-30524	32	21	the	the	DET
fcis-30524	32	22	human	human	ADJ
fcis-30524	32	23	skeleton	skeleton	NOUN
fcis-30524	32	24	tree	tree	NOUN
fcis-30524	32	25	of	of	ADP
fcis-30524	32	26	the	the	DET
fcis-30524	32	27	robot	robot	NOUN
fcis-30524	32	28	it	it	PRON
fcis-30524	32	29	is	be	AUX
fcis-30524	32	30	worth	worth	ADJ
fcis-30524	32	31	noting	note	VERB
fcis-30524	32	32	that	that	SCONJ
fcis-30524	32	33	,	,	PUNCT
fcis-30524	32	34	in	in	ADP
fcis-30524	32	35	this	this	DET
fcis-30524	32	36	paper	paper	NOUN
fcis-30524	32	37	,	,	PUNCT
fcis-30524	32	38	when	when	SCONJ
fcis-30524	32	39	establishing	establish	VERB
fcis-30524	32	40	the	the	DET
fcis-30524	32	41	initial	initial	ADJ
fcis-30524	32	42	human	human	ADJ
fcis-30524	32	43	skeleton	skeleton	NOUN
fcis-30524	32	44	tree	tree	NOUN
fcis-30524	32	45	of	of	ADP
fcis-30524	32	46	the	the	DET
fcis-30524	32	47	robot	robot	NOUN
fcis-30524	32	48	,	,	PUNCT
fcis-30524	32	49	we	we	PRON
fcis-30524	32	50	did	do	AUX
fcis-30524	32	51	not	not	PART
fcis-30524	32	52	establish	establish	VERB
fcis-30524	32	53	it	it	PRON
fcis-30524	32	54	according	accord	VERB
fcis-30524	32	55	to	to	ADP
fcis-30524	32	56	the	the	DET
fcis-30524	32	57	default	default	NOUN
fcis-30524	32	58	zero	zero	NUM
fcis-30524	32	59	position	position	NOUN
fcis-30524	32	60	of	of	ADP
fcis-30524	32	61	the	the	DET
fcis-30524	32	62	robot	robot	NOUN
fcis-30524	32	63	,	,	PUNCT
fcis-30524	32	64	i.e.	i.e.	X
fcis-30524	32	65	,	,	PUNCT
fcis-30524	32	66	the	the	DET
fcis-30524	32	67	posture	posture	NOUN
fcis-30524	32	68	of	of	ADP
fcis-30524	32	69	the	the	DET
fcis-30524	32	70	arms	arm	NOUN
fcis-30524	32	71	hanging	hang	VERB
fcis-30524	32	72	down	down	ADP
fcis-30524	32	73	,	,	PUNCT
fcis-30524	32	74	but	but	CCONJ
fcis-30524	32	75	rather	rather	ADV
fcis-30524	32	76	,	,	PUNCT
fcis-30524	32	77	we	we	PRON
fcis-30524	32	78	established	establish	VERB
fcis-30524	32	79	it	it	PRON
fcis-30524	32	80	according	accord	VERB
fcis-30524	32	81	to	to	ADP
fcis-30524	32	82	the	the	DET
fcis-30524	32	83	default	default	NOUN
fcis-30524	32	84	posture	posture	NOUN
fcis-30524	32	85	of	of	ADP
fcis-30524	32	86	smpl	smpl	NOUN
fcis-30524	32	87	,	,	PUNCT
fcis-30524	32	88	i.e.	i.e.	X
fcis-30524	32	89	,	,	PUNCT
fcis-30524	32	90	the	the	DET
fcis-30524	32	91	arms	arm	NOUN
fcis-30524	32	92	are	be	AUX
fcis-30524	32	93	flat	flat	ADJ
fcis-30524	32	94	and	and	CCONJ
fcis-30524	32	95	extended	extend	VERB
fcis-30524	32	96	as	as	ADP
fcis-30524	32	97	the	the	DET
fcis-30524	32	98	initial	initial	ADJ
fcis-30524	32	99	posture	posture	NOUN
fcis-30524	32	100	.	.	PUNCT
fcis-30524	33	1	this	this	PRON
fcis-30524	33	2	facilitates	facilitate	VERB
fcis-30524	33	3	the	the	DET
fcis-30524	33	4	subsequent	subsequent	ADJ
fcis-30524	33	5	computation	computation	NOUN
fcis-30524	33	6	of	of	ADP
fcis-30524	33	7	the	the	DET
fcis-30524	33	8	skeleton	skeleton	NOUN
fcis-30524	33	9	tree	tree	NOUN
fcis-30524	33	10	and	and	CCONJ
fcis-30524	33	11	avoids	avoid	VERB
fcis-30524	33	12	the	the	DET
fcis-30524	33	13	need	need	NOUN
fcis-30524	33	14	to	to	PART
fcis-30524	33	15	add	add	VERB
fcis-30524	33	16	additional	additional	ADJ
fcis-30524	33	17	rotation	rotation	NOUN
fcis-30524	33	18	matrices	matrix	NOUN
fcis-30524	33	19	at	at	ADP
fcis-30524	33	20	the	the	DET
fcis-30524	33	21	shoulders	shoulder	NOUN
fcis-30524	33	22	of	of	ADP
fcis-30524	33	23	the	the	DET
fcis-30524	33	24	robot	robot	NOUN
fcis-30524	33	25	,	,	PUNCT
fcis-30524	33	26	which	which	PRON
fcis-30524	33	27	in	in	ADP
fcis-30524	33	28	turn	turn	NOUN
fcis-30524	33	29	increases	increase	VERB
fcis-30524	33	30	the	the	DET
fcis-30524	33	31	computational	computational	ADJ
fcis-30524	33	32	effort	effort	NOUN
fcis-30524	33	33	.	.	PUNCT
fcis-30524	34	1	3.2.2	3.2.2	X
fcis-30524	34	2	.	.	PUNCT
fcis-30524	34	3	positional	positional	ADJ
fcis-30524	34	4	mapping	mapping	NOUN
fcis-30524	34	5	of	of	ADP
fcis-30524	34	6	smpl	smpl	NOUN
fcis-30524	34	7	nodes	node	NOUN
fcis-30524	34	8	to	to	ADP
fcis-30524	34	9	human	human	ADJ
fcis-30524	34	10	skeleton	skeleton	NOUN
fcis-30524	34	11	tree	tree	NOUN
fcis-30524	34	12	nodes	node	NOUN
fcis-30524	34	13	in	in	ADP
fcis-30524	34	14	this	this	DET
fcis-30524	34	15	section	section	NOUN
fcis-30524	34	16	,	,	PUNCT
fcis-30524	34	17	the	the	DET
fcis-30524	34	18	mapping	mapping	NOUN
fcis-30524	34	19	relationship	relationship	NOUN
fcis-30524	34	20	of	of	ADP
fcis-30524	34	21	the	the	DET
fcis-30524	34	22	rotation	rotation	NOUN
fcis-30524	34	23	matrix	matrix	NOUN
fcis-30524	34	24	between	between	ADP
fcis-30524	34	25	each	each	DET
fcis-30524	34	26	kinematic	kinematic	ADJ
fcis-30524	34	27	node	node	NOUN
fcis-30524	34	28	of	of	ADP
fcis-30524	34	29	the	the	DET
fcis-30524	34	30	robot	robot	NOUN
fcis-30524	34	31	and	and	CCONJ
fcis-30524	34	32	the	the	DET
fcis-30524	34	33	nodes	node	NOUN
fcis-30524	34	34	of	of	ADP
fcis-30524	34	35	the	the	DET
fcis-30524	34	36	smpl	smpl	NOUN
fcis-30524	34	37	model	model	NOUN
fcis-30524	34	38	is	be	AUX
fcis-30524	34	39	elaborated	elaborate	VERB
fcis-30524	34	40	.	.	PUNCT
fcis-30524	35	1	specifically	specifically	ADV
fcis-30524	35	2	,	,	PUNCT
fcis-30524	35	3	for	for	ADP
fcis-30524	35	4	each	each	DET
fcis-30524	35	5	joint	joint	ADJ
fcis-30524	35	6	node	node	NOUN
fcis-30524	35	7	in	in	ADP
fcis-30524	35	8	the	the	DET
fcis-30524	35	9	robot	robot	NOUN
fcis-30524	35	10	kinematic	kinematic	PROPN
fcis-30524	35	11	chain	chain	NOUN
fcis-30524	35	12	,	,	PUNCT
fcis-30524	35	13	there	there	PRON
fcis-30524	35	14	is	be	VERB
fcis-30524	35	15	a	a	DET
fcis-30524	35	16	clear	clear	ADJ
fcis-30524	35	17	mapping	mapping	NOUN
fcis-30524	35	18	relationship	relationship	NOUN
fcis-30524	35	19	between	between	ADP
fcis-30524	35	20	its	its	PRON
fcis-30524	35	21	rotation	rotation	NOUN
fcis-30524	35	22	matrix	matrix	NOUN
fcis-30524	35	23	and	and	CCONJ
fcis-30524	35	24	the	the	DET
fcis-30524	35	25	corresponding	corresponding	ADJ
fcis-30524	35	26	node	node	NOUN
fcis-30524	35	27	in	in	ADP
fcis-30524	35	28	the	the	DET
fcis-30524	35	29	smpl	smpl	NOUN
fcis-30524	35	30	model	model	NOUN
fcis-30524	35	31	,	,	PUNCT
fcis-30524	35	32	which	which	PRON
fcis-30524	35	33	can	can	AUX
fcis-30524	35	34	be	be	AUX
fcis-30524	35	35	described	describe	VERB
fcis-30524	35	36	in	in	ADP
fcis-30524	35	37	table	table	NOUN
fcis-30524	35	38	2	2	NUM
fcis-30524	35	39	below	below	ADP
fcis-30524	35	40	:	:	PUNCT
fcis-30524	35	41	85	85	NUM
fcis-30524	35	42	table	table	NOUN
fcis-30524	35	43	2	2	NUM
fcis-30524	35	44	.	.	X
fcis-30524	35	45	skeleton	skeleton	NOUN
fcis-30524	35	46	tree	tree	NOUN
fcis-30524	35	47	nodes	node	NOUN
fcis-30524	35	48	and	and	CCONJ
fcis-30524	35	49	smpl	smpl	NOUN
fcis-30524	35	50	rotation	rotation	VERB
fcis-30524	35	51	node	node	ADJ
fcis-30524	35	52	correspondences	correspondence	VERB
fcis-30524	35	53	joint	joint	ADJ
fcis-30524	35	54	corresponding	correspond	VERB
fcis-30524	35	55	smpl	smpl	NOUN
fcis-30524	35	56	node	node	VERB
fcis-30524	35	57	corresponding	correspond	VERB
fcis-30524	35	58	rotation	rotation	NOUN
fcis-30524	35	59	matrix	matrix	NOUN
fcis-30524	35	60	left	leave	VERB
fcis-30524	35	61	shoulder	shoulder	NOUN
fcis-30524	35	62	node	node	PROPN
fcis-30524	35	63	left	leave	VERB
fcis-30524	35	64	clavicle	clavicle	NOUN
fcis-30524	35	65	,	,	PUNCT
fcis-30524	35	66	left	leave	VERB
fcis-30524	35	67	shoulder	shoulder	NOUN
fcis-30524	35	68	r	r	NOUN
fcis-30524	35	69	∙	∙	PROPN
fcis-30524	35	70	r	r	NOUN
fcis-30524	35	71	left	left	NOUN
fcis-30524	35	72	elbow	elbow	VERB
fcis-30524	35	73	node	node	PROPN
fcis-30524	35	74	left	leave	VERB
fcis-30524	36	1	elbow	elbow	NOUN
fcis-30524	36	2	r	r	NOUN
fcis-30524	36	3	left	left	ADJ
fcis-30524	36	4	wrist	wrist	NOUN
fcis-30524	36	5	node	node	NOUN
fcis-30524	36	6	left	leave	VERB
fcis-30524	36	7	wrist	wrist	NOUN
fcis-30524	36	8	r	r	NOUN
fcis-30524	36	9	right	right	NOUN
fcis-30524	36	10	shoulder	shoulder	NOUN
fcis-30524	36	11	node	node	PROPN
fcis-30524	36	12	right	right	ADJ
fcis-30524	36	13	clavicle	clavicle	NOUN
fcis-30524	36	14	,	,	PUNCT
fcis-30524	36	15	right	right	ADJ
fcis-30524	36	16	shoulder	shoulder	NOUN
fcis-30524	36	17	r	r	NOUN
fcis-30524	36	18	∙	∙	PROPN
fcis-30524	36	19	r	r	NOUN
fcis-30524	36	20	right	right	NOUN
fcis-30524	36	21	elbow	elbow	NOUN
fcis-30524	36	22	node	node	PROPN
fcis-30524	36	23	right	right	PROPN
fcis-30524	36	24	elbow	elbow	PROPN
fcis-30524	36	25	r	r	NOUN
fcis-30524	36	26	right	right	ADJ
fcis-30524	36	27	wrist	wrist	NOUN
fcis-30524	36	28	node	node	PROPN
fcis-30524	36	29	right	right	ADJ
fcis-30524	36	30	wrist	wrist	NOUN
fcis-30524	36	31	r	r	NOUN
fcis-30524	36	32	the	the	DET
fcis-30524	36	33	algorithm	algorithm	NOUN
fcis-30524	36	34	designs	design	VERB
fcis-30524	36	35	a	a	DET
fcis-30524	36	36	pose	pose	NOUN
fcis-30524	36	37	mapping	mapping	NOUN
fcis-30524	36	38	method	method	NOUN
fcis-30524	36	39	based	base	VERB
fcis-30524	36	40	on	on	ADP
fcis-30524	36	41	the	the	DET
fcis-30524	36	42	smpl	smpl	NOUN
fcis-30524	36	43	human	human	PROPN
fcis-30524	36	44	skeleton	skeleton	NOUN
fcis-30524	36	45	tree	tree	NOUN
fcis-30524	36	46	to	to	PART
fcis-30524	36	47	realize	realize	VERB
fcis-30524	36	48	the	the	DET
fcis-30524	36	49	conversion	conversion	NOUN
fcis-30524	36	50	from	from	ADP
fcis-30524	36	51	smpl	smpl	NOUN
fcis-30524	36	52	pose	pose	VERB
fcis-30524	36	53	data	datum	NOUN
fcis-30524	36	54	to	to	AUX
fcis-30524	36	55	robot	robot	NOUN
fcis-30524	36	56	rigid	rigid	ADJ
fcis-30524	36	57	body	body	NOUN
fcis-30524	36	58	position	position	NOUN
fcis-30524	36	59	.	.	PUNCT
fcis-30524	37	1	the	the	DET
fcis-30524	37	2	algorithm	algorithm	NOUN
fcis-30524	37	3	processes	process	VERB
fcis-30524	37	4	the	the	DET
fcis-30524	37	5	smpl	smpl	NOUN
fcis-30524	37	6	pose	pose	VERB
fcis-30524	37	7	sequence	sequence	NOUN
fcis-30524	37	8	frame	frame	NOUN
fcis-30524	37	9	by	by	ADP
fcis-30524	37	10	frame	frame	NOUN
fcis-30524	37	11	,	,	PUNCT
fcis-30524	37	12	first	first	ADV
fcis-30524	37	13	initializing	initialize	VERB
fcis-30524	37	14	the	the	DET
fcis-30524	37	15	transfer	transfer	NOUN
fcis-30524	37	16	matrix	matrix	NOUN
fcis-30524	37	17	of	of	ADP
fcis-30524	37	18	the	the	DET
fcis-30524	37	19	root	root	NOUN
fcis-30524	37	20	node	node	NOUN
fcis-30524	37	21	,	,	PUNCT
fcis-30524	37	22	then	then	ADV
fcis-30524	37	23	iterating	iterate	VERB
fcis-30524	37	24	through	through	ADP
fcis-30524	37	25	each	each	DET
fcis-30524	37	26	joint	joint	ADJ
fcis-30524	37	27	node	node	NOUN
fcis-30524	37	28	,	,	PUNCT
fcis-30524	37	29	extracting	extract	VERB
fcis-30524	37	30	the	the	DET
fcis-30524	37	31	parent	parent	NOUN
fcis-30524	37	32	node	node	NOUN
fcis-30524	37	33	information	information	NOUN
fcis-30524	37	34	,	,	PUNCT
fcis-30524	37	35	the	the	DET
fcis-30524	37	36	initial	initial	ADJ
fcis-30524	37	37	displacement	displacement	NOUN
fcis-30524	37	38	and	and	CCONJ
fcis-30524	37	39	rotation	rotation	NOUN
fcis-30524	37	40	matrices	matrix	NOUN
fcis-30524	37	41	,	,	PUNCT
fcis-30524	37	42	and	and	CCONJ
fcis-30524	37	43	splicing	splice	VERB
fcis-30524	37	44	them	they	PRON
fcis-30524	37	45	to	to	PART
fcis-30524	37	46	form	form	VERB
fcis-30524	37	47	the	the	DET
fcis-30524	37	48	transfer	transfer	NOUN
fcis-30524	37	49	matrix	matrix	NOUN
fcis-30524	37	50	.	.	PUNCT
fcis-30524	38	1	next	next	ADV
fcis-30524	38	2	,	,	PUNCT
fcis-30524	38	3	the	the	DET
fcis-30524	38	4	local	local	ADJ
fcis-30524	38	5	transfer	transfer	NOUN
fcis-30524	38	6	matrix	matrix	NOUN
fcis-30524	38	7	of	of	ADP
fcis-30524	38	8	the	the	DET
fcis-30524	38	9	current	current	ADJ
fcis-30524	38	10	node	node	NOUN
fcis-30524	38	11	relative	relative	ADJ
fcis-30524	38	12	to	to	ADP
fcis-30524	38	13	the	the	DET
fcis-30524	38	14	root	root	NOUN
fcis-30524	38	15	node	node	NOUN
fcis-30524	38	16	is	be	AUX
fcis-30524	38	17	computed	compute	VERB
fcis-30524	38	18	by	by	ADP
fcis-30524	38	19	matrix	matrix	NOUN
fcis-30524	38	20	multiplication	multiplication	NOUN
fcis-30524	38	21	,	,	PUNCT
fcis-30524	38	22	and	and	CCONJ
fcis-30524	38	23	the	the	DET
fcis-30524	38	24	local	local	ADJ
fcis-30524	38	25	pose	pose	NOUN
fcis-30524	38	26	of	of	ADP
fcis-30524	38	27	each	each	DET
fcis-30524	38	28	rigid	rigid	ADJ
fcis-30524	38	29	body	body	NOUN
fcis-30524	38	30	end	end	VERB
fcis-30524	38	31	relative	relative	ADJ
fcis-30524	38	32	to	to	ADP
fcis-30524	38	33	the	the	DET
fcis-30524	38	34	robot	robot	NOUN
fcis-30524	38	35	root	root	NOUN
fcis-30524	38	36	node	node	PROPN
fcis-30524	38	37	is	be	AUX
fcis-30524	38	38	finally	finally	ADV
fcis-30524	38	39	generated	generate	VERB
fcis-30524	38	40	.	.	PUNCT
fcis-30524	39	1	these	these	DET
fcis-30524	39	2	data	datum	NOUN
fcis-30524	39	3	provide	provide	VERB
fcis-30524	39	4	the	the	DET
fcis-30524	39	5	basis	basis	NOUN
fcis-30524	39	6	for	for	ADP
fcis-30524	39	7	subsequent	subsequent	ADJ
fcis-30524	39	8	motion	motion	NOUN
fcis-30524	39	9	reorientation	reorientation	NOUN
fcis-30524	39	10	and	and	CCONJ
fcis-30524	39	11	inverse	inverse	NOUN
fcis-30524	39	12	kinematics	kinematic	NOUN
fcis-30524	39	13	solving	solving	NOUN
fcis-30524	39	14	.	.	PUNCT
fcis-30524	40	1	as	as	SCONJ
fcis-30524	40	2	shown	show	VERB
fcis-30524	40	3	in	in	ADP
fcis-30524	40	4	fig	fig	NOUN
fcis-30524	40	5	.	.	PUNCT
fcis-30524	41	1	4	4	NUM
fcis-30524	41	2	,	,	PUNCT
fcis-30524	41	3	the	the	DET
fcis-30524	41	4	results	result	NOUN
fcis-30524	41	5	of	of	ADP
fcis-30524	41	6	the	the	DET
fcis-30524	41	7	robot	robot	NOUN
fcis-30524	41	8	skeleton	skeleton	NOUN
fcis-30524	41	9	tree	tree	NOUN
fcis-30524	41	10	node	node	NOUN
fcis-30524	41	11	position	position	NOUN
fcis-30524	41	12	visualization	visualization	NOUN
fcis-30524	41	13	based	base	VERB
fcis-30524	41	14	on	on	ADP
fcis-30524	41	15	smpl	smpl	NOUN
fcis-30524	41	16	mapping	mapping	NOUN
fcis-30524	41	17	are	be	AUX
fcis-30524	41	18	demonstrated	demonstrate	VERB
fcis-30524	41	19	.	.	PUNCT
fcis-30524	42	1	fig	fig	NOUN
fcis-30524	42	2	4	4	NUM
fcis-30524	42	3	.	.	NOUN
fcis-30524	42	4	example	example	NOUN
fcis-30524	42	5	of	of	ADP
fcis-30524	42	6	human	human	ADJ
fcis-30524	42	7	skeleton	skeleton	NOUN
fcis-30524	42	8	tree	tree	NOUN
fcis-30524	42	9	motion	motion	NOUN
fcis-30524	42	10	visualization	visualization	NOUN
fcis-30524	42	11	3.2.3	3.2.3	NOUN
fcis-30524	42	12	.	.	PUNCT
fcis-30524	43	1	human	human	ADJ
fcis-30524	43	2	skeleton	skeleton	NOUN
fcis-30524	43	3	tree	tree	NOUN
fcis-30524	43	4	based	base	VERB
fcis-30524	43	5	reorientation	reorientation	NOUN
fcis-30524	43	6	algorithm	algorithm	NOUN
fcis-30524	43	7	the	the	DET
fcis-30524	43	8	algorithm	algorithm	NOUN
fcis-30524	43	9	realizes	realize	VERB
fcis-30524	43	10	the	the	DET
fcis-30524	43	11	reorientation	reorientation	NOUN
fcis-30524	43	12	calculation	calculation	NOUN
fcis-30524	43	13	from	from	ADP
fcis-30524	43	14	the	the	DET
fcis-30524	43	15	human	human	ADJ
fcis-30524	43	16	skeleton	skeleton	NOUN
fcis-30524	43	17	tree	tree	NOUN
fcis-30524	43	18	to	to	ADP
fcis-30524	43	19	the	the	DET
fcis-30524	43	20	robot	robot	NOUN
fcis-30524	43	21	joint	joint	ADJ
fcis-30524	43	22	angles	angle	NOUN
fcis-30524	43	23	,	,	PUNCT
fcis-30524	43	24	and	and	CCONJ
fcis-30524	43	25	the	the	DET
fcis-30524	43	26	core	core	NOUN
fcis-30524	43	27	adopts	adopt	VERB
fcis-30524	43	28	the	the	DET
fcis-30524	43	29	inverse	inverse	NOUN
fcis-30524	43	30	kinematics	kinematic	NOUN
fcis-30524	43	31	iterative	iterative	NOUN
fcis-30524	43	32	solution	solution	NOUN
fcis-30524	43	33	method	method	NOUN
fcis-30524	43	34	.	.	PUNCT
fcis-30524	44	1	the	the	DET
fcis-30524	44	2	algorithm	algorithm	NOUN
fcis-30524	44	3	processes	process	VERB
fcis-30524	44	4	the	the	DET
fcis-30524	44	5	smpl	smpl	NOUN
fcis-30524	44	6	human	human	PROPN
fcis-30524	44	7	pose	pose	NOUN
fcis-30524	44	8	data	datum	NOUN
fcis-30524	44	9	sequence	sequence	NOUN
fcis-30524	44	10	,	,	PUNCT
fcis-30524	44	11	and	and	CCONJ
fcis-30524	44	12	first	first	ADV
fcis-30524	44	13	converts	convert	VERB
fcis-30524	44	14	the	the	DET
fcis-30524	44	15	smpl	smpl	NOUN
fcis-30524	44	16	poses	pose	VERB
fcis-30524	44	17	into	into	ADP
fcis-30524	44	18	the	the	DET
fcis-30524	44	19	robot	robot	NOUN
fcis-30524	44	20	rigid	rigid	ADJ
fcis-30524	44	21	body	body	NOUN
fcis-30524	44	22	's	's	PART
fcis-30524	44	23	position	position	NOUN
fcis-30524	44	24	in	in	ADP
fcis-30524	44	25	the	the	DET
fcis-30524	44	26	local	local	ADJ
fcis-30524	44	27	coordinate	coordinate	NOUN
fcis-30524	44	28	system	system	NOUN
fcis-30524	44	29	,	,	PUNCT
fcis-30524	44	30	and	and	CCONJ
fcis-30524	44	31	extracts	extract	VERB
fcis-30524	44	32	the	the	DET
fcis-30524	44	33	key	key	ADJ
fcis-30524	44	34	node	node	NOUN
fcis-30524	44	35	transfer	transfer	NOUN
fcis-30524	44	36	matrix	matrix	NOUN
fcis-30524	44	37	.	.	PUNCT
fcis-30524	45	1	subsequently	subsequently	ADV
fcis-30524	45	2	,	,	PUNCT
fcis-30524	45	3	iterative	iterative	ADJ
fcis-30524	45	4	optimization	optimization	NOUN
fcis-30524	45	5	is	be	AUX
fcis-30524	45	6	performed	perform	VERB
fcis-30524	45	7	:	:	PUNCT
fcis-30524	45	8	the	the	DET
fcis-30524	45	9	node	node	NOUN
fcis-30524	45	10	poses	pose	VERB
fcis-30524	45	11	corresponding	correspond	VERB
fcis-30524	45	12	to	to	ADP
fcis-30524	45	13	the	the	DET
fcis-30524	45	14	current	current	ADJ
fcis-30524	45	15	robot	robot	NOUN
fcis-30524	45	16	joint	joint	ADJ
fcis-30524	45	17	angles	angle	NOUN
fcis-30524	45	18	are	be	AUX
fcis-30524	45	19	computed	compute	VERB
fcis-30524	45	20	by	by	ADP
fcis-30524	45	21	positive	positive	ADJ
fcis-30524	45	22	kinematics	kinematic	NOUN
fcis-30524	45	23	,	,	PUNCT
fcis-30524	45	24	and	and	CCONJ
fcis-30524	45	25	complete	complete	ADJ
fcis-30524	45	26	pose	pose	NOUN
fcis-30524	45	27	matching	match	VERB
fcis-30524	45	28	(	(	PUNCT
fcis-30524	45	29	6	6	NUM
fcis-30524	45	30	-	-	PUNCT
fcis-30524	45	31	dimensional	dimensional	ADJ
fcis-30524	45	32	vectors	vector	NOUN
fcis-30524	45	33	containing	contain	VERB
fcis-30524	45	34	displacements	displacement	NOUN
fcis-30524	45	35	and	and	CCONJ
fcis-30524	45	36	axis	axis	NOUN
fcis-30524	45	37	angles	angle	NOUN
fcis-30524	45	38	)	)	PUNCT
fcis-30524	45	39	is	be	AUX
fcis-30524	45	40	used	use	VERB
fcis-30524	45	41	for	for	ADP
fcis-30524	45	42	end	end	NOUN
fcis-30524	45	43	nodes	node	NOUN
fcis-30524	45	44	,	,	PUNCT
fcis-30524	45	45	while	while	SCONJ
fcis-30524	45	46	only	only	ADV
fcis-30524	45	47	position	position	NOUN
fcis-30524	45	48	matching	match	VERB
fcis-30524	45	49	(	(	PUNCT
fcis-30524	45	50	3	3	NUM
fcis-30524	45	51	-	-	PUNCT
fcis-30524	45	52	dimensional	dimensional	ADJ
fcis-30524	45	53	vectors	vector	NOUN
fcis-30524	45	54	)	)	PUNCT
fcis-30524	45	55	is	be	AUX
fcis-30524	45	56	used	use	VERB
fcis-30524	45	57	for	for	ADP
fcis-30524	45	58	non	non	ADJ
fcis-30524	45	59	-	-	ADJ
fcis-30524	45	60	end	end	ADJ
fcis-30524	45	61	nodes	node	NOUN
fcis-30524	45	62	.	.	PUNCT
fcis-30524	46	1	this	this	DET
fcis-30524	46	2	discretization	discretization	NOUN
fcis-30524	46	3	is	be	AUX
fcis-30524	46	4	based	base	VERB
fcis-30524	46	5	on	on	ADP
fcis-30524	46	6	the	the	DET
fcis-30524	46	7	fact	fact	NOUN
fcis-30524	46	8	that	that	SCONJ
fcis-30524	46	9	the	the	DET
fcis-30524	46	10	poses	pose	NOUN
fcis-30524	46	11	of	of	ADP
fcis-30524	46	12	intermediate	intermediate	ADJ
fcis-30524	46	13	nodes	node	NOUN
fcis-30524	46	14	can	can	AUX
fcis-30524	46	15	be	be	AUX
fcis-30524	46	16	deduced	deduce	VERB
fcis-30524	46	17	from	from	ADP
fcis-30524	46	18	their	their	PRON
fcis-30524	46	19	relative	relative	ADJ
fcis-30524	46	20	positions	position	NOUN
fcis-30524	46	21	with	with	ADP
fcis-30524	46	22	respect	respect	NOUN
fcis-30524	46	23	to	to	ADP
fcis-30524	46	24	their	their	PRON
fcis-30524	46	25	parent	parent	NOUN
fcis-30524	46	26	and	and	CCONJ
fcis-30524	46	27	child	child	NOUN
fcis-30524	46	28	nodes	node	NOUN
fcis-30524	46	29	,	,	PUNCT
fcis-30524	46	30	thus	thus	ADV
fcis-30524	46	31	saving	save	VERB
fcis-30524	46	32	computational	computational	ADJ
fcis-30524	46	33	resources	resource	NOUN
fcis-30524	46	34	.	.	PUNCT
fcis-30524	47	1	the	the	DET
fcis-30524	47	2	algorithm	algorithm	NOUN
fcis-30524	47	3	uses	use	VERB
fcis-30524	47	4	the	the	DET
fcis-30524	47	5	ipopt	ipopt	ADJ
fcis-30524	47	6	method	method	NOUN
fcis-30524	47	7	to	to	PART
fcis-30524	47	8	minimize	minimize	VERB
fcis-30524	47	9	the	the	DET
fcis-30524	47	10	overall	overall	ADJ
fcis-30524	47	11	error	error	NOUN
fcis-30524	47	12	function	function	NOUN
fcis-30524	47	13	until	until	SCONJ
fcis-30524	47	14	convergence	convergence	NOUN
fcis-30524	47	15	conditions	condition	NOUN
fcis-30524	47	16	are	be	AUX
fcis-30524	47	17	reached	reach	VERB
fcis-30524	47	18	.	.	PUNCT
fcis-30524	48	1	the	the	DET
fcis-30524	48	2	algorithm	algorithm	NOUN
fcis-30524	48	3	is	be	AUX
fcis-30524	48	4	designed	design	VERB
fcis-30524	48	5	to	to	PART
fcis-30524	48	6	be	be	AUX
fcis-30524	48	7	adaptable	adaptable	ADJ
fcis-30524	48	8	enough	enough	ADV
fcis-30524	48	9	to	to	PART
fcis-30524	48	10	handle	handle	VERB
fcis-30524	48	11	the	the	DET
fcis-30524	48	12	complete	complete	ADJ
fcis-30524	48	13	smpl	smpl	NOUN
fcis-30524	48	14	skeleton	skeleton	NOUN
fcis-30524	48	15	tree	tree	NOUN
fcis-30524	48	16	data	datum	NOUN
fcis-30524	48	17	for	for	ADP
fcis-30524	48	18	full	full	ADJ
fcis-30524	48	19	-	-	PUNCT
fcis-30524	48	20	body	body	NOUN
fcis-30524	48	21	coordinated	coordinate	VERB
fcis-30524	48	22	mapping	mapping	NOUN
fcis-30524	48	23	,	,	PUNCT
fcis-30524	48	24	as	as	ADV
fcis-30524	48	25	well	well	ADV
fcis-30524	48	26	as	as	ADP
fcis-30524	48	27	adapting	adapt	VERB
fcis-30524	48	28	the	the	DET
fcis-30524	48	29	work	work	NOUN
fcis-30524	48	30	by	by	ADP
fcis-30524	48	31	adjusting	adjust	VERB
fcis-30524	48	32	the	the	DET
fcis-30524	48	33	error	error	NOUN
fcis-30524	48	34	function	function	NOUN
fcis-30524	48	35	in	in	ADP
fcis-30524	48	36	limited	limited	ADJ
fcis-30524	48	37	input	input	NOUN
fcis-30524	48	38	scenarios	scenario	NOUN
fcis-30524	48	39	with	with	ADP
fcis-30524	48	40	only	only	ADJ
fcis-30524	48	41	wrist	wrist	NOUN
fcis-30524	48	42	and	and	CCONJ
fcis-30524	48	43	finger	finger	NOUN
fcis-30524	48	44	poses	pose	NOUN
fcis-30524	48	45	to	to	PART
fcis-30524	48	46	support	support	VERB
fcis-30524	48	47	different	different	ADJ
fcis-30524	48	48	motion	motion	NOUN
fcis-30524	48	49	capture	capture	NOUN
fcis-30524	48	50	modalities	modality	NOUN
fcis-30524	48	51	,	,	PUNCT
fcis-30524	48	52	which	which	PRON
fcis-30524	48	53	improves	improve	VERB
fcis-30524	48	54	the	the	DET
fcis-30524	48	55	flexibility	flexibility	NOUN
fcis-30524	48	56	and	and	CCONJ
fcis-30524	48	57	versatility	versatility	NOUN
fcis-30524	48	58	of	of	ADP
fcis-30524	48	59	the	the	DET
fcis-30524	48	60	system	system	NOUN
fcis-30524	48	61	.	.	PUNCT
fcis-30524	49	1	3.3	3.3	NUM
fcis-30524	49	2	.	.	PUNCT
fcis-30524	50	1	vision	vision	NOUN
fcis-30524	50	2	-	-	PUNCT
fcis-30524	50	3	based	base	VERB
fcis-30524	50	4	human	human	ADJ
fcis-30524	50	5	motion	motion	NOUN
fcis-30524	50	6	capture	capture	NOUN
fcis-30524	50	7	system	system	NOUN
fcis-30524	50	8	this	this	DET
fcis-30524	50	9	study	study	NOUN
fcis-30524	50	10	proposes	propose	VERB
fcis-30524	50	11	two	two	NUM
fcis-30524	50	12	complementary	complementary	ADJ
fcis-30524	50	13	motion	motion	NOUN
fcis-30524	50	14	capture	capture	NOUN
fcis-30524	50	15	approaches	approach	NOUN
fcis-30524	50	16	:	:	PUNCT
fcis-30524	50	17	upper	upper	ADJ
fcis-30524	50	18	limb	limb	NOUN
fcis-30524	50	19	capture	capture	NOUN
fcis-30524	50	20	based	base	VERB
fcis-30524	50	21	on	on	ADP
fcis-30524	50	22	wham	wham	NOUN
fcis-30524	50	23	and	and	CCONJ
fcis-30524	50	24	finger	finger	NOUN
fcis-30524	50	25	capture	capture	NOUN
fcis-30524	50	26	based	base	VERB
fcis-30524	50	27	on	on	ADP
fcis-30524	50	28	ar	ar	PROPN
fcis-30524	50	29	devices.the	devices.the	DET
fcis-30524	50	30	wham	wham	PROPN
fcis-30524	50	31	system	system	NOUN
fcis-30524	50	32	accurately	accurately	ADV
fcis-30524	50	33	captures	capture	VERB
fcis-30524	50	34	shoulder	shoulder	NOUN
fcis-30524	50	35	,	,	PUNCT
fcis-30524	50	36	elbow	elbow	NOUN
fcis-30524	50	37	,	,	PUNCT
fcis-30524	50	38	and	and	CCONJ
fcis-30524	50	39	wrist	wrist	NOUN
fcis-30524	50	40	motions	motion	NOUN
fcis-30524	50	41	,	,	PUNCT
fcis-30524	50	42	and	and	CCONJ
fcis-30524	50	43	is	be	AUX
fcis-30524	50	44	suitable	suitable	ADJ
fcis-30524	50	45	for	for	ADP
fcis-30524	50	46	a	a	DET
fcis-30524	50	47	wide	wide	ADJ
fcis-30524	50	48	range	range	NOUN
fcis-30524	50	49	of	of	ADP
fcis-30524	50	50	upper	upper	ADJ
fcis-30524	50	51	limb	limb	NOUN
fcis-30524	50	52	motions	motion	NOUN
fcis-30524	50	53	,	,	PUNCT
fcis-30524	50	54	but	but	CCONJ
fcis-30524	50	55	has	have	AUX
fcis-30524	50	56	limited	limit	VERB
fcis-30524	50	57	control	control	NOUN
fcis-30524	50	58	of	of	ADP
fcis-30524	50	59	the	the	DET
fcis-30524	50	60	fingers	finger	NOUN
fcis-30524	50	61	;	;	PUNCT
fcis-30524	50	62	while	while	SCONJ
fcis-30524	50	63	the	the	DET
fcis-30524	50	64	ar	ar	PROPN
fcis-30524	50	65	devices	devices	PROPN
fcis-30524	50	66	capture	capture	VERB
fcis-30524	50	67	wrist	wrist	NOUN
fcis-30524	50	68	and	and	CCONJ
fcis-30524	50	69	finger	finger	NOUN
fcis-30524	50	70	postures	posture	NOUN
fcis-30524	50	71	with	with	ADP
fcis-30524	50	72	high	high	ADJ
fcis-30524	50	73	precision	precision	NOUN
fcis-30524	50	74	,	,	PUNCT
fcis-30524	50	75	and	and	CCONJ
fcis-30524	50	76	support	support	VERB
fcis-30524	50	77	detailed	detailed	ADJ
fcis-30524	50	78	hand	hand	NOUN
fcis-30524	50	79	manipulation	manipulation	NOUN
fcis-30524	50	80	,	,	PUNCT
fcis-30524	50	81	but	but	CCONJ
fcis-30524	50	82	lack	lack	NOUN
fcis-30524	50	83	monitoring	monitoring	NOUN
fcis-30524	50	84	of	of	ADP
fcis-30524	50	85	the	the	DET
fcis-30524	50	86	elbow	elbow	NOUN
fcis-30524	50	87	and	and	CCONJ
fcis-30524	50	88	shoulder	shoulder	NOUN
fcis-30524	50	89	.	.	PUNCT
fcis-30524	51	1	when	when	SCONJ
fcis-30524	51	2	the	the	DET
fcis-30524	51	3	two	two	NUM
fcis-30524	51	4	are	be	AUX
fcis-30524	51	5	combined	combine	VERB
fcis-30524	51	6	,	,	PUNCT
fcis-30524	51	7	the	the	DET
fcis-30524	51	8	system	system	NOUN
fcis-30524	51	9	provides	provide	VERB
fcis-30524	51	10	full	full	ADJ
fcis-30524	51	11	-	-	PUNCT
fcis-30524	51	12	link	link	NOUN
fcis-30524	51	13	high	high	ADJ
fcis-30524	51	14	-	-	PUNCT
fcis-30524	51	15	precision	precision	NOUN
fcis-30524	51	16	control	control	NOUN
fcis-30524	51	17	from	from	ADP
fcis-30524	51	18	shoulder	shoulder	NOUN
fcis-30524	51	19	to	to	ADP
fcis-30524	51	20	fingertips	fingertip	NOUN
fcis-30524	51	21	,	,	PUNCT
fcis-30524	51	22	which	which	PRON
fcis-30524	51	23	is	be	AUX
fcis-30524	51	24	suitable	suitable	ADJ
fcis-30524	51	25	for	for	ADP
fcis-30524	51	26	complex	complex	ADJ
fcis-30524	51	27	tasks	task	NOUN
fcis-30524	51	28	such	such	ADJ
fcis-30524	51	29	as	as	ADP
fcis-30524	51	30	precision	precision	NOUN
fcis-30524	51	31	grasping	grasping	NOUN
fcis-30524	51	32	,	,	PUNCT
fcis-30524	51	33	assembly	assembly	NOUN
fcis-30524	51	34	and	and	CCONJ
fcis-30524	51	35	medical	medical	ADJ
fcis-30524	51	36	treatment	treatment	NOUN
fcis-30524	51	37	to	to	PART
fcis-30524	51	38	achieve	achieve	VERB
fcis-30524	51	39	efficient	efficient	ADJ
fcis-30524	51	40	spatial	spatial	ADJ
fcis-30524	51	41	localization	localization	NOUN
fcis-30524	51	42	and	and	CCONJ
fcis-30524	51	43	fine	fine	ADJ
fcis-30524	51	44	manipulation	manipulation	NOUN
fcis-30524	51	45	.	.	PUNCT
fcis-30524	52	1	3.3.1	3.3.1	X
fcis-30524	52	2	.	.	PUNCT
fcis-30524	52	3	wham	wham	NOUN
fcis-30524	52	4	-	-	PUNCT
fcis-30524	52	5	based	base	VERB
fcis-30524	52	6	upper	upper	ADJ
fcis-30524	52	7	limb	limb	NOUN
fcis-30524	52	8	motion	motion	NOUN
fcis-30524	52	9	capture	capture	NOUN
fcis-30524	52	10	wham	wham	INTJ
fcis-30524	52	11	is	be	AUX
fcis-30524	52	12	an	an	DET
fcis-30524	52	13	advanced	advanced	ADJ
fcis-30524	52	14	visual	visual	ADJ
fcis-30524	52	15	motion	motion	NOUN
fcis-30524	52	16	capture	capture	NOUN
fcis-30524	52	17	method	method	NOUN
fcis-30524	52	18	capable	capable	ADJ
fcis-30524	52	19	of	of	ADP
fcis-30524	52	20	reconstructing	reconstruct	VERB
fcis-30524	52	21	the	the	DET
fcis-30524	52	22	3d	3d	PROPN
fcis-30524	52	23	pose	pose	NOUN
fcis-30524	52	24	and	and	CCONJ
fcis-30524	52	25	shape	shape	NOUN
fcis-30524	52	26	of	of	ADP
fcis-30524	52	27	the	the	DET
fcis-30524	52	28	human	human	ADJ
fcis-30524	52	29	body	body	NOUN
fcis-30524	52	30	from	from	ADP
fcis-30524	52	31	monocular	monocular	ADJ
fcis-30524	52	32	video	video	NOUN
fcis-30524	52	33	and	and	CCONJ
fcis-30524	52	34	outputting	outputting	NOUN
fcis-30524	52	35	smpl	smpl	NOUN
fcis-30524	52	36	model	model	NOUN
fcis-30524	52	37	parameters	parameter	NOUN
fcis-30524	52	38	.	.	PUNCT
fcis-30524	53	1	since	since	SCONJ
fcis-30524	53	2	the	the	DET
fcis-30524	53	3	original	original	ADJ
fcis-30524	53	4	design	design	NOUN
fcis-30524	53	5	of	of	ADP
fcis-30524	53	6	wham	wham	PROPN
fcis-30524	53	7	favors	favor	VERB
fcis-30524	53	8	recognition	recognition	NOUN
fcis-30524	53	9	quality	quality	NOUN
fcis-30524	53	10	and	and	CCONJ
fcis-30524	53	11	ignores	ignore	VERB
fcis-30524	53	12	time	time	NOUN
fcis-30524	53	13	efficiency	efficiency	NOUN
fcis-30524	53	14	,	,	PUNCT
fcis-30524	53	15	it	it	PRON
fcis-30524	53	16	is	be	AUX
fcis-30524	53	17	not	not	PART
fcis-30524	53	18	suitable	suitable	ADJ
fcis-30524	53	19	for	for	ADP
fcis-30524	53	20	real	real	ADJ
fcis-30524	53	21	-	-	PUNCT
fcis-30524	53	22	time	time	NOUN
fcis-30524	53	23	human	human	ADJ
fcis-30524	53	24	-	-	PUNCT
fcis-30524	53	25	computer	computer	NOUN
fcis-30524	53	26	interaction	interaction	NOUN
fcis-30524	53	27	application	application	NOUN
fcis-30524	53	28	scenarios	scenario	NOUN
fcis-30524	53	29	,	,	PUNCT
fcis-30524	53	30	so	so	SCONJ
fcis-30524	53	31	this	this	DET
fcis-30524	53	32	study	study	NOUN
fcis-30524	53	33	performs	perform	VERB
fcis-30524	53	34	a	a	DET
fcis-30524	53	35	number	number	NOUN
fcis-30524	53	36	of	of	ADP
fcis-30524	53	37	optimizations	optimization	NOUN
fcis-30524	53	38	for	for	ADP
fcis-30524	53	39	the	the	DET
fcis-30524	53	40	wham	wham	PROPN
fcis-30524	53	41	algorithm	algorithm	NOUN
fcis-30524	53	42	to	to	PART
fcis-30524	53	43	make	make	VERB
fcis-30524	53	44	it	it	PRON
fcis-30524	53	45	suitable	suitable	ADJ
fcis-30524	53	46	for	for	ADP
fcis-30524	53	47	real	real	ADJ
fcis-30524	53	48	-	-	PUNCT
fcis-30524	53	49	time	time	NOUN
fcis-30524	53	50	teleoperation	teleoperation	NOUN
fcis-30524	53	51	scenarios	scenario	NOUN
fcis-30524	53	52	:	:	PUNCT
fcis-30524	53	53	offline	offline	ADJ
fcis-30524	53	54	process	process	NOUN
fcis-30524	53	55	to	to	ADP
fcis-30524	53	56	online	online	ADJ
fcis-30524	53	57	process	process	NOUN
fcis-30524	53	58	:	:	PUNCT
fcis-30524	53	59	wham	wham	PROPN
fcis-30524	53	60	is	be	AUX
fcis-30524	53	61	initially	initially	ADV
fcis-30524	53	62	designed	design	VERB
fcis-30524	53	63	for	for	ADP
fcis-30524	53	64	offline	offline	ADJ
fcis-30524	53	65	video	video	NOUN
fcis-30524	53	66	human	human	ADJ
fcis-30524	53	67	motion	motion	NOUN
fcis-30524	53	68	capture	capture	NOUN
fcis-30524	53	69	,	,	PUNCT
fcis-30524	53	70	and	and	CCONJ
fcis-30524	53	71	its	its	PRON
fcis-30524	53	72	original	original	ADJ
fcis-30524	53	73	process	process	NOUN
fcis-30524	53	74	sequentially	sequentially	ADV
fcis-30524	53	75	traverses	traverse	VERB
fcis-30524	53	76	all	all	DET
fcis-30524	53	77	the	the	DET
fcis-30524	53	78	video	video	NOUN
fcis-30524	53	79	frames	frame	NOUN
fcis-30524	53	80	for	for	ADP
fcis-30524	53	81	bounding	bound	VERB
fcis-30524	53	82	box	box	NOUN
fcis-30524	53	83	selection	selection	NOUN
fcis-30524	53	84	,	,	PUNCT
fcis-30524	53	85	then	then	ADV
fcis-30524	53	86	traverses	traverse	VERB
fcis-30524	53	87	all	all	DET
fcis-30524	53	88	the	the	DET
fcis-30524	53	89	frames	frame	NOUN
fcis-30524	53	90	again	again	ADV
fcis-30524	53	91	to	to	PART
fcis-30524	53	92	extract	extract	VERB
fcis-30524	53	93	2d	2d	NUM
fcis-30524	53	94	keypoints	keypoint	NOUN
fcis-30524	53	95	,	,	PUNCT
fcis-30524	53	96	and	and	CCONJ
fcis-30524	53	97	finally	finally	ADV
fcis-30524	53	98	traverses	traverse	VERB
fcis-30524	53	99	all	all	DET
fcis-30524	53	100	the	the	DET
fcis-30524	53	101	frames	frame	NOUN
fcis-30524	53	102	to	to	PART
fcis-30524	53	103	extract	extract	VERB
fcis-30524	53	104	3d	3d	NUM
fcis-30524	53	105	smpl	smpl	NOUN
fcis-30524	53	106	features	feature	NOUN
fcis-30524	53	107	.	.	PUNCT
fcis-30524	54	1	in	in	ADP
fcis-30524	54	2	this	this	DET
fcis-30524	54	3	study	study	NOUN
fcis-30524	54	4	,	,	PUNCT
fcis-30524	54	5	this	this	DET
fcis-30524	54	6	process	process	NOUN
fcis-30524	54	7	is	be	AUX
fcis-30524	54	8	reconstructed	reconstruct	VERB
fcis-30524	54	9	and	and	CCONJ
fcis-30524	54	10	converted	convert	VERB
fcis-30524	54	11	into	into	ADP
fcis-30524	54	12	an	an	DET
fcis-30524	54	13	online	online	ADJ
fcis-30524	54	14	video	video	NOUN
fcis-30524	54	15	recognition	recognition	NOUN
fcis-30524	54	16	model	model	NOUN
fcis-30524	54	17	,	,	PUNCT
fcis-30524	54	18	where	where	SCONJ
fcis-30524	54	19	only	only	ADV
fcis-30524	54	20	one	one	NUM
fcis-30524	54	21	bounding	bounding	NOUN
fcis-30524	54	22	box	box	NOUN
fcis-30524	54	23	selection	selection	NOUN
fcis-30524	54	24	,	,	PUNCT
fcis-30524	54	25	feature	feature	NOUN
fcis-30524	54	26	extraction	extraction	NOUN
fcis-30524	54	27	and	and	CCONJ
fcis-30524	54	28	smpl	smpl	NOUN
fcis-30524	54	29	recognition	recognition	NOUN
fcis-30524	54	30	are	be	AUX
fcis-30524	54	31	performed	perform	VERB
fcis-30524	54	32	per	per	ADP
fcis-30524	54	33	iteration	iteration	NOUN
fcis-30524	54	34	.	.	PUNCT
fcis-30524	55	1	this	this	DET
fcis-30524	55	2	optimized	optimize	VERB
fcis-30524	55	3	flow	flow	NOUN
fcis-30524	55	4	is	be	AUX
fcis-30524	55	5	shown	show	VERB
fcis-30524	55	6	in	in	ADP
fcis-30524	55	7	figure	figure	NOUN
fcis-30524	55	8	5	5	NUM
fcis-30524	55	9	.	.	SYM
fcis-30524	55	10	2	2	NUM
fcis-30524	55	11	.	.	PUNCT
fcis-30524	55	12	model	model	NOUN
fcis-30524	55	13	lightweight	lightweight	ADJ
fcis-30524	55	14	implementation	implementation	NOUN
fcis-30524	55	15	:	:	PUNCT
fcis-30524	55	16	the	the	DET
fcis-30524	55	17	wham	wham	PROPN
fcis-30524	55	18	algorithm	algorithm	PROPN
fcis-30524	55	19	first	first	ADV
fcis-30524	55	20	uses	use	VERB
fcis-30524	55	21	the	the	DET
fcis-30524	55	22	yolo	yolo	ADJ
fcis-30524	55	23	model	model	NOUN
fcis-30524	55	24	to	to	PART
fcis-30524	55	25	detect	detect	VERB
fcis-30524	55	26	the	the	DET
fcis-30524	55	27	human	human	ADJ
fcis-30524	55	28	body	body	NOUN
fcis-30524	55	29	in	in	ADP
fcis-30524	55	30	the	the	DET
fcis-30524	55	31	image	image	NOUN
fcis-30524	55	32	as	as	ADP
fcis-30524	55	33	a	a	DET
fcis-30524	55	34	bounding	bounding	NOUN
fcis-30524	55	35	box	box	NOUN
fcis-30524	55	36	,	,	PUNCT
fcis-30524	55	37	and	and	CCONJ
fcis-30524	55	38	then	then	ADV
fcis-30524	55	39	inputs	input	VERB
fcis-30524	55	40	the	the	DET
fcis-30524	55	41	detected	detect	VERB
fcis-30524	55	42	image	image	NOUN
fcis-30524	55	43	regions	region	NOUN
fcis-30524	55	44	into	into	ADP
fcis-30524	55	45	the	the	DET
fcis-30524	55	46	vit	vit	NOUN
fcis-30524	55	47	-	-	PUNCT
fcis-30524	55	48	pose	pose	NOUN
fcis-30524	55	49	model	model	NOUN
fcis-30524	55	50	to	to	PART
fcis-30524	55	51	extract	extract	VERB
fcis-30524	55	52	the	the	DET
fcis-30524	55	53	2d	2d	NUM
fcis-30524	55	54	key	key	ADJ
fcis-30524	55	55	points	point	NOUN
fcis-30524	55	56	of	of	ADP
fcis-30524	55	57	the	the	DET
fcis-30524	55	58	human	human	ADJ
fcis-30524	55	59	body	body	NOUN
fcis-30524	55	60	and	and	CCONJ
fcis-30524	55	61	jointly	jointly	ADV
fcis-30524	55	62	inputs	input	VERB
fcis-30524	55	63	this	this	DET
fcis-30524	55	64	information	information	NOUN
fcis-30524	55	65	into	into	ADP
fcis-30524	55	66	the	the	DET
fcis-30524	55	67	wham	wham	PROPN
fcis-30524	55	68	network	network	NOUN
fcis-30524	55	69	system	system	NOUN
fcis-30524	55	70	to	to	PART
fcis-30524	55	71	perform	perform	VERB
fcis-30524	55	72	3d	3d	NUM
fcis-30524	55	73	human	human	ADJ
fcis-30524	55	74	action	action	NOUN
fcis-30524	55	75	recognition	recognition	NOUN
fcis-30524	55	76	.	.	PUNCT
fcis-30524	56	1	in	in	ADP
fcis-30524	56	2	this	this	DET
fcis-30524	56	3	paper	paper	NOUN
fcis-30524	56	4	,	,	PUNCT
fcis-30524	56	5	by	by	ADP
fcis-30524	56	6	replacing	replace	VERB
fcis-30524	56	7	yolov8x	yolov8x	PROPN
fcis-30524	56	8	and	and	CCONJ
fcis-30524	56	9	vitposeh	vitposeh	NOUN
fcis-30524	56	10	(	(	PUNCT
fcis-30524	56	11	the	the	DET
fcis-30524	56	12	largest	large	ADJ
fcis-30524	56	13	variants	variant	NOUN
fcis-30524	56	14	)	)	PUNCT
fcis-30524	56	15	used	use	VERB
fcis-30524	56	16	in	in	ADP
fcis-30524	56	17	the	the	DET
fcis-30524	56	18	original	original	ADJ
fcis-30524	56	19	implementation	implementation	NOUN
fcis-30524	56	20	with	with	ADP
fcis-30524	56	21	yolov8s	yolov8	NOUN
fcis-30524	56	22	and	and	CCONJ
fcis-30524	56	23	vitpose	vitpose	PROPN
fcis-30524	56	24	-	-	PUNCT
fcis-30524	56	25	s	s	X
fcis-30524	56	26	(	(	PUNCT
fcis-30524	56	27	the	the	DET
fcis-30524	56	28	smallest	small	ADJ
fcis-30524	56	29	variants	variant	NOUN
fcis-30524	56	30	)	)	PUNCT
fcis-30524	56	31	,	,	PUNCT
fcis-30524	56	32	the	the	DET
fcis-30524	56	33	processing	processing	NOUN
fcis-30524	56	34	times	time	NOUN
fcis-30524	56	35	that	that	PRON
fcis-30524	56	36	originally	originally	ADV
fcis-30524	56	37	required	require	VERB
fcis-30524	56	38	an	an	DET
fcis-30524	56	39	average	average	NOUN
fcis-30524	56	40	of	of	ADP
fcis-30524	56	41	25.55	25.55	NUM
fcis-30524	56	42	ms	ms	NOUN
fcis-30524	56	43	and	and	CCONJ
fcis-30524	56	44	36.95	36.95	NUM
fcis-30524	56	45	ms	ms	PROPN
fcis-30524	56	46	,	,	PUNCT
fcis-30524	56	47	respectively	respectively	ADV
fcis-30524	56	48	,	,	PUNCT
fcis-30524	56	49	are	be	AUX
fcis-30524	56	50	reduced	reduce	VERB
fcis-30524	56	51	to	to	ADP
fcis-30524	56	52	an	an	DET
fcis-30524	56	53	average	average	NOUN
fcis-30524	56	54	of	of	ADP
fcis-30524	56	55	17.98	17.98	NUM
fcis-30524	56	56	ms	ms	NOUN
fcis-30524	56	57	and	and	CCONJ
fcis-30524	56	58	32.54	32.54	NUM
fcis-30524	56	59	ms	ms	PROPN
fcis-30524	56	60	.	.	PROPN
fcis-30524	57	1	meanwhile	meanwhile	ADV
fcis-30524	57	2	,	,	PUNCT
fcis-30524	57	3	the	the	DET
fcis-30524	57	4	wham	wham	PROPN
fcis-30524	57	5	network	network	NOUN
fcis-30524	57	6	system	system	NOUN
fcis-30524	57	7	,	,	PUNCT
fcis-30524	57	8	which	which	PRON
fcis-30524	57	9	originally	originally	ADV
fcis-30524	57	10	required	require	VERB
fcis-30524	57	11	a	a	DET
fcis-30524	57	12	processing	processing	NOUN
fcis-30524	57	13	time	time	NOUN
fcis-30524	57	14	of	of	ADP
fcis-30524	57	15	about	about	ADP
fcis-30524	57	16	85.35	85.35	NUM
fcis-30524	57	17	ms	ms	NOUN
fcis-30524	57	18	,	,	PUNCT
fcis-30524	57	19	was	be	AUX
fcis-30524	57	20	optimized	optimize	VERB
fcis-30524	57	21	to	to	ADP
fcis-30524	57	22	an	an	DET
fcis-30524	57	23	average	average	NOUN
fcis-30524	57	24	of	of	ADP
fcis-30524	57	25	76.33	76.33	NUM
fcis-30524	57	26	ms	ms	NOUN
fcis-30524	57	27	by	by	ADP
fcis-30524	57	28	reducing	reduce	VERB
fcis-30524	57	29	the	the	DET
fcis-30524	57	30	computational	computational	ADJ
fcis-30524	57	31	accuracy	accuracy	NOUN
fcis-30524	57	32	through	through	ADP
fcis-30524	57	33	the	the	DET
fcis-30524	57	34	implementation	implementation	NOUN
fcis-30524	57	35	of	of	ADP
fcis-30524	57	36	the	the	DET
fcis-30524	57	37	autocast	autocast	ADJ
fcis-30524	57	38	technique	technique	NOUN
fcis-30524	57	39	on	on	ADP
fcis-30524	57	40	it	it	PRON
fcis-30524	57	41	,	,	PUNCT
fcis-30524	57	42	which	which	PRON
fcis-30524	57	43	improved	improve	VERB
fcis-30524	57	44	the	the	DET
fcis-30524	57	45	response	response	NOUN
fcis-30524	57	46	speed	speed	NOUN
fcis-30524	57	47	of	of	ADP
fcis-30524	57	48	the	the	DET
fcis-30524	57	49	system	system	NOUN
fcis-30524	57	50	.	.	PUNCT
fcis-30524	58	1	86	86	NUM
fcis-30524	58	2	fig	fig	NOUN
fcis-30524	58	3	5	5	NUM
fcis-30524	58	4	.	.	PUNCT
fcis-30524	59	1	wham	wham	PROPN
fcis-30524	59	2	human	human	ADJ
fcis-30524	59	3	body	body	NOUN
fcis-30524	59	4	recognition	recognition	NOUN
fcis-30524	59	5	process	process	NOUN
fcis-30524	59	6	(	(	PUNCT
fcis-30524	59	7	a	a	X
fcis-30524	59	8	)	)	PUNCT
fcis-30524	59	9	initial	initial	ADJ
fcis-30524	59	10	offline	offline	ADJ
fcis-30524	59	11	process	process	NOUN
fcis-30524	59	12	(	(	PUNCT
fcis-30524	59	13	b	b	NOUN
fcis-30524	59	14	)	)	PUNCT
fcis-30524	59	15	improved	improve	VERB
fcis-30524	59	16	online	online	ADJ
fcis-30524	59	17	process	process	NOUN
fcis-30524	59	18	3	3	NUM
fcis-30524	59	19	.	.	NOUN
fcis-30524	59	20	process	process	NOUN
fcis-30524	59	21	pipelining	pipeline	VERB
fcis-30524	59	22	design	design	NOUN
fcis-30524	59	23	:	:	PUNCT
fcis-30524	59	24	given	give	VERB
fcis-30524	59	25	that	that	SCONJ
fcis-30524	59	26	the	the	DET
fcis-30524	59	27	interaction	interaction	NOUN
fcis-30524	59	28	frequency	frequency	NOUN
fcis-30524	59	29	with	with	ADP
fcis-30524	59	30	the	the	DET
fcis-30524	59	31	hardware	hardware	NOUN
fcis-30524	59	32	part	part	NOUN
fcis-30524	59	33	of	of	ADP
fcis-30524	59	34	the	the	DET
fcis-30524	59	35	robot	robot	NOUN
fcis-30524	59	36	is	be	AUX
fcis-30524	59	37	set	set	VERB
fcis-30524	59	38	to	to	ADP
fcis-30524	59	39	50	50	NUM
fcis-30524	59	40	hz	hz	NOUN
fcis-30524	59	41	,	,	PUNCT
fcis-30524	59	42	and	and	CCONJ
fcis-30524	59	43	the	the	DET
fcis-30524	59	44	current	current	ADJ
fcis-30524	59	45	video	video	NOUN
fcis-30524	59	46	recognition	recognition	NOUN
fcis-30524	59	47	module	module	NOUN
fcis-30524	59	48	requires	require	VERB
fcis-30524	59	49	a	a	DET
fcis-30524	59	50	total	total	NOUN
fcis-30524	59	51	of	of	ADP
fcis-30524	59	52	about	about	ADV
fcis-30524	59	53	125	125	NUM
fcis-30524	59	54	milliseconds	millisecond	NOUN
fcis-30524	59	55	,	,	PUNCT
fcis-30524	59	56	which	which	PRON
fcis-30524	59	57	is	be	AUX
fcis-30524	59	58	far	far	ADV
fcis-30524	59	59	less	less	ADJ
fcis-30524	59	60	than	than	ADP
fcis-30524	59	61	the	the	DET
fcis-30524	59	62	target	target	NOUN
fcis-30524	59	63	frequency	frequency	NOUN
fcis-30524	59	64	.	.	PUNCT
fcis-30524	60	1	therefore	therefore	ADV
fcis-30524	60	2	,	,	PUNCT
fcis-30524	60	3	this	this	DET
fcis-30524	60	4	study	study	NOUN
fcis-30524	60	5	decided	decide	VERB
fcis-30524	60	6	to	to	PART
fcis-30524	60	7	use	use	VERB
fcis-30524	60	8	a	a	DET
fcis-30524	60	9	pipelined	pipelined	ADJ
fcis-30524	60	10	approach	approach	NOUN
fcis-30524	60	11	for	for	ADP
fcis-30524	60	12	video	video	NOUN
fcis-30524	60	13	processing	processing	NOUN
fcis-30524	60	14	optimization	optimization	NOUN
fcis-30524	60	15	,	,	PUNCT
fcis-30524	60	16	as	as	SCONJ
fcis-30524	60	17	shown	show	VERB
fcis-30524	60	18	in	in	ADP
fcis-30524	60	19	figure	figure	NOUN
fcis-30524	60	20	6	6	NUM
fcis-30524	60	21	.	.	PUNCT
fcis-30524	61	1	the	the	DET
fcis-30524	61	2	video	video	NOUN
fcis-30524	61	3	motion	motion	NOUN
fcis-30524	61	4	capture	capture	NOUN
fcis-30524	61	5	module	module	NOUN
fcis-30524	61	6	is	be	AUX
fcis-30524	61	7	partitioned	partition	VERB
fcis-30524	61	8	into	into	ADP
fcis-30524	61	9	two	two	NUM
fcis-30524	61	10	sub	sub	NOUN
fcis-30524	61	11	-	-	NOUN
fcis-30524	61	12	modules	module	NOUN
fcis-30524	61	13	:	:	PUNCT
fcis-30524	61	14	the	the	DET
fcis-30524	61	15	bounding	bounding	NOUN
fcis-30524	61	16	box	box	NOUN
fcis-30524	61	17	and	and	CCONJ
fcis-30524	61	18	feature	feature	NOUN
fcis-30524	61	19	extraction	extraction	NOUN
fcis-30524	61	20	module	module	NOUN
fcis-30524	61	21	(	(	PUNCT
fcis-30524	61	22	yolo	yolo	PROPN
fcis-30524	61	23	,	,	PUNCT
fcis-30524	61	24	vitpose	vitpose	PROPN
fcis-30524	61	25	)	)	PUNCT
fcis-30524	61	26	and	and	CCONJ
fcis-30524	61	27	the	the	DET
fcis-30524	61	28	smpl	smpl	NOUN
fcis-30524	61	29	recognition	recognition	NOUN
fcis-30524	61	30	module	module	NOUN
fcis-30524	61	31	(	(	PUNCT
fcis-30524	61	32	wham	wham	PROPN
fcis-30524	61	33	)	)	PUNCT
fcis-30524	61	34	.	.	PUNCT
fcis-30524	62	1	the	the	DET
fcis-30524	62	2	latter	latter	ADJ
fcis-30524	62	3	constitutes	constitute	VERB
fcis-30524	62	4	the	the	DET
fcis-30524	62	5	critical	critical	ADJ
fcis-30524	62	6	path	path	NOUN
fcis-30524	62	7	in	in	ADP
fcis-30524	62	8	the	the	DET
fcis-30524	62	9	flow	flow	NOUN
fcis-30524	62	10	since	since	SCONJ
fcis-30524	62	11	it	it	PRON
fcis-30524	62	12	requires	require	VERB
fcis-30524	62	13	about	about	ADP
fcis-30524	62	14	twice	twice	DET
fcis-30524	62	15	the	the	DET
fcis-30524	62	16	processing	processing	NOUN
fcis-30524	62	17	time	time	NOUN
fcis-30524	62	18	of	of	ADP
fcis-30524	62	19	the	the	DET
fcis-30524	62	20	former	former	NOUN
fcis-30524	62	21	.	.	PUNCT
fcis-30524	63	1	with	with	ADP
fcis-30524	63	2	the	the	DET
fcis-30524	63	3	pipeline	pipeline	NOUN
fcis-30524	63	4	optimization	optimization	NOUN
fcis-30524	63	5	,	,	PUNCT
fcis-30524	63	6	the	the	DET
fcis-30524	63	7	interaction	interaction	NOUN
fcis-30524	63	8	cycle	cycle	NOUN
fcis-30524	63	9	is	be	AUX
fcis-30524	63	10	reduced	reduce	VERB
fcis-30524	63	11	from	from	ADP
fcis-30524	63	12	the	the	DET
fcis-30524	63	13	original	original	ADJ
fcis-30524	63	14	about	about	ADV
fcis-30524	63	15	125	125	NUM
fcis-30524	63	16	ms	ms	NOUN
fcis-30524	63	17	to	to	ADP
fcis-30524	63	18	about	about	ADP
fcis-30524	63	19	70	70	NUM
fcis-30524	63	20	ms	ms	NOUN
fcis-30524	63	21	,	,	PUNCT
fcis-30524	63	22	which	which	PRON
fcis-30524	63	23	significantly	significantly	ADV
fcis-30524	63	24	improves	improve	VERB
fcis-30524	63	25	the	the	DET
fcis-30524	63	26	response	response	NOUN
fcis-30524	63	27	performance	performance	NOUN
fcis-30524	63	28	of	of	ADP
fcis-30524	63	29	the	the	DET
fcis-30524	63	30	system	system	NOUN
fcis-30524	63	31	.	.	PUNCT
fcis-30524	64	1	fig	fig	NOUN
fcis-30524	64	2	6	6	NUM
fcis-30524	64	3	.	.	PUNCT
fcis-30524	65	1	wham	wham	PROPN
fcis-30524	65	2	improved	improve	VERB
fcis-30524	65	3	pipelined	pipeline	VERB
fcis-30524	65	4	flow	flow	NOUN
fcis-30524	65	5	4	4	NUM
fcis-30524	65	6	.	.	PUNCT
fcis-30524	66	1	output	output	NOUN
fcis-30524	66	2	frequency	frequency	NOUN
fcis-30524	66	3	stabilization	stabilization	NOUN
fcis-30524	66	4	method	method	NOUN
fcis-30524	66	5	:	:	PUNCT
fcis-30524	66	6	in	in	ADP
fcis-30524	66	7	order	order	NOUN
fcis-30524	66	8	to	to	PART
fcis-30524	66	9	solve	solve	VERB
fcis-30524	66	10	the	the	DET
fcis-30524	66	11	problem	problem	NOUN
fcis-30524	66	12	that	that	SCONJ
fcis-30524	66	13	the	the	DET
fcis-30524	66	14	output	output	NOUN
fcis-30524	66	15	frequency	frequency	NOUN
fcis-30524	66	16	of	of	ADP
fcis-30524	66	17	the	the	DET
fcis-30524	66	18	motion	motion	NOUN
fcis-30524	66	19	capture	capture	NOUN
fcis-30524	66	20	system	system	NOUN
fcis-30524	66	21	still	still	ADV
fcis-30524	66	22	can	can	AUX
fcis-30524	66	23	not	not	PART
fcis-30524	66	24	reach	reach	VERB
fcis-30524	66	25	50hz	50hz	NOUN
fcis-30524	66	26	and	and	CCONJ
fcis-30524	66	27	the	the	DET
fcis-30524	66	28	output	output	NOUN
fcis-30524	66	29	frequency	frequency	NOUN
fcis-30524	66	30	is	be	AUX
fcis-30524	66	31	unstable	unstable	ADJ
fcis-30524	66	32	,	,	PUNCT
fcis-30524	66	33	this	this	DET
fcis-30524	66	34	study	study	NOUN
fcis-30524	66	35	proposes	propose	VERB
fcis-30524	66	36	the	the	DET
fcis-30524	66	37	method	method	NOUN
fcis-30524	66	38	of	of	ADP
fcis-30524	66	39	buffer	buffer	NOUN
fcis-30524	66	40	pool	pool	NOUN
fcis-30524	66	41	combined	combine	VERB
fcis-30524	66	42	with	with	ADP
fcis-30524	66	43	spherical	spherical	ADJ
fcis-30524	66	44	interpolation	interpolation	NOUN
fcis-30524	66	45	algorithm	algorithm	NOUN
fcis-30524	66	46	.	.	PUNCT
fcis-30524	67	1	the	the	DET
fcis-30524	67	2	method	method	NOUN
fcis-30524	67	3	first	first	ADV
fcis-30524	67	4	establishes	establish	VERB
fcis-30524	67	5	a	a	DET
fcis-30524	67	6	message	message	NOUN
fcis-30524	67	7	buffer	buffer	NOUN
fcis-30524	67	8	queue	queue	NOUN
fcis-30524	67	9	for	for	ADP
fcis-30524	67	10	the	the	DET
fcis-30524	67	11	smpl	smpl	NOUN
fcis-30524	67	12	identification	identification	NOUN
fcis-30524	67	13	data	datum	NOUN
fcis-30524	67	14	output	output	NOUN
fcis-30524	67	15	from	from	ADP
fcis-30524	67	16	the	the	DET
fcis-30524	67	17	wham	wham	PROPN
fcis-30524	67	18	system	system	NOUN
fcis-30524	67	19	,	,	PUNCT
fcis-30524	67	20	with	with	ADP
fcis-30524	67	21	a	a	DET
fcis-30524	67	22	queue	queue	NOUN
fcis-30524	67	23	length	length	NOUN
fcis-30524	67	24	of	of	ADP
fcis-30524	67	25	5	5	NUM
fcis-30524	67	26	.	.	PUNCT
fcis-30524	67	27	each	each	DET
fcis-30524	67	28	time	time	NOUN
fcis-30524	67	29	the	the	DET
fcis-30524	67	30	external	external	ADJ
fcis-30524	67	31	output	output	NOUN
fcis-30524	67	32	is	be	AUX
fcis-30524	67	33	made	make	VERB
fcis-30524	67	34	,	,	PUNCT
fcis-30524	67	35	the	the	DET
fcis-30524	67	36	two	two	NUM
fcis-30524	67	37	most	most	ADV
fcis-30524	67	38	recent	recent	ADJ
fcis-30524	67	39	historical	historical	ADJ
fcis-30524	67	40	smpl	smpl	NOUN
fcis-30524	67	41	messages	message	NOUN
fcis-30524	67	42	150	150	NUM
fcis-30524	67	43	milliseconds	millisecond	NOUN
fcis-30524	67	44	away	away	ADV
fcis-30524	67	45	from	from	ADP
fcis-30524	67	46	the	the	DET
fcis-30524	67	47	current	current	ADJ
fcis-30524	67	48	timestamp	timestamp	NOUN
fcis-30524	67	49	are	be	AUX
fcis-30524	67	50	selected	select	VERB
fcis-30524	67	51	according	accord	VERB
fcis-30524	67	52	to	to	ADP
fcis-30524	67	53	the	the	DET
fcis-30524	67	54	timestamps	timestamp	NOUN
fcis-30524	67	55	of	of	ADP
fcis-30524	67	56	the	the	DET
fcis-30524	67	57	messages	message	NOUN
fcis-30524	67	58	in	in	ADP
fcis-30524	67	59	the	the	DET
fcis-30524	67	60	queue	queue	NOUN
fcis-30524	67	61	,	,	PUNCT
fcis-30524	67	62	and	and	CCONJ
fcis-30524	67	63	then	then	ADV
fcis-30524	67	64	the	the	DET
fcis-30524	67	65	slerp	slerp	ADJ
fcis-30524	67	66	spherical	spherical	ADJ
fcis-30524	67	67	interpolation	interpolation	NOUN
fcis-30524	67	68	algorithm	algorithm	NOUN
fcis-30524	67	69	is	be	AUX
fcis-30524	67	70	used	use	VERB
fcis-30524	67	71	to	to	PART
fcis-30524	67	72	fuse	fuse	VERB
fcis-30524	67	73	these	these	DET
fcis-30524	67	74	two	two	NUM
fcis-30524	67	75	smpl	smpl	NOUN
fcis-30524	67	76	messages	message	NOUN
fcis-30524	67	77	to	to	PART
fcis-30524	67	78	calculate	calculate	VERB
fcis-30524	67	79	the	the	DET
fcis-30524	67	80	updated	update	VERB
fcis-30524	67	81	smpl	smpl	NOUN
fcis-30524	67	82	interpolation	interpolation	NOUN
fcis-30524	67	83	result	result	NOUN
fcis-30524	67	84	and	and	CCONJ
fcis-30524	67	85	output	output	VERB
fcis-30524	67	86	it	it	PRON
fcis-30524	67	87	.	.	PUNCT
fcis-30524	68	1	this	this	DET
fcis-30524	68	2	method	method	NOUN
fcis-30524	68	3	effectively	effectively	ADV
fcis-30524	68	4	ensures	ensure	VERB
fcis-30524	68	5	that	that	SCONJ
fcis-30524	68	6	the	the	DET
fcis-30524	68	7	output	output	NOUN
fcis-30524	68	8	frequency	frequency	NOUN
fcis-30524	68	9	is	be	AUX
fcis-30524	68	10	stabilized	stabilize	VERB
fcis-30524	68	11	at	at	ADP
fcis-30524	68	12	50	50	NUM
fcis-30524	68	13	hz	hz	VERB
fcis-30524	68	14	to	to	PART
fcis-30524	68	15	meet	meet	VERB
fcis-30524	68	16	the	the	DET
fcis-30524	68	17	requirements	requirement	NOUN
fcis-30524	68	18	of	of	ADP
fcis-30524	68	19	the	the	DET
fcis-30524	68	20	robot	robot	NOUN
fcis-30524	68	21	control	control	NOUN
fcis-30524	68	22	system	system	NOUN
fcis-30524	68	23	by	by	ADP
fcis-30524	68	24	forcing	force	VERB
fcis-30524	68	25	the	the	DET
fcis-30524	68	26	wham	wham	PROPN
fcis-30524	68	27	system	system	NOUN
fcis-30524	68	28	to	to	PART
fcis-30524	68	29	set	set	VERB
fcis-30524	68	30	the	the	DET
fcis-30524	68	31	output	output	NOUN
fcis-30524	68	32	delay	delay	NOUN
fcis-30524	68	33	to	to	ADP
fcis-30524	68	34	150	150	NUM
fcis-30524	68	35	ms	ms	PROPN
fcis-30524	68	36	.	.	PROPN
fcis-30524	68	37	fig	fig	PROPN
fcis-30524	68	38	7	7	NUM
fcis-30524	68	39	.	.	PUNCT
fcis-30524	68	40	smpl	smpl	NOUN
fcis-30524	68	41	interpolation	interpolation	NOUN
fcis-30524	68	42	moment	moment	NOUN
fcis-30524	68	43	selection	selection	NOUN
fcis-30524	68	44	87	87	NUM
fcis-30524	68	45	the	the	DET
fcis-30524	68	46	slerp	slerp	ADJ
fcis-30524	68	47	(	(	PUNCT
fcis-30524	68	48	spherical	spherical	ADJ
fcis-30524	68	49	linear	linear	NOUN
fcis-30524	68	50	interpolation	interpolation	NOUN
fcis-30524	68	51	)	)	PUNCT
fcis-30524	68	52	algorithm	algorithm	NOUN
fcis-30524	68	53	used	use	VERB
fcis-30524	68	54	in	in	ADP
fcis-30524	68	55	this	this	DET
fcis-30524	68	56	study	study	NOUN
fcis-30524	68	57	can	can	AUX
fcis-30524	68	58	be	be	AUX
fcis-30524	68	59	expressed	express	VERB
fcis-30524	68	60	as	as	ADP
fcis-30524	68	61	:	:	PUNCT
fcis-30524	68	62	slerp	slerp	ADJ
fcis-30524	68	63	q	q	NOUN
fcis-30524	68	64	,	,	PUNCT
fcis-30524	68	65	q	q	X
fcis-30524	68	66	,	,	PUNCT
fcis-30524	68	67	l	l	NOUN
fcis-30524	68	68	sin	sin	NOUN
fcis-30524	68	69	1	1	NUM
fcis-30524	68	70	m	m	NOUN
fcis-30524	68	71	θ	θ	NOUN
fcis-30524	68	72	sin	sin	NOUN
fcis-30524	68	73	θ	θ	NOUN
fcis-30524	68	74	∙	∙	PROPN
fcis-30524	68	75	q	q	PUNCT
fcis-30524	68	76	sinmθ	sinmθ	PROPN
fcis-30524	68	77	sin	sin	NOUN
fcis-30524	68	78	θ	θ	PROPN
fcis-30524	68	79	∙	∙	PUNCT
fcis-30524	68	80	q	q	PROPN
fcis-30524	69	1	1	1	NUM
fcis-30524	69	2	where	where	SCONJ
fcis-30524	70	1	and	and	CCONJ
fcis-30524	70	2	denote	denote	VERB
fcis-30524	70	3	the	the	DET
fcis-30524	70	4	quaternion	quaternion	NOUN
fcis-30524	70	5	representation	representation	NOUN
fcis-30524	70	6	of	of	ADP
fcis-30524	70	7	the	the	DET
fcis-30524	70	8	two	two	NUM
fcis-30524	70	9	key	key	ADJ
fcis-30524	70	10	smpl	smpl	NOUN
fcis-30524	70	11	pose	pose	VERB
fcis-30524	70	12	data	datum	NOUN
fcis-30524	70	13	,	,	PUNCT
fcis-30524	70	14	respectively	respectively	ADV
fcis-30524	70	15	,	,	PUNCT
fcis-30524	70	16	is	be	AUX
fcis-30524	70	17	the	the	DET
fcis-30524	70	18	angle	angle	NOUN
fcis-30524	70	19	between	between	ADP
fcis-30524	70	20	the	the	DET
fcis-30524	70	21	two	two	NUM
fcis-30524	70	22	quaternions	quaternion	NOUN
fcis-30524	70	23	,	,	PUNCT
fcis-30524	70	24	and	and	CCONJ
fcis-30524	70	25	is	be	AUX
fcis-30524	70	26	the	the	DET
fcis-30524	70	27	interpolation	interpolation	NOUN
fcis-30524	70	28	parameter	parameter	NOUN
fcis-30524	70	29	(	(	PUNCT
fcis-30524	70	30	value	value	NOUN
fcis-30524	70	31	range	range	NOUN
fcis-30524	70	32	[	[	X
fcis-30524	70	33	0,1	0,1	NUM
fcis-30524	70	34	]	]	PUNCT
fcis-30524	70	35	)	)	PUNCT
fcis-30524	70	36	,	,	PUNCT
fcis-30524	70	37	which	which	PRON
fcis-30524	70	38	represents	represent	VERB
fcis-30524	70	39	the	the	DET
fcis-30524	70	40	relative	relative	ADJ
fcis-30524	70	41	position	position	NOUN
fcis-30524	70	42	of	of	ADP
fcis-30524	70	43	the	the	DET
fcis-30524	70	44	current	current	ADJ
fcis-30524	70	45	time	time	NOUN
fcis-30524	70	46	point	point	NOUN
fcis-30524	70	47	between	between	ADP
fcis-30524	70	48	the	the	DET
fcis-30524	70	49	two	two	NUM
fcis-30524	70	50	key	key	ADJ
fcis-30524	70	51	frames	frame	NOUN
fcis-30524	70	52	.	.	PUNCT
fcis-30524	71	1	3.3.2	3.3.2	NUM
fcis-30524	71	2	.	.	X
fcis-30524	71	3	finger	finger	NOUN
fcis-30524	71	4	movement	movement	NOUN
fcis-30524	71	5	retargeting	retargete	VERB
fcis-30524	71	6	based	base	VERB
fcis-30524	71	7	on	on	ADP
fcis-30524	71	8	ar	ar	NOUN
fcis-30524	71	9	devices	device	NOUN
fcis-30524	71	10	in	in	ADP
fcis-30524	71	11	this	this	DET
fcis-30524	71	12	paper	paper	NOUN
fcis-30524	71	13	,	,	PUNCT
fcis-30524	71	14	meta	meta	ADJ
fcis-30524	71	15	quest	quest	NOUN
fcis-30524	71	16	3	3	NUM
fcis-30524	71	17	-	-	PUNCT
fcis-30524	71	18	based	base	VERB
fcis-30524	71	19	arkit	arkit	NOUN
fcis-30524	71	20	hand	hand	NOUN
fcis-30524	71	21	tracking	tracking	NOUN
fcis-30524	71	22	technology	technology	NOUN
fcis-30524	71	23	is	be	AUX
fcis-30524	71	24	used	use	VERB
fcis-30524	71	25	to	to	PART
fcis-30524	71	26	capture	capture	VERB
fcis-30524	71	27	the	the	DET
fcis-30524	71	28	movements	movement	NOUN
fcis-30524	71	29	of	of	ADP
fcis-30524	71	30	the	the	DET
fcis-30524	71	31	operator	operator	NOUN
fcis-30524	71	32	's	's	PART
fcis-30524	71	33	fingers	finger	NOUN
fcis-30524	71	34	in	in	ADP
fcis-30524	71	35	real	real	ADJ
fcis-30524	71	36	-	-	PUNCT
fcis-30524	71	37	time	time	NOUN
fcis-30524	71	38	,	,	PUNCT
fcis-30524	71	39	and	and	CCONJ
fcis-30524	71	40	combined	combine	VERB
fcis-30524	71	41	with	with	ADP
fcis-30524	71	42	vuer	vuer	NOUN
fcis-30524	71	43	and	and	CCONJ
fcis-30524	71	44	webxr	webxr	PROPN
fcis-30524	71	45	technologies	technology	NOUN
fcis-30524	71	46	to	to	PART
fcis-30524	71	47	achieve	achieve	VERB
fcis-30524	71	48	efficient	efficient	ADJ
fcis-30524	71	49	processing	processing	NOUN
fcis-30524	71	50	and	and	CCONJ
fcis-30524	71	51	visualization	visualization	NOUN
fcis-30524	71	52	of	of	ADP
fcis-30524	71	53	the	the	DET
fcis-30524	71	54	data	datum	NOUN
fcis-30524	71	55	.	.	PUNCT
fcis-30524	72	1	the	the	DET
fcis-30524	72	2	system	system	NOUN
fcis-30524	72	3	transmits	transmit	VERB
fcis-30524	72	4	the	the	DET
fcis-30524	72	5	wrist	wrist	NOUN
fcis-30524	72	6	position	position	NOUN
fcis-30524	72	7	data	datum	NOUN
fcis-30524	72	8	to	to	ADP
fcis-30524	72	9	the	the	DET
fcis-30524	72	10	upper	upper	ADJ
fcis-30524	72	11	limb	limb	NOUN
fcis-30524	72	12	retargeting	retargete	VERB
fcis-30524	72	13	algorithm	algorithm	NOUN
fcis-30524	72	14	through	through	ADP
fcis-30524	72	15	a	a	DET
fcis-30524	72	16	bi	bi	ADJ
fcis-30524	72	17	-	-	ADJ
fcis-30524	72	18	directional	directional	ADJ
fcis-30524	72	19	mechanism	mechanism	NOUN
fcis-30524	72	20	and	and	CCONJ
fcis-30524	72	21	accurately	accurately	ADV
fcis-30524	72	22	maps	map	VERB
fcis-30524	72	23	the	the	DET
fcis-30524	72	24	finger	finger	NOUN
fcis-30524	72	25	movements	movement	NOUN
fcis-30524	72	26	to	to	ADP
fcis-30524	72	27	the	the	DET
fcis-30524	72	28	robot	robot	NOUN
fcis-30524	72	29	through	through	ADP
fcis-30524	72	30	the	the	DET
fcis-30524	72	31	dex_retargeting	dex_retargeting	NOUN
fcis-30524	72	32	algorithm	algorithm	NOUN
fcis-30524	72	33	to	to	PART
fcis-30524	72	34	ensure	ensure	VERB
fcis-30524	72	35	natural	natural	ADJ
fcis-30524	72	36	and	and	CCONJ
fcis-30524	72	37	precise	precise	ADJ
fcis-30524	72	38	operation	operation	NOUN
fcis-30524	72	39	.	.	PUNCT
fcis-30524	73	1	at	at	ADP
fcis-30524	73	2	the	the	DET
fcis-30524	73	3	same	same	ADJ
fcis-30524	73	4	time	time	NOUN
fcis-30524	73	5	,	,	PUNCT
fcis-30524	73	6	the	the	DET
fcis-30524	73	7	system	system	NOUN
fcis-30524	73	8	installs	install	VERB
fcis-30524	73	9	a	a	DET
fcis-30524	73	10	high	high	ADJ
fcis-30524	73	11	-	-	PUNCT
fcis-30524	73	12	resolution	resolution	NOUN
fcis-30524	73	13	binocular	binocular	ADJ
fcis-30524	73	14	camera	camera	NOUN
fcis-30524	73	15	on	on	ADP
fcis-30524	73	16	the	the	DET
fcis-30524	73	17	robot	robot	NOUN
fcis-30524	73	18	's	's	PART
fcis-30524	73	19	head	head	NOUN
fcis-30524	73	20	,	,	PUNCT
fcis-30524	73	21	which	which	PRON
fcis-30524	73	22	transmits	transmit	VERB
fcis-30524	73	23	stereoscopic	stereoscopic	ADJ
fcis-30524	73	24	images	image	NOUN
fcis-30524	73	25	back	back	ADV
fcis-30524	73	26	to	to	ADP
fcis-30524	73	27	the	the	DET
fcis-30524	73	28	operator	operator	NOUN
fcis-30524	73	29	's	's	PART
fcis-30524	73	30	ar	ar	NOUN
fcis-30524	73	31	device	device	NOUN
fcis-30524	73	32	in	in	ADP
fcis-30524	73	33	real	real	ADJ
fcis-30524	73	34	time	time	NOUN
fcis-30524	73	35	to	to	PART
fcis-30524	73	36	enhance	enhance	VERB
fcis-30524	73	37	immersion	immersion	NOUN
fcis-30524	73	38	and	and	CCONJ
fcis-30524	73	39	operation	operation	NOUN
fcis-30524	73	40	precision	precision	NOUN
fcis-30524	73	41	.	.	PUNCT
fcis-30524	74	1	through	through	ADP
fcis-30524	74	2	the	the	DET
fcis-30524	74	3	integration	integration	NOUN
fcis-30524	74	4	of	of	ADP
fcis-30524	74	5	meta	meta	ADJ
fcis-30524	74	6	quest	quest	NOUN
fcis-30524	74	7	3	3	NUM
fcis-30524	74	8	,	,	PUNCT
fcis-30524	74	9	vuer	vuer	NOUN
fcis-30524	74	10	,	,	PUNCT
fcis-30524	74	11	webxr	webxr	NOUN
fcis-30524	74	12	and	and	CCONJ
fcis-30524	74	13	dex_retargeting	dex_retargeting	PROPN
fcis-30524	74	14	,	,	PUNCT
fcis-30524	74	15	a	a	DET
fcis-30524	74	16	complete	complete	ADJ
fcis-30524	74	17	closed	close	VERB
fcis-30524	74	18	-	-	PUNCT
fcis-30524	74	19	loop	loop	NOUN
fcis-30524	74	20	control	control	NOUN
fcis-30524	74	21	system	system	NOUN
fcis-30524	74	22	is	be	AUX
fcis-30524	74	23	constructed	construct	VERB
fcis-30524	74	24	,	,	PUNCT
fcis-30524	74	25	which	which	PRON
fcis-30524	74	26	significantly	significantly	ADV
fcis-30524	74	27	improves	improve	VERB
fcis-30524	74	28	the	the	DET
fcis-30524	74	29	precision	precision	NOUN
fcis-30524	74	30	and	and	CCONJ
fcis-30524	74	31	efficiency	efficiency	NOUN
fcis-30524	74	32	of	of	ADP
fcis-30524	74	33	the	the	DET
fcis-30524	74	34	robot	robot	NOUN
fcis-30524	74	35	's	's	PART
fcis-30524	74	36	dexterous	dexterous	ADJ
fcis-30524	74	37	operation	operation	NOUN
fcis-30524	74	38	.	.	PUNCT
fcis-30524	75	1	4	4	X
fcis-30524	75	2	.	.	X
fcis-30524	75	3	experimental	experimental	ADJ
fcis-30524	75	4	results	result	NOUN
fcis-30524	75	5	and	and	CCONJ
fcis-30524	75	6	validation	validation	NOUN
fcis-30524	75	7	4.1	4.1	NUM
fcis-30524	75	8	.	.	PUNCT
fcis-30524	76	1	experimental	experimental	ADJ
fcis-30524	76	2	setup	setup	NOUN
fcis-30524	76	3	the	the	DET
fcis-30524	76	4	experimental	experimental	ADJ
fcis-30524	76	5	equipment	equipment	NOUN
fcis-30524	76	6	used	use	VERB
fcis-30524	76	7	in	in	ADP
fcis-30524	76	8	this	this	DET
fcis-30524	76	9	paper	paper	NOUN
fcis-30524	76	10	is	be	AUX
fcis-30524	76	11	a	a	DET
fcis-30524	76	12	host	host	NOUN
fcis-30524	76	13	computer	computer	NOUN
fcis-30524	76	14	equipped	equip	VERB
fcis-30524	76	15	with	with	ADP
fcis-30524	76	16	intel	intel	PROPN
fcis-30524	76	17	i9	i9	ADV
fcis-30524	76	18	-	-	PUNCT
fcis-30524	76	19	13900	13900	NUM
fcis-30524	76	20	cpu	cpu	NOUN
fcis-30524	76	21	,	,	PUNCT
fcis-30524	76	22	nvidia	nvidia	PROPN
fcis-30524	76	23	rtx3090ti	rtx3090ti	NOUN
fcis-30524	76	24	and	and	CCONJ
fcis-30524	76	25	128	128	NUM
fcis-30524	76	26	g	g	NOUN
fcis-30524	76	27	ram	ram	NOUN
fcis-30524	76	28	.	.	PUNCT
fcis-30524	77	1	the	the	DET
fcis-30524	77	2	monocular	monocular	ADJ
fcis-30524	77	3	camera	camera	NOUN
fcis-30524	77	4	used	use	VERB
fcis-30524	77	5	for	for	ADP
fcis-30524	77	6	motion	motion	NOUN
fcis-30524	77	7	capture	capture	NOUN
fcis-30524	77	8	is	be	AUX
fcis-30524	77	9	the	the	DET
fcis-30524	77	10	greenlink	greenlink	NOUN
fcis-30524	77	11	cm678	cm678	PROPN
fcis-30524	77	12	camera	camera	NOUN
fcis-30524	77	13	,	,	PUNCT
fcis-30524	77	14	and	and	CCONJ
fcis-30524	77	15	the	the	DET
fcis-30524	77	16	ar	ar	NOUN
fcis-30524	77	17	device	device	NOUN
fcis-30524	77	18	used	use	VERB
fcis-30524	77	19	is	be	AUX
fcis-30524	77	20	meta	meta	ADJ
fcis-30524	77	21	quest3	quest3	NOUN
fcis-30524	77	22	,	,	PUNCT
fcis-30524	77	23	and	and	CCONJ
fcis-30524	77	24	the	the	DET
fcis-30524	77	25	python	python	NOUN
fcis-30524	77	26	used	use	VERB
fcis-30524	77	27	in	in	ADP
fcis-30524	77	28	this	this	DET
fcis-30524	77	29	paper	paper	NOUN
fcis-30524	77	30	is	be	AUX
fcis-30524	77	31	3.8	3.8	NUM
fcis-30524	77	32	,	,	PUNCT
fcis-30524	77	33	the	the	DET
fcis-30524	77	34	pinocchio	pinocchio	PROPN
fcis-30524	77	35	version	version	NOUN
fcis-30524	77	36	is	be	AUX
fcis-30524	77	37	3.1.0	3.1.0	NUM
fcis-30524	77	38	,	,	PUNCT
fcis-30524	77	39	and	and	CCONJ
fcis-30524	77	40	the	the	DET
fcis-30524	77	41	simulation	simulation	NOUN
fcis-30524	77	42	environment	environment	NOUN
fcis-30524	77	43	is	be	AUX
fcis-30524	77	44	isaac	isaac	PROPN
fcis-30524	77	45	gym	gym	PROPN
fcis-30524	77	46	.	.	PUNCT
fcis-30524	78	1	4.2	4.2	NUM
fcis-30524	78	2	.	.	PUNCT
fcis-30524	79	1	algorithm	algorithm	NOUN
fcis-30524	79	2	accuracy	accuracy	NOUN
fcis-30524	79	3	analysis	analysis	NOUN
fcis-30524	79	4	this	this	DET
fcis-30524	79	5	paper	paper	NOUN
fcis-30524	79	6	first	first	ADV
fcis-30524	79	7	analyzes	analyze	VERB
fcis-30524	79	8	the	the	DET
fcis-30524	79	9	algorithm	algorithm	NOUN
fcis-30524	79	10	accuracy	accuracy	NOUN
fcis-30524	79	11	.	.	PUNCT
fcis-30524	80	1	in	in	ADP
fcis-30524	80	2	this	this	DET
fcis-30524	80	3	paper	paper	NOUN
fcis-30524	80	4	,	,	PUNCT
fcis-30524	80	5	the	the	DET
fcis-30524	80	6	amass	amass	NOUN
fcis-30524	80	7	dataset	dataset	NOUN
fcis-30524	80	8	is	be	AUX
fcis-30524	80	9	used	use	VERB
fcis-30524	80	10	as	as	ADP
fcis-30524	80	11	the	the	DET
fcis-30524	80	12	experimental	experimental	ADJ
fcis-30524	80	13	data	datum	NOUN
fcis-30524	80	14	,	,	PUNCT
fcis-30524	80	15	from	from	ADP
fcis-30524	80	16	which	which	PRON
fcis-30524	80	17	a	a	DET
fcis-30524	80	18	total	total	NOUN
fcis-30524	80	19	of	of	ADP
fcis-30524	80	20	8145	8145	NUM
fcis-30524	80	21	trajectories	trajectory	NOUN
fcis-30524	80	22	are	be	AUX
fcis-30524	80	23	selected	select	VERB
fcis-30524	80	24	from	from	ADP
fcis-30524	80	25	the	the	DET
fcis-30524	80	26	sub	sub	NOUN
fcis-30524	80	27	-	-	NOUN
fcis-30524	80	28	datasets	dataset	NOUN
fcis-30524	80	29	of	of	ADP
fcis-30524	80	30	accad	accad	NOUN
fcis-30524	80	31	,	,	PUNCT
fcis-30524	80	32	cmu	cmu	ADV
fcis-30524	80	33	,	,	PUNCT
fcis-30524	80	34	janpaneseeye	janpaneseeye	NOUN
fcis-30524	80	35	,	,	PUNCT
fcis-30524	80	36	and	and	CCONJ
fcis-30524	80	37	kit	kit	NOUN
fcis-30524	80	38	.	.	PUNCT
fcis-30524	81	1	the	the	DET
fcis-30524	81	2	evaluation	evaluation	NOUN
fcis-30524	81	3	metrics	metric	NOUN
fcis-30524	81	4	used	use	VERB
fcis-30524	81	5	in	in	ADP
fcis-30524	81	6	this	this	DET
fcis-30524	81	7	paper	paper	NOUN
fcis-30524	81	8	for	for	ADP
fcis-30524	81	9	accuracy	accuracy	NOUN
fcis-30524	81	10	are	be	AUX
fcis-30524	81	11	(	(	PUNCT
fcis-30524	81	12	mean	mean	ADV
fcis-30524	81	13	per	per	ADP
fcis-30524	81	14	joint	joint	ADJ
fcis-30524	81	15	position	position	NOUN
fcis-30524	81	16	error	error	NOUN
fcis-30524	81	17	)	)	PUNCT
fcis-30524	81	18	,	,	PUNCT
fcis-30524	81	19	which	which	PRON
fcis-30524	81	20	is	be	AUX
fcis-30524	81	21	the	the	DET
fcis-30524	81	22	average	average	ADJ
fcis-30524	81	23	distance	distance	NOUN
fcis-30524	81	24	error	error	NOUN
fcis-30524	81	25	between	between	ADP
fcis-30524	81	26	the	the	DET
fcis-30524	81	27	whole	whole	ADJ
fcis-30524	81	28	body	body	NOUN
fcis-30524	81	29	of	of	ADP
fcis-30524	81	30	the	the	DET
fcis-30524	81	31	robot	robot	NOUN
fcis-30524	81	32	and	and	CCONJ
fcis-30524	81	33	the	the	DET
fcis-30524	81	34	corresponding	corresponding	ADJ
fcis-30524	81	35	node	node	NOUN
fcis-30524	81	36	of	of	ADP
fcis-30524	81	37	the	the	DET
fcis-30524	81	38	skeleton	skeleton	NOUN
fcis-30524	81	39	tree	tree	NOUN
fcis-30524	81	40	,	,	PUNCT
fcis-30524	81	41	and	and	CCONJ
fcis-30524	81	42	this	this	DET
fcis-30524	81	43	item	item	NOUN
fcis-30524	81	44	can	can	AUX
fcis-30524	81	45	be	be	AUX
fcis-30524	81	46	used	use	VERB
fcis-30524	81	47	to	to	PART
fcis-30524	81	48	evaluate	evaluate	VERB
fcis-30524	81	49	the	the	DET
fcis-30524	81	50	ability	ability	NOUN
fcis-30524	81	51	of	of	ADP
fcis-30524	81	52	the	the	DET
fcis-30524	81	53	redirection	redirection	NOUN
fcis-30524	81	54	algorithm	algorithm	NOUN
fcis-30524	81	55	in	in	ADP
fcis-30524	81	56	tracking	track	VERB
fcis-30524	81	57	the	the	DET
fcis-30524	81	58	position	position	NOUN
fcis-30524	81	59	of	of	ADP
fcis-30524	81	60	the	the	DET
fcis-30524	81	61	joints	joint	NOUN
fcis-30524	81	62	in	in	ADP
fcis-30524	81	63	millimeters	millimeter	NOUN
fcis-30524	81	64	.	.	PUNCT
fcis-30524	82	1	in	in	ADP
fcis-30524	82	2	addition	addition	NOUN
fcis-30524	82	3	,	,	PUNCT
fcis-30524	82	4	(	(	PUNCT
fcis-30524	82	5	mean	mean	ADV
fcis-30524	82	6	per	per	ADP
fcis-30524	82	7	end	end	NOUN
fcis-30524	82	8	-	-	PUNCT
fcis-30524	82	9	effector	effector	NOUN
fcis-30524	82	10	rotation	rotation	NOUN
fcis-30524	82	11	error	error	NOUN
fcis-30524	82	12	)	)	PUNCT
fcis-30524	82	13	is	be	AUX
fcis-30524	82	14	designed	design	VERB
fcis-30524	82	15	to	to	PART
fcis-30524	82	16	track	track	VERB
fcis-30524	82	17	the	the	DET
fcis-30524	82	18	ability	ability	NOUN
fcis-30524	82	19	of	of	ADP
fcis-30524	82	20	the	the	DET
fcis-30524	82	21	reorientation	reorientation	NOUN
fcis-30524	82	22	algorithm	algorithm	NOUN
fcis-30524	82	23	to	to	PART
fcis-30524	82	24	track	track	VERB
fcis-30524	82	25	the	the	DET
fcis-30524	82	26	rotational	rotational	ADJ
fcis-30524	82	27	pose	pose	NOUN
fcis-30524	82	28	of	of	ADP
fcis-30524	82	29	the	the	DET
fcis-30524	82	30	robot	robot	NOUN
fcis-30524	82	31	's	's	PART
fcis-30524	82	32	end	end	NOUN
fcis-30524	82	33	-	-	PUNCT
fcis-30524	82	34	effector	effector	NOUN
fcis-30524	82	35	(	(	PUNCT
fcis-30524	82	36	i.e.	i.e.	X
fcis-30524	82	37	,	,	PUNCT
fcis-30524	82	38	the	the	DET
fcis-30524	82	39	end	end	NOUN
fcis-30524	82	40	of	of	ADP
fcis-30524	82	41	the	the	DET
fcis-30524	82	42	limbs	limb	NOUN
fcis-30524	82	43	)	)	PUNCT
fcis-30524	82	44	joints	joint	NOUN
fcis-30524	82	45	.	.	PUNCT
fcis-30524	83	1	the	the	DET
fcis-30524	83	2	term	term	NOUN
fcis-30524	83	3	uses	use	VERB
fcis-30524	83	4	the	the	DET
fcis-30524	83	5	angular	angular	ADJ
fcis-30524	83	6	value	value	NOUN
fcis-30524	83	7	of	of	ADP
fcis-30524	83	8	the	the	DET
fcis-30524	83	9	axis	axis	ADJ
fcis-30524	83	10	angle	angle	NOUN
fcis-30524	83	11	of	of	ADP
fcis-30524	83	12	the	the	DET
fcis-30524	83	13	pose	pose	NOUN
fcis-30524	83	14	error	error	NOUN
fcis-30524	83	15	in	in	ADP
fcis-30524	83	16	radian	radian	ADJ
fcis-30524	83	17	production	production	NOUN
fcis-30524	83	18	.	.	PUNCT
fcis-30524	83	19	table	table	NOUN
fcis-30524	83	20	3	3	NUM
fcis-30524	83	21	below	below	ADV
fcis-30524	83	22	shows	show	VERB
fcis-30524	83	23	the	the	DET
fcis-30524	83	24	experimental	experimental	ADJ
fcis-30524	83	25	results	result	NOUN
fcis-30524	83	26	of	of	ADP
fcis-30524	83	27	this	this	DET
fcis-30524	83	28	paper	paper	NOUN
fcis-30524	83	29	:	:	PUNCT
fcis-30524	83	30	table	table	NOUN
fcis-30524	83	31	3	3	NUM
fcis-30524	83	32	.	.	X
fcis-30524	83	33	comparison	comparison	NOUN
fcis-30524	83	34	results	result	NOUN
fcis-30524	83	35	of	of	ADP
fcis-30524	83	36	two	two	NUM
fcis-30524	83	37	algorithms	algorithm	NOUN
fcis-30524	83	38	method	method	VERB
fcis-30524	83	39	↓	↓	PROPN
fcis-30524	83	40	_	_	PUNCT
fcis-30524	84	1	↓	↓	PUNCT
fcis-30524	84	2	_	_	PUNCT
fcis-30524	84	3	↓	↓	PROPN
fcis-30524	84	4	↓	↓	PROPN
fcis-30524	84	5	based	base	VERB
fcis-30524	84	6	on	on	ADP
fcis-30524	84	7	endeffector	endeffector	NOUN
fcis-30524	84	8	pose	pose	VERB
fcis-30524	84	9	27.744	27.744	NUM
fcis-30524	84	10	53.322	53.322	NUM
fcis-30524	84	11	2.167	2.167	NUM
fcis-30524	84	12	0.066	0.066	NUM
fcis-30524	84	13	based	base	VERB
fcis-30524	84	14	on	on	ADP
fcis-30524	84	15	skeleton	skeleton	PROPN
fcis-30524	84	16	keypoint	keypoint	NOUN
fcis-30524	84	17	pose	pose	VERB
fcis-30524	84	18	4.507	4.507	NUM
fcis-30524	84	19	5.216	5.216	NUM
fcis-30524	84	20	3.798	3.798	NUM
fcis-30524	84	21	0.094	0.094	NUM
fcis-30524	84	22	from	from	ADP
fcis-30524	84	23	table	table	NOUN
fcis-30524	84	24	3	3	NUM
fcis-30524	84	25	,	,	PUNCT
fcis-30524	84	26	it	it	PRON
fcis-30524	84	27	can	can	AUX
fcis-30524	84	28	be	be	AUX
fcis-30524	84	29	seen	see	VERB
fcis-30524	84	30	that	that	SCONJ
fcis-30524	84	31	the	the	DET
fcis-30524	84	32	skeleton	skeleton	NOUN
fcis-30524	84	33	tree	tree	NOUN
fcis-30524	84	34	key	key	ADJ
fcis-30524	84	35	point	point	NOUN
fcis-30524	84	36	pose	pose	NOUN
fcis-30524	84	37	-	-	PUNCT
fcis-30524	84	38	based	base	VERB
fcis-30524	84	39	method	method	NOUN
fcis-30524	84	40	significantly	significantly	ADV
fcis-30524	84	41	outperforms	outperform	VERB
fcis-30524	84	42	the	the	DET
fcis-30524	84	43	end	end	NOUN
fcis-30524	84	44	-	-	PUNCT
fcis-30524	84	45	effector	effector	NOUN
fcis-30524	84	46	pose	pose	NOUN
fcis-30524	84	47	-	-	PUNCT
fcis-30524	84	48	based	base	VERB
fcis-30524	84	49	method	method	NOUN
fcis-30524	84	50	in	in	ADP
fcis-30524	84	51	terms	term	NOUN
fcis-30524	84	52	of	of	ADP
fcis-30524	84	53	joint	joint	ADJ
fcis-30524	84	54	position	position	NOUN
fcis-30524	84	55	error	error	NOUN
fcis-30524	84	56	.	.	PUNCT
fcis-30524	85	1	specifically	specifically	ADV
fcis-30524	85	2	,	,	PUNCT
fcis-30524	85	3	in	in	ADP
fcis-30524	85	4	the	the	DET
fcis-30524	85	5	upper	upper	ADJ
fcis-30524	85	6	limb	limb	NOUN
fcis-30524	85	7	part	part	NOUN
fcis-30524	85	8	,	,	PUNCT
fcis-30524	85	9	the	the	DET
fcis-30524	85	10	skeleton	skeleton	NOUN
fcis-30524	85	11	tree	tree	NOUN
fcis-30524	85	12	-	-	PUNCT
fcis-30524	85	13	based	base	VERB
fcis-30524	85	14	method	method	NOUN
fcis-30524	85	15	only	only	ADV
fcis-30524	85	16	has	have	VERB
fcis-30524	85	17	an	an	DET
fcis-30524	85	18	average	average	ADJ
fcis-30524	85	19	error	error	NOUN
fcis-30524	85	20	of	of	ADP
fcis-30524	85	21	4.507	4.507	NUM
fcis-30524	85	22	mm	mm	NOUN
fcis-30524	85	23	,	,	PUNCT
fcis-30524	85	24	which	which	PRON
fcis-30524	85	25	is	be	AUX
fcis-30524	85	26	reduced	reduce	VERB
fcis-30524	85	27	by	by	ADP
fcis-30524	85	28	about	about	ADV
fcis-30524	85	29	83.8	83.8	NUM
fcis-30524	85	30	%	%	NOUN
fcis-30524	85	31	compared	compare	VERB
fcis-30524	85	32	to	to	ADP
fcis-30524	85	33	the	the	DET
fcis-30524	85	34	27.744	27.744	NUM
fcis-30524	85	35	mm	mm	NOUN
fcis-30524	85	36	of	of	ADP
fcis-30524	85	37	the	the	DET
fcis-30524	85	38	end	end	NOUN
fcis-30524	85	39	-	-	PUNCT
fcis-30524	85	40	effector	effector	NOUN
fcis-30524	85	41	-	-	PUNCT
fcis-30524	85	42	based	base	VERB
fcis-30524	85	43	method	method	NOUN
fcis-30524	85	44	;	;	PUNCT
fcis-30524	85	45	in	in	ADP
fcis-30524	85	46	the	the	DET
fcis-30524	85	47	elbow	elbow	NOUN
fcis-30524	85	48	joint	joint	PROPN
fcis-30524	85	49	part	part	NOUN
fcis-30524	85	50	,	,	PUNCT
fcis-30524	85	51	the	the	DET
fcis-30524	85	52	error	error	NOUN
fcis-30524	85	53	of	of	ADP
fcis-30524	85	54	the	the	DET
fcis-30524	85	55	skeleton	skeleton	NOUN
fcis-30524	85	56	tree	tree	NOUN
fcis-30524	85	57	-	-	PUNCT
fcis-30524	85	58	based	base	VERB
fcis-30524	85	59	method	method	NOUN
fcis-30524	85	60	is	be	AUX
fcis-30524	85	61	5.216	5.216	NUM
fcis-30524	85	62	mm	mm	NOUN
fcis-30524	85	63	,	,	PUNCT
fcis-30524	85	64	which	which	PRON
fcis-30524	85	65	is	be	AUX
fcis-30524	85	66	reduced	reduce	VERB
fcis-30524	85	67	by	by	ADP
fcis-30524	85	68	about	about	ADV
fcis-30524	85	69	90.2	90.2	NUM
fcis-30524	85	70	%	%	NOUN
fcis-30524	85	71	compared	compare	VERB
fcis-30524	85	72	to	to	ADP
fcis-30524	85	73	the	the	DET
fcis-30524	85	74	53.322	53.322	NUM
fcis-30524	85	75	mm	mm	NOUN
fcis-30524	85	76	of	of	ADP
fcis-30524	85	77	the	the	DET
fcis-30524	85	78	end	end	NOUN
fcis-30524	85	79	-	-	PUNCT
fcis-30524	85	80	effector	effector	NOUN
fcis-30524	85	81	-	-	PUNCT
fcis-30524	85	82	based	base	VERB
fcis-30524	85	83	method	method	NOUN
fcis-30524	85	84	.	.	PUNCT
fcis-30524	86	1	this	this	DET
fcis-30524	86	2	result	result	NOUN
fcis-30524	86	3	fully	fully	ADV
fcis-30524	86	4	proves	prove	VERB
fcis-30524	86	5	that	that	SCONJ
fcis-30524	86	6	the	the	DET
fcis-30524	86	7	skeleton	skeleton	NOUN
fcis-30524	86	8	tree	tree	NOUN
fcis-30524	86	9	-	-	PUNCT
fcis-30524	86	10	based	base	VERB
fcis-30524	86	11	reorientation	reorientation	NOUN
fcis-30524	86	12	method	method	NOUN
fcis-30524	86	13	proposed	propose	VERB
fcis-30524	86	14	in	in	ADP
fcis-30524	86	15	this	this	DET
fcis-30524	86	16	paper	paper	NOUN
fcis-30524	86	17	has	have	VERB
fcis-30524	86	18	significant	significant	ADJ
fcis-30524	86	19	advantages	advantage	NOUN
fcis-30524	86	20	in	in	ADP
fcis-30524	86	21	maintaining	maintain	VERB
fcis-30524	86	22	the	the	DET
fcis-30524	86	23	robot	robot	NOUN
fcis-30524	86	24	joint	joint	ADJ
fcis-30524	86	25	position	position	NOUN
fcis-30524	86	26	accuracy	accuracy	NOUN
fcis-30524	86	27	.	.	PUNCT
fcis-30524	87	1	4.3	4.3	NUM
fcis-30524	87	2	.	.	PUNCT
fcis-30524	87	3	single	single	ADJ
fcis-30524	87	4	ar	ar	PROPN
fcis-30524	87	5	device	device	NOUN
fcis-30524	87	6	teleoperation	teleoperation	NOUN
fcis-30524	87	7	mode	mode	NOUN
fcis-30524	87	8	in	in	ADP
fcis-30524	87	9	order	order	NOUN
fcis-30524	87	10	to	to	PART
fcis-30524	87	11	better	well	ADV
fcis-30524	87	12	demonstrate	demonstrate	VERB
fcis-30524	87	13	the	the	DET
fcis-30524	87	14	effect	effect	NOUN
fcis-30524	87	15	of	of	ADP
fcis-30524	87	16	single	single	ADJ
fcis-30524	87	17	ar	ar	NOUN
fcis-30524	87	18	device	device	NOUN
fcis-30524	87	19	teleoperation	teleoperation	NOUN
fcis-30524	87	20	mode	mode	NOUN
fcis-30524	87	21	,	,	PUNCT
fcis-30524	87	22	figures	figure	VERB
fcis-30524	87	23	8	8	NUM
fcis-30524	87	24	to	to	PART
fcis-30524	87	25	10	10	NUM
fcis-30524	87	26	show	show	VERB
fcis-30524	87	27	the	the	DET
fcis-30524	87	28	finger	finger	NOUN
fcis-30524	87	29	pose	pose	VERB
fcis-30524	87	30	replication	replication	NOUN
fcis-30524	87	31	,	,	PUNCT
fcis-30524	87	32	dexterous	dexterous	ADJ
fcis-30524	87	33	grasping	grasp	VERB
fcis-30524	87	34	operation	operation	NOUN
fcis-30524	87	35	,	,	PUNCT
fcis-30524	87	36	and	and	CCONJ
fcis-30524	87	37	elbow	elbow	NOUN
fcis-30524	87	38	-	-	PUNCT
fcis-30524	87	39	wrist	wrist	NOUN
fcis-30524	87	40	mismatch	mismatch	NOUN
fcis-30524	87	41	with	with	ADP
fcis-30524	87	42	the	the	DET
fcis-30524	87	43	realistic	realistic	ADJ
fcis-30524	87	44	pose	pose	NOUN
fcis-30524	87	45	.	.	PUNCT
fcis-30524	88	1	fig	fig	NOUN
fcis-30524	88	2	8	8	NUM
fcis-30524	88	3	.	.	PUNCT
fcis-30524	89	1	finger	finger	NOUN
fcis-30524	89	2	gesture	gesture	NOUN
fcis-30524	89	3	replication	replication	NOUN
fcis-30524	89	4	fig	fig	NOUN
fcis-30524	89	5	9	9	NUM
fcis-30524	89	6	.	.	PUNCT
fcis-30524	89	7	dexterous	dexterous	ADJ
fcis-30524	89	8	grasping	grasp	VERB
fcis-30524	89	9	1	1	NUM
fcis-30524	89	10	fig	fig	NOUN
fcis-30524	89	11	10	10	NUM
fcis-30524	89	12	.	.	PUNCT
fcis-30524	90	1	elbow	elbow	NOUN
fcis-30524	90	2	-	-	PUNCT
fcis-30524	90	3	wrist	wrist	NOUN
fcis-30524	90	4	mismatch	mismatch	NOUN
fcis-30524	90	5	with	with	ADP
fcis-30524	90	6	realistic	realistic	ADJ
fcis-30524	90	7	pose	pose	VERB
fcis-30524	90	8	4.4	4.4	NUM
fcis-30524	90	9	.	.	PUNCT
fcis-30524	91	1	single	single	ADJ
fcis-30524	91	2	wham	wham	PROPN
fcis-30524	91	3	visual	visual	ADJ
fcis-30524	91	4	capture	capture	NOUN
fcis-30524	91	5	teleoperation	teleoperation	NOUN
fcis-30524	91	6	mode	mode	NOUN
fcis-30524	91	7	to	to	PART
fcis-30524	91	8	demonstrate	demonstrate	VERB
fcis-30524	91	9	the	the	DET
fcis-30524	91	10	application	application	NOUN
fcis-30524	91	11	of	of	ADP
fcis-30524	91	12	the	the	DET
fcis-30524	91	13	single	single	ADJ
fcis-30524	91	14	wham	wham	PROPN
fcis-30524	91	15	visual	visual	ADJ
fcis-30524	91	16	capture	capture	NOUN
fcis-30524	91	17	teleoperation	teleoperation	NOUN
fcis-30524	91	18	mode	mode	NOUN
fcis-30524	91	19	,	,	PUNCT
fcis-30524	91	20	figures	figure	VERB
fcis-30524	91	21	11	11	NUM
fcis-30524	91	22	to	to	PART
fcis-30524	91	23	13	13	NUM
fcis-30524	91	24	show	show	VERB
fcis-30524	91	25	the	the	DET
fcis-30524	91	26	capture	capture	NOUN
fcis-30524	91	27	effects	effect	NOUN
fcis-30524	91	28	of	of	ADP
fcis-30524	91	29	the	the	DET
fcis-30524	91	30	movements	movement	NOUN
fcis-30524	91	31	of	of	ADP
fcis-30524	91	32	the	the	DET
fcis-30524	91	33	upper	upper	ADJ
fcis-30524	91	34	limb	limb	NOUN
fcis-30524	91	35	flat	flat	ADJ
fcis-30524	91	36	extension	extension	NOUN
fcis-30524	91	37	,	,	PUNCT
fcis-30524	91	38	hand	hand	NOUN
fcis-30524	91	39	waving	wave	VERB
fcis-30524	91	40	and	and	CCONJ
fcis-30524	91	41	arm	arm	NOUN
fcis-30524	91	42	bending	bending	NOUN
fcis-30524	91	43	.	.	PUNCT
fcis-30524	92	1	88	88	NUM
fcis-30524	92	2	fig	fig	NOUN
fcis-30524	92	3	11	11	NUM
fcis-30524	92	4	.	.	PUNCT
fcis-30524	93	1	upper	upper	ADJ
fcis-30524	93	2	limb	limb	NOUN
fcis-30524	93	3	extension	extension	NOUN
fcis-30524	93	4	fig	fig	NOUN
fcis-30524	93	5	12	12	NUM
fcis-30524	93	6	.	.	PUNCT
fcis-30524	94	1	hand	hand	NOUN
fcis-30524	94	2	waving	wave	VERB
fcis-30524	94	3	fig	fig	NOUN
fcis-30524	94	4	13	13	NUM
fcis-30524	94	5	.	.	PUNCT
fcis-30524	95	1	bending	bend	VERB
fcis-30524	95	2	arm	arm	NOUN
fcis-30524	95	3	4.5	4.5	NUM
fcis-30524	95	4	.	.	PUNCT
fcis-30524	96	1	wham	wham	INTJ
fcis-30524	96	2	and	and	CCONJ
fcis-30524	96	3	ar	ar	VERB
fcis-30524	96	4	hybrid	hybrid	ADJ
fcis-30524	96	5	teleoperation	teleoperation	NOUN
fcis-30524	96	6	mode	mode	NOUN
fcis-30524	96	7	in	in	ADP
fcis-30524	96	8	order	order	NOUN
fcis-30524	96	9	to	to	PART
fcis-30524	96	10	demonstrate	demonstrate	VERB
fcis-30524	96	11	the	the	DET
fcis-30524	96	12	advantages	advantage	NOUN
fcis-30524	96	13	of	of	ADP
fcis-30524	96	14	the	the	DET
fcis-30524	96	15	wham	wham	NOUN
fcis-30524	96	16	and	and	CCONJ
fcis-30524	96	17	ar	ar	PROPN
fcis-30524	96	18	hybrid	hybrid	ADJ
fcis-30524	96	19	teleoperation	teleoperation	NOUN
fcis-30524	96	20	modes	mode	NOUN
fcis-30524	96	21	,	,	PUNCT
fcis-30524	96	22	fig	fig	NOUN
fcis-30524	96	23	.	.	PUNCT
fcis-30524	97	1	14	14	NUM
fcis-30524	97	2	to	to	PART
fcis-30524	97	3	fig	fig	VERB
fcis-30524	97	4	.	.	PUNCT
fcis-30524	98	1	16	16	NUM
fcis-30524	98	2	show	show	VERB
fcis-30524	98	3	the	the	DET
fcis-30524	98	4	operation	operation	NOUN
fcis-30524	98	5	effects	effect	NOUN
fcis-30524	98	6	of	of	ADP
fcis-30524	98	7	reaching	reach	VERB
fcis-30524	98	8	forward	forward	ADV
fcis-30524	98	9	,	,	PUNCT
fcis-30524	98	10	reaching	reach	VERB
fcis-30524	98	11	and	and	CCONJ
fcis-30524	98	12	grasping	grasp	VERB
fcis-30524	98	13	,	,	PUNCT
fcis-30524	98	14	and	and	CCONJ
fcis-30524	98	15	finger	finger	NOUN
fcis-30524	98	16	gesture	gesture	NOUN
fcis-30524	98	17	replication	replication	NOUN
fcis-30524	98	18	.	.	PUNCT
fcis-30524	99	1	fig	fig	NOUN
fcis-30524	99	2	14	14	NUM
fcis-30524	99	3	.	.	PUNCT
fcis-30524	100	1	reaching	reach	VERB
fcis-30524	100	2	forward	forward	ADV
fcis-30524	100	3	fig	fig	NOUN
fcis-30524	100	4	15	15	NUM
fcis-30524	100	5	.	.	PUNCT
fcis-30524	101	1	reach	reach	VERB
fcis-30524	101	2	and	and	CCONJ
fcis-30524	101	3	grip	grip	VERB
fcis-30524	101	4	fig	fig	NOUN
fcis-30524	101	5	16	16	NUM
fcis-30524	101	6	.	.	PUNCT
fcis-30524	102	1	finger	finger	NOUN
fcis-30524	102	2	gesture	gesture	NOUN
fcis-30524	102	3	replication	replication	NOUN
fcis-30524	102	4	5	5	NUM
fcis-30524	102	5	.	.	PUNCT
fcis-30524	103	1	summary	summary	NOUN
fcis-30524	103	2	in	in	ADP
fcis-30524	103	3	this	this	DET
fcis-30524	103	4	study	study	NOUN
fcis-30524	103	5	,	,	PUNCT
fcis-30524	103	6	a	a	DET
fcis-30524	103	7	visual	visual	ADJ
fcis-30524	103	8	dexterous	dexterous	ADJ
fcis-30524	103	9	teleoperation	teleoperation	NOUN
fcis-30524	103	10	method	method	NOUN
fcis-30524	103	11	for	for	ADP
fcis-30524	103	12	robot	robot	NOUN
fcis-30524	103	13	upper	upper	ADJ
fcis-30524	103	14	limb	limb	NOUN
fcis-30524	103	15	based	base	VERB
fcis-30524	103	16	on	on	ADP
fcis-30524	103	17	human	human	ADJ
fcis-30524	103	18	skeleton	skeleton	NOUN
fcis-30524	103	19	tree	tree	NOUN
fcis-30524	103	20	reorientation	reorientation	NOUN
fcis-30524	103	21	is	be	AUX
fcis-30524	103	22	proposed	propose	VERB
fcis-30524	103	23	.	.	PUNCT
fcis-30524	104	1	aiming	aim	VERB
fcis-30524	104	2	at	at	ADP
fcis-30524	104	3	the	the	DET
fcis-30524	104	4	problem	problem	NOUN
fcis-30524	104	5	that	that	SCONJ
fcis-30524	104	6	the	the	DET
fcis-30524	104	7	existing	exist	VERB
fcis-30524	104	8	visual	visual	ADJ
fcis-30524	104	9	teleoperation	teleoperation	NOUN
fcis-30524	104	10	systems	system	NOUN
fcis-30524	104	11	pay	pay	VERB
fcis-30524	104	12	too	too	ADV
fcis-30524	104	13	much	much	ADJ
fcis-30524	104	14	attention	attention	NOUN
fcis-30524	104	15	to	to	ADP
fcis-30524	104	16	the	the	DET
fcis-30524	104	17	hand	hand	NOUN
fcis-30524	104	18	and	and	CCONJ
fcis-30524	104	19	neglect	neglect	VERB
fcis-30524	104	20	the	the	DET
fcis-30524	104	21	overall	overall	ADJ
fcis-30524	104	22	attitude	attitude	NOUN
fcis-30524	104	23	of	of	ADP
fcis-30524	104	24	the	the	DET
fcis-30524	104	25	upper	upper	ADJ
fcis-30524	104	26	limb	limb	NOUN
fcis-30524	104	27	,	,	PUNCT
fcis-30524	104	28	this	this	DET
fcis-30524	104	29	paper	paper	NOUN
fcis-30524	104	30	constructs	construct	VERB
fcis-30524	104	31	a	a	DET
fcis-30524	104	32	complete	complete	ADJ
fcis-30524	104	33	skeleton	skeleton	NOUN
fcis-30524	104	34	tree	tree	NOUN
fcis-30524	104	35	mapping	mapping	NOUN
fcis-30524	104	36	framework	framework	NOUN
fcis-30524	104	37	,	,	PUNCT
fcis-30524	104	38	which	which	PRON
fcis-30524	104	39	realizes	realize	VERB
fcis-30524	104	40	a	a	DET
fcis-30524	104	41	high	high	ADJ
fcis-30524	104	42	-	-	PUNCT
fcis-30524	104	43	precision	precision	NOUN
fcis-30524	104	44	conversion	conversion	NOUN
fcis-30524	104	45	from	from	ADP
fcis-30524	104	46	the	the	DET
fcis-30524	104	47	human	human	ADJ
fcis-30524	104	48	body	body	NOUN
fcis-30524	104	49	action	action	NOUN
fcis-30524	104	50	to	to	ADP
fcis-30524	104	51	the	the	DET
fcis-30524	104	52	robot	robot	NOUN
fcis-30524	104	53	motion	motion	NOUN
fcis-30524	104	54	.	.	PUNCT
fcis-30524	105	1	the	the	DET
fcis-30524	105	2	study	study	NOUN
fcis-30524	105	3	first	first	ADV
fcis-30524	105	4	establishes	establish	VERB
fcis-30524	105	5	a	a	DET
fcis-30524	105	6	robot	robot	NOUN
fcis-30524	105	7	skeleton	skeleton	NOUN
fcis-30524	105	8	tree	tree	NOUN
fcis-30524	105	9	model	model	NOUN
fcis-30524	105	10	,	,	PUNCT
fcis-30524	105	11	accurately	accurately	ADV
fcis-30524	105	12	locates	locate	VERB
fcis-30524	105	13	the	the	DET
fcis-30524	105	14	joint	joint	ADJ
fcis-30524	105	15	nodes	node	NOUN
fcis-30524	105	16	and	and	CCONJ
fcis-30524	105	17	designs	design	VERB
fcis-30524	105	18	the	the	DET
fcis-30524	105	19	logical	logical	ADJ
fcis-30524	105	20	parent	parent	NOUN
fcis-30524	105	21	-	-	PUNCT
fcis-30524	105	22	child	child	NOUN
fcis-30524	105	23	relationship	relationship	NOUN
fcis-30524	105	24	between	between	ADP
fcis-30524	105	25	the	the	DET
fcis-30524	105	26	nodes	node	NOUN
fcis-30524	105	27	.	.	PUNCT
fcis-30524	106	1	subsequently	subsequently	ADV
fcis-30524	106	2	,	,	PUNCT
fcis-30524	106	3	a	a	DET
fcis-30524	106	4	two	two	NUM
fcis-30524	106	5	-	-	PUNCT
fcis-30524	106	6	stage	stage	NOUN
fcis-30524	106	7	mapping	mapping	NOUN
fcis-30524	106	8	algorithm	algorithm	NOUN
fcis-30524	106	9	is	be	AUX
fcis-30524	106	10	proposed	propose	VERB
fcis-30524	106	11	:	:	PUNCT
fcis-30524	106	12	the	the	DET
fcis-30524	106	13	first	first	ADJ
fcis-30524	106	14	stage	stage	NOUN
fcis-30524	106	15	maps	map	VERB
fcis-30524	106	16	the	the	DET
fcis-30524	106	17	smpl	smpl	NOUN
fcis-30524	106	18	human	human	ADJ
fcis-30524	106	19	model	model	NOUN
fcis-30524	106	20	pose	pose	VERB
fcis-30524	106	21	data	datum	NOUN
fcis-30524	106	22	to	to	ADP
fcis-30524	106	23	the	the	DET
fcis-30524	106	24	robot	robot	NOUN
fcis-30524	106	25	skeleton	skeleton	NOUN
fcis-30524	106	26	tree	tree	NOUN
fcis-30524	106	27	,	,	PUNCT
fcis-30524	106	28	and	and	CCONJ
fcis-30524	106	29	the	the	DET
fcis-30524	106	30	second	second	ADJ
fcis-30524	106	31	stage	stage	NOUN
fcis-30524	106	32	solves	solve	VERB
fcis-30524	106	33	the	the	DET
fcis-30524	106	34	robot	robot	NOUN
fcis-30524	106	35	joint	joint	NOUN
fcis-30524	106	36	angles	angle	NOUN
fcis-30524	106	37	by	by	ADP
fcis-30524	106	38	an	an	DET
fcis-30524	106	39	optimization	optimization	NOUN
fcis-30524	106	40	algorithm	algorithm	NOUN
fcis-30524	106	41	.	.	PUNCT
fcis-30524	107	1	in	in	ADP
fcis-30524	107	2	order	order	NOUN
fcis-30524	107	3	to	to	PART
fcis-30524	107	4	achieve	achieve	VERB
fcis-30524	107	5	the	the	DET
fcis-30524	107	6	real	real	ADJ
fcis-30524	107	7	-	-	PUNCT
fcis-30524	107	8	time	time	NOUN
fcis-30524	107	9	and	and	CCONJ
fcis-30524	107	10	accuracy	accuracy	NOUN
fcis-30524	107	11	of	of	ADP
fcis-30524	107	12	the	the	DET
fcis-30524	107	13	system	system	NOUN
fcis-30524	107	14	,	,	PUNCT
fcis-30524	107	15	two	two	NUM
fcis-30524	107	16	complementary	complementary	ADJ
fcis-30524	107	17	motion	motion	NOUN
fcis-30524	107	18	capture	capture	NOUN
fcis-30524	107	19	methods	method	NOUN
fcis-30524	107	20	are	be	AUX
fcis-30524	107	21	developed	develop	VERB
fcis-30524	107	22	:	:	PUNCT
fcis-30524	107	23	upper	upper	ADJ
fcis-30524	107	24	limb	limb	NOUN
fcis-30524	107	25	motion	motion	NOUN
fcis-30524	107	26	capture	capture	NOUN
fcis-30524	107	27	based	base	VERB
fcis-30524	107	28	on	on	ADP
fcis-30524	107	29	wham	wham	NOUN
fcis-30524	107	30	and	and	CCONJ
fcis-30524	107	31	finger	finger	NOUN
fcis-30524	107	32	motion	motion	NOUN
fcis-30524	107	33	capture	capture	NOUN
fcis-30524	107	34	based	base	VERB
fcis-30524	107	35	on	on	ADP
fcis-30524	107	36	ar	ar	NOUN
fcis-30524	107	37	device	device	NOUN
fcis-30524	107	38	.	.	PUNCT
fcis-30524	108	1	the	the	DET
fcis-30524	108	2	wham	wham	PROPN
fcis-30524	108	3	algorithm	algorithm	PROPN
fcis-30524	108	4	is	be	AUX
fcis-30524	108	5	implemented	implement	VERB
fcis-30524	108	6	by	by	ADP
fcis-30524	108	7	pipelined	pipelined	ADJ
fcis-30524	108	8	design	design	NOUN
fcis-30524	108	9	and	and	CCONJ
fcis-30524	108	10	model	model	NOUN
fcis-30524	108	11	lightweighting	lightweighte	VERB
fcis-30524	108	12	,	,	PUNCT
fcis-30524	108	13	while	while	SCONJ
fcis-30524	108	14	the	the	DET
fcis-30524	108	15	buffer	buffer	NOUN
fcis-30524	108	16	pool	pool	NOUN
fcis-30524	108	17	combined	combine	VERB
fcis-30524	108	18	with	with	ADP
fcis-30524	108	19	spherical	spherical	ADJ
fcis-30524	108	20	interpolation	interpolation	NOUN
fcis-30524	108	21	method	method	NOUN
fcis-30524	108	22	is	be	AUX
fcis-30524	108	23	used	use	VERB
fcis-30524	108	24	to	to	PART
fcis-30524	108	25	ensure	ensure	VERB
fcis-30524	108	26	the	the	DET
fcis-30524	108	27	output	output	NOUN
fcis-30524	108	28	frequency	frequency	NOUN
fcis-30524	108	29	stability	stability	NOUN
fcis-30524	108	30	.	.	PUNCT
fcis-30524	109	1	the	the	DET
fcis-30524	109	2	experimental	experimental	ADJ
fcis-30524	109	3	results	result	NOUN
fcis-30524	109	4	show	show	VERB
fcis-30524	109	5	that	that	SCONJ
fcis-30524	109	6	the	the	DET
fcis-30524	109	7	proposed	propose	VERB
fcis-30524	109	8	hybrid	hybrid	NOUN
fcis-30524	109	9	teleoperation	teleoperation	NOUN
fcis-30524	109	10	model	model	NOUN
fcis-30524	109	11	fully	fully	ADV
fcis-30524	109	12	combines	combine	VERB
fcis-30524	109	13	the	the	DET
fcis-30524	109	14	precise	precise	ADJ
fcis-30524	109	15	capture	capture	NOUN
fcis-30524	109	16	of	of	ADP
fcis-30524	109	17	upper	upper	ADJ
fcis-30524	109	18	limb	limb	NOUN
fcis-30524	109	19	wide	wide	ADJ
fcis-30524	109	20	range	range	NOUN
fcis-30524	109	21	of	of	ADP
fcis-30524	109	22	movements	movement	NOUN
fcis-30524	109	23	by	by	ADP
fcis-30524	109	24	wham	wham	PROPN
fcis-30524	109	25	and	and	CCONJ
fcis-30524	109	26	the	the	DET
fcis-30524	109	27	flexible	flexible	ADJ
fcis-30524	109	28	control	control	NOUN
fcis-30524	109	29	of	of	ADP
fcis-30524	109	30	finger	finger	NOUN
fcis-30524	109	31	fine	fine	ADJ
fcis-30524	109	32	movements	movement	NOUN
fcis-30524	109	33	by	by	ADP
fcis-30524	109	34	ar	ar	NOUN
fcis-30524	109	35	device	device	NOUN
fcis-30524	109	36	,	,	PUNCT
fcis-30524	109	37	and	and	CCONJ
fcis-30524	109	38	shows	show	VERB
fcis-30524	109	39	significant	significant	ADJ
fcis-30524	109	40	advantages	advantage	NOUN
fcis-30524	109	41	in	in	ADP
fcis-30524	109	42	accomplishing	accomplish	VERB
fcis-30524	109	43	complex	complex	ADJ
fcis-30524	109	44	tasks	task	NOUN
fcis-30524	109	45	,	,	PUNCT
fcis-30524	109	46	which	which	PRON
fcis-30524	109	47	not	not	PART
fcis-30524	109	48	only	only	ADV
fcis-30524	109	49	ensures	ensure	VERB
fcis-30524	109	50	smooth	smooth	ADJ
fcis-30524	109	51	and	and	CCONJ
fcis-30524	109	52	natural	natural	ADJ
fcis-30524	109	53	motion	motion	NOUN
fcis-30524	109	54	trajectories	trajectory	NOUN
fcis-30524	109	55	,	,	PUNCT
fcis-30524	109	56	but	but	CCONJ
fcis-30524	109	57	also	also	ADV
fcis-30524	109	58	provides	provide	VERB
fcis-30524	109	59	high	high	ADJ
fcis-30524	109	60	-	-	PUNCT
fcis-30524	109	61	precision	precision	NOUN
fcis-30524	109	62	control	control	NOUN
fcis-30524	109	63	of	of	ADP
fcis-30524	109	64	the	the	DET
fcis-30524	109	65	end	end	NOUN
fcis-30524	109	66	-	-	PUNCT
fcis-30524	109	67	effector	effector	NOUN
fcis-30524	109	68	.	.	PUNCT
fcis-30524	110	1	this	this	DET
fcis-30524	110	2	study	study	NOUN
fcis-30524	110	3	provides	provide	VERB
fcis-30524	110	4	a	a	DET
fcis-30524	110	5	new	new	ADJ
fcis-30524	110	6	research	research	NOUN
fcis-30524	110	7	idea	idea	NOUN
fcis-30524	110	8	and	and	CCONJ
fcis-30524	110	9	realization	realization	NOUN
fcis-30524	110	10	way	way	NOUN
fcis-30524	110	11	for	for	ADP
fcis-30524	110	12	human	human	ADJ
fcis-30524	110	13	-	-	PUNCT
fcis-30524	110	14	robot	robot	NOUN
fcis-30524	110	15	collaboration	collaboration	NOUN
fcis-30524	110	16	in	in	ADP
fcis-30524	110	17	robotic	robotic	ADJ
fcis-30524	110	18	upper	upper	ADJ
fcis-30524	110	19	limb	limb	NOUN
fcis-30524	110	20	teleoperation	teleoperation	NOUN
fcis-30524	110	21	,	,	PUNCT
fcis-30524	110	22	which	which	PRON
fcis-30524	110	23	has	have	VERB
fcis-30524	110	24	important	important	ADJ
fcis-30524	110	25	application	application	NOUN
fcis-30524	110	26	value	value	NOUN
fcis-30524	110	27	in	in	ADP
fcis-30524	110	28	the	the	DET
fcis-30524	110	29	fields	field	NOUN
fcis-30524	110	30	of	of	ADP
fcis-30524	110	31	hazardous	hazardous	ADJ
fcis-30524	110	32	environment	environment	NOUN
fcis-30524	110	33	operation	operation	NOUN
fcis-30524	110	34	,	,	PUNCT
fcis-30524	110	35	medical	medical	ADJ
fcis-30524	110	36	surgery	surgery	NOUN
fcis-30524	110	37	and	and	CCONJ
fcis-30524	110	38	space	space	NOUN
fcis-30524	110	39	exploration	exploration	NOUN
fcis-30524	110	40	.	.	PUNCT
fcis-30524	111	1	references	reference	NOUN
fcis-30524	111	2	[	[	X
fcis-30524	111	3	1	1	NUM
fcis-30524	111	4	]	]	X
fcis-30524	111	5	cheng	cheng	PROPN
fcis-30524	111	6	x	x	PROPN
fcis-30524	111	7	,	,	PUNCT
fcis-30524	111	8	li	li	PROPN
fcis-30524	111	9	j	j	PROPN
fcis-30524	111	10	,	,	PUNCT
fcis-30524	111	11	yang	yang	PROPN
fcis-30524	111	12	s	s	PROPN
fcis-30524	111	13	,	,	PUNCT
fcis-30524	111	14	et	et	PROPN
fcis-30524	111	15	al	al	PROPN
fcis-30524	111	16	.	.	PROPN
fcis-30524	111	17	open	open	ADJ
fcis-30524	111	18	-	-	PUNCT
fcis-30524	111	19	television	television	NOUN
fcis-30524	111	20	:	:	PUNCT
fcis-30524	111	21	teleoperation	teleoperation	NOUN
fcis-30524	111	22	with	with	ADP
fcis-30524	111	23	immersive	immersive	ADJ
fcis-30524	111	24	active	active	ADJ
fcis-30524	111	25	visual	visual	ADJ
fcis-30524	111	26	feedback[j	feedback[j	NOUN
fcis-30524	111	27	]	]	PUNCT
fcis-30524	111	28	.	.	PUNCT
fcis-30524	112	1	arxiv	arxiv	PROPN
fcis-30524	112	2	preprint	preprint	NOUN
fcis-30524	112	3	arxiv:2407.01512	arxiv:2407.01512	NOUN
fcis-30524	112	4	,	,	PUNCT
fcis-30524	112	5	2024	2024	NUM
fcis-30524	112	6	.	.	PUNCT
fcis-30524	113	1	[	[	X
fcis-30524	113	2	2	2	NUM
fcis-30524	113	3	]	]	PUNCT
fcis-30524	113	4	shin	shin	NOUN
fcis-30524	113	5	s	s	PROPN
fcis-30524	113	6	,	,	PUNCT
fcis-30524	113	7	kim	kim	PROPN
fcis-30524	113	8	j	j	PROPN
fcis-30524	113	9	,	,	PUNCT
fcis-30524	113	10	halilaj	halilaj	ADJ
fcis-30524	113	11	e	e	NOUN
fcis-30524	113	12	,	,	PUNCT
fcis-30524	113	13	et	et	PROPN
fcis-30524	113	14	al	al	PROPN
fcis-30524	113	15	.	.	PUNCT
fcis-30524	114	1	wham	wham	PROPN
fcis-30524	114	2	:	:	PUNCT
fcis-30524	114	3	reconstructing	reconstruct	VERB
fcis-30524	114	4	worldgrounded	worldgrounde	VERB
fcis-30524	114	5	humans	human	NOUN
fcis-30524	114	6	with	with	ADP
fcis-30524	114	7	accurate	accurate	ADJ
fcis-30524	114	8	3d	3d	ADJ
fcis-30524	114	9	motion[c]//proceedings	motion[c]//proceeding	NOUN
fcis-30524	114	10	of	of	ADP
fcis-30524	114	11	the	the	DET
fcis-30524	114	12	ieee	ieee	NOUN
fcis-30524	114	13	/	/	SYM
fcis-30524	114	14	cvf	cvf	NOUN
fcis-30524	114	15	conference	conference	NOUN
fcis-30524	114	16	on	on	ADP
fcis-30524	114	17	computer	computer	NOUN
fcis-30524	114	18	vision	vision	NOUN
fcis-30524	114	19	and	and	CCONJ
fcis-30524	114	20	pattern	pattern	NOUN
fcis-30524	114	21	recognition	recognition	NOUN
fcis-30524	114	22	.	.	PUNCT
fcis-30524	115	1	2024	2024	NUM
fcis-30524	115	2	:	:	PUNCT
fcis-30524	115	3	2070	2070	NUM
fcis-30524	115	4	-	-	SYM
fcis-30524	115	5	2080	2080	NUM
fcis-30524	115	6	.	.	PUNCT
fcis-30524	116	1	[	[	X
fcis-30524	116	2	3	3	X
fcis-30524	116	3	]	]	X
fcis-30524	116	4	qin	qin	PROPN
fcis-30524	116	5	y	y	PROPN
fcis-30524	116	6	,	,	PUNCT
fcis-30524	116	7	yang	yang	PROPN
fcis-30524	116	8	w	w	PROPN
fcis-30524	116	9	,	,	PUNCT
fcis-30524	116	10	huang	huang	PROPN
fcis-30524	116	11	b	b	PROPN
fcis-30524	116	12	,	,	PUNCT
fcis-30524	116	13	et	et	PROPN
fcis-30524	116	14	al	al	PROPN
fcis-30524	116	15	.	.	PROPN
fcis-30524	116	16	anyteleop	anyteleop	PROPN
fcis-30524	116	17	:	:	PUNCT
fcis-30524	116	18	a	a	DET
fcis-30524	116	19	general	general	ADJ
fcis-30524	116	20	visionbased	visionbase	VERB
fcis-30524	116	21	dexterous	dexterous	ADJ
fcis-30524	116	22	robot	robot	NOUN
fcis-30524	116	23	arm	arm	NOUN
fcis-30524	116	24	-	-	PUNCT
fcis-30524	116	25	hand	hand	NOUN
fcis-30524	116	26	teleoperation	teleoperation	NOUN
fcis-30524	116	27	system[j	system[j	NOUN
fcis-30524	116	28	]	]	PUNCT
fcis-30524	116	29	.	.	PUNCT
fcis-30524	117	1	arxiv	arxiv	PROPN
fcis-30524	117	2	preprint	preprint	VERB
fcis-30524	117	3	arxiv:2307.04577	arxiv:2307.04577	PROPN
fcis-30524	117	4	,	,	PUNCT
fcis-30524	117	5	2023	2023	NUM
fcis-30524	117	6	.	.	PUNCT
fcis-30524	118	1	[	[	X
fcis-30524	118	2	4	4	NUM
fcis-30524	118	3	]	]	X
fcis-30524	118	4	loper	loper	PROPN
fcis-30524	118	5	m	m	PROPN
fcis-30524	118	6	,	,	PUNCT
fcis-30524	118	7	mahmood	mahmood	PROPN
fcis-30524	118	8	n	n	CCONJ
fcis-30524	118	9	,	,	PUNCT
fcis-30524	118	10	romero	romero	PROPN
fcis-30524	118	11	j	j	PROPN
fcis-30524	118	12	,	,	PUNCT
fcis-30524	118	13	et	et	PROPN
fcis-30524	118	14	al	al	PROPN
fcis-30524	118	15	.	.	PROPN
fcis-30524	118	16	smpl	smpl	PROPN
fcis-30524	118	17	:	:	PUNCT
fcis-30524	118	18	a	a	DET
fcis-30524	118	19	skinned	skinned	ADJ
fcis-30524	118	20	multi	multi	ADJ
fcis-30524	118	21	-	-	ADJ
fcis-30524	118	22	person	person	ADJ
fcis-30524	118	23	linear	linear	PROPN
fcis-30524	118	24	model[m]//seminal	model[m]//seminal	ADJ
fcis-30524	118	25	graphics	graphic	NOUN
fcis-30524	118	26	papers	paper	NOUN
fcis-30524	118	27	:	:	PUNCT
fcis-30524	118	28	pushing	push	VERB
fcis-30524	118	29	the	the	DET
fcis-30524	118	30	boundaries	boundary	NOUN
fcis-30524	118	31	,	,	PUNCT
fcis-30524	118	32	volume	volume	NOUN
fcis-30524	118	33	2	2	NUM
fcis-30524	118	34	.	.	PUNCT
fcis-30524	118	35	2023	2023	NUM
fcis-30524	118	36	:	:	PUNCT
fcis-30524	118	37	851	851	NUM
fcis-30524	118	38	-	-	SYM
fcis-30524	118	39	866	866	NUM
fcis-30524	118	40	.	.	PUNCT
fcis-30524	119	1	[	[	X
fcis-30524	119	2	5	5	NUM
fcis-30524	119	3	]	]	X
fcis-30524	119	4	makoviychuk	makoviychuk	ADJ
fcis-30524	119	5	v	v	NOUN
fcis-30524	119	6	,	,	PUNCT
fcis-30524	119	7	wawrzyniak	wawrzyniak	PROPN
fcis-30524	119	8	l	l	PROPN
fcis-30524	119	9	,	,	PUNCT
fcis-30524	119	10	guo	guo	PROPN
fcis-30524	119	11	y	y	PROPN
fcis-30524	119	12	,	,	PUNCT
fcis-30524	119	13	et	et	PROPN
fcis-30524	119	14	al	al	PROPN
fcis-30524	119	15	.	.	PROPN
fcis-30524	120	1	isaac	isaac	PROPN
fcis-30524	120	2	gym	gym	PROPN
fcis-30524	120	3	:	:	PUNCT
fcis-30524	120	4	high	high	ADJ
fcis-30524	120	5	performance	performance	NOUN
fcis-30524	120	6	gpu	gpu	NOUN
fcis-30524	120	7	-	-	PUNCT
fcis-30524	120	8	based	base	VERB
fcis-30524	120	9	physics	physics	NOUN
fcis-30524	120	10	simulation	simulation	NOUN
fcis-30524	120	11	for	for	ADP
fcis-30524	120	12	robot	robot	NOUN
fcis-30524	120	13	learning[j	learning[j	NOUN
fcis-30524	120	14	]	]	PUNCT
fcis-30524	120	15	.	.	PUNCT
fcis-30524	121	1	arxiv	arxiv	PROPN
fcis-30524	121	2	preprint	preprint	VERB
fcis-30524	121	3	arxiv:2108.10470	arxiv:2108.10470	NOUN
fcis-30524	121	4	,	,	PUNCT
fcis-30524	121	5	2021	2021	NUM
fcis-30524	121	6	.	.	PUNCT
fcis-30524	122	1	[	[	X
fcis-30524	122	2	6	6	NUM
fcis-30524	122	3	]	]	PUNCT
fcis-30524	122	4	ding	ding	ADJ
fcis-30524	122	5	r	r	NOUN
fcis-30524	122	6	,	,	PUNCT
fcis-30524	122	7	qin	qin	PROPN
fcis-30524	122	8	y	y	PROPN
fcis-30524	122	9	,	,	PUNCT
fcis-30524	122	10	zhu	zhu	PROPN
fcis-30524	122	11	j	j	PROPN
fcis-30524	122	12	,	,	PUNCT
fcis-30524	122	13	et	et	PROPN
fcis-30524	122	14	al	al	PROPN
fcis-30524	122	15	.	.	PUNCT
fcis-30524	123	1	bunny	bunny	NOUN
fcis-30524	123	2	-	-	PUNCT
fcis-30524	123	3	visionpro	visionpro	ADJ
fcis-30524	123	4	:	:	PUNCT
fcis-30524	123	5	real	real	ADJ
fcis-30524	123	6	-	-	PUNCT
fcis-30524	123	7	time	time	NOUN
fcis-30524	123	8	bimanual	bimanual	ADJ
fcis-30524	123	9	dexterous	dexterous	ADJ
fcis-30524	123	10	teleoperation	teleoperation	NOUN
fcis-30524	123	11	for	for	ADP
fcis-30524	123	12	imitation	imitation	NOUN
fcis-30524	123	13	learning[j	learning[j	NOUN
fcis-30524	123	14	]	]	PUNCT
fcis-30524	123	15	.	.	PUNCT
fcis-30524	124	1	arxiv	arxiv	PROPN
fcis-30524	124	2	preprint	preprint	VERB
fcis-30524	124	3	arxiv:2407.03162	arxiv:2407.03162	ADJ
fcis-30524	124	4	,	,	PUNCT
fcis-30524	124	5	2024	2024	NUM
fcis-30524	124	6	.	.	PUNCT
fcis-30524	125	1	[	[	X
fcis-30524	125	2	7	7	X
fcis-30524	125	3	]	]	X
fcis-30524	125	4	iyer	iyer	PROPN
fcis-30524	125	5	a	a	PROPN
fcis-30524	125	6	,	,	PUNCT
fcis-30524	125	7	peng	peng	PROPN
fcis-30524	125	8	z	z	PROPN
fcis-30524	125	9	,	,	PUNCT
fcis-30524	125	10	dai	dai	PROPN
fcis-30524	125	11	y	y	PROPN
fcis-30524	125	12	,	,	PUNCT
fcis-30524	125	13	et	et	PROPN
fcis-30524	125	14	al	al	PROPN
fcis-30524	125	15	.	.	PROPN
fcis-30524	125	16	open	open	PROPN
fcis-30524	125	17	teach	teach	VERB
fcis-30524	125	18	:	:	PUNCT
fcis-30524	125	19	a	a	DET
fcis-30524	125	20	versatile	versatile	ADJ
fcis-30524	125	21	teleoperation	teleoperation	NOUN
fcis-30524	125	22	system	system	NOUN
fcis-30524	125	23	for	for	ADP
fcis-30524	125	24	robotic	robotic	ADJ
fcis-30524	125	25	manipulation[j	manipulation[j	NOUN
fcis-30524	125	26	]	]	PUNCT
fcis-30524	125	27	.	.	PUNCT
fcis-30524	126	1	arxiv	arxiv	PROPN
fcis-30524	126	2	preprint	preprint	PROPN
fcis-30524	126	3	arxiv	arxiv	PROPN
fcis-30524	126	4	:	:	PUNCT
fcis-30524	126	5	2403.07870	2403.07870	NOUN
fcis-30524	126	6	,	,	PUNCT
fcis-30524	126	7	2024	2024	NUM
fcis-30524	126	8	.	.	PUNCT
fcis-30524	127	1	[	[	X
fcis-30524	127	2	8	8	NUM
fcis-30524	127	3	]	]	X
fcis-30524	127	4	mahmood	mahmood	PROPN
fcis-30524	127	5	n	n	CCONJ
fcis-30524	127	6	,	,	PUNCT
fcis-30524	127	7	ghorbani	ghorbani	NOUN
fcis-30524	127	8	n	n	CCONJ
fcis-30524	127	9	,	,	PUNCT
fcis-30524	127	10	troje	troje	NOUN
fcis-30524	127	11	n	n	CCONJ
fcis-30524	127	12	f	f	NOUN
fcis-30524	127	13	,	,	PUNCT
fcis-30524	127	14	et	et	PROPN
fcis-30524	127	15	al	al	PROPN
fcis-30524	127	16	.	.	PROPN
fcis-30524	128	1	amass	amass	PROPN
fcis-30524	128	2	:	:	PUNCT
fcis-30524	128	3	archive	archive	NOUN
fcis-30524	128	4	of	of	ADP
fcis-30524	128	5	motion	motion	NOUN
fcis-30524	128	6	capture	capture	NOUN
fcis-30524	128	7	as	as	ADP
fcis-30524	128	8	surface	surface	NOUN
fcis-30524	128	9	shapes[c]//proceedings	shapes[c]//proceeding	NOUN
fcis-30524	128	10	of	of	ADP
fcis-30524	128	11	the	the	DET
fcis-30524	128	12	ieee/	ieee/	NUM
fcis-30524	128	13	cvf	cvf	NOUN
fcis-30524	128	14	international	international	ADJ
fcis-30524	128	15	conference	conference	NOUN
fcis-30524	128	16	on	on	ADP
fcis-30524	128	17	computer	computer	NOUN
fcis-30524	128	18	vision	vision	NOUN
fcis-30524	128	19	.	.	PUNCT
fcis-30524	129	1	2019	2019	NUM
fcis-30524	129	2	:	:	PUNCT
fcis-30524	129	3	5442	5442	NUM
fcis-30524	129	4	-	-	SYM
fcis-30524	129	5	5451	5451	NUM
fcis-30524	129	6	.	.	PUNCT