id	sid	tid	token	lemma	pos
globalce-266	1	1	j	j	PROPN
globalce-266	1	2	global	global	ADJ
globalce-266	1	3	clinical	clinical	ADJ
globalce-266	1	4	engineering	engineering	PROPN
globalce-266	1	5	vol.6	vol.6	PROPN
globalce-266	1	6	special	special	ADJ
globalce-266	1	7	issue	issue	NOUN
globalce-266	1	8	6	6	NUM
globalce-266	1	9	:	:	SYM
globalce-266	1	10	2024	2024	NUM
globalce-266	1	11	62	62	NUM
globalce-266	1	12	conference	conference	NOUN
globalce-266	1	13	paper	paper	NOUN
globalce-266	1	14	kinematic	kinematic	NOUN
globalce-266	1	15	and	and	CCONJ
globalce-266	1	16	dynamic	dynamic	ADJ
globalce-266	1	17	analysis	analysis	NOUN
globalce-266	1	18	of	of	ADP
globalce-266	1	19	lower	low	ADJ
globalce-266	1	20	limb	limb	NOUN
globalce-266	1	21	movement	movement	NOUN
globalce-266	1	22	:	:	PUNCT
globalce-266	1	23	towards	towards	ADP
globalce-266	1	24	the	the	DET
globalce-266	1	25	design	design	NOUN
globalce-266	1	26	of	of	ADP
globalce-266	1	27	a	a	DET
globalce-266	1	28	wearable	wearable	ADJ
globalce-266	1	29	rehabilitation	rehabilitation	NOUN
globalce-266	1	30	assistant	assistant	NOUN
globalce-266	1	31	device	device	NOUN
globalce-266	1	32	filippos	filippos	NOUN
globalce-266	1	33	margaritis1	margaritis1	PROPN
globalce-266	1	34	,	,	PUNCT
globalce-266	1	35	*	*	PROPN
globalce-266	1	36	,	,	PUNCT
globalce-266	1	37	konstantinos	konstantinos	PROPN
globalce-266	1	38	mitsopoulos1	mitsopoulos1	PROPN
globalce-266	1	39	,	,	PUNCT
globalce-266	1	40	kostas	kostas	PROPN
globalce-266	1	41	nizamis2	nizamis2	PROPN
globalce-266	1	42	,	,	PUNCT
globalce-266	1	43	alkinoos	alkinoo	VERB
globalce-266	1	44	athanasiou1	athanasiou1	NOUN
globalce-266	1	45	and	and	CCONJ
globalce-266	1	46	panagiotis	panagiotis	PROPN
globalce-266	1	47	d.	d.	PROPN
globalce-266	1	48	bamidis1	bamidis1	PROPN
globalce-266	1	49	1	1	NUM
globalce-266	1	50	medical	medical	ADJ
globalce-266	1	51	physics	physics	NOUN
globalce-266	1	52	and	and	CCONJ
globalce-266	1	53	digital	digital	ADJ
globalce-266	1	54	innovation	innovation	NOUN
globalce-266	1	55	laboratory	laboratory	NOUN
globalce-266	1	56	,	,	PUNCT
globalce-266	1	57	school	school	NOUN
globalce-266	1	58	of	of	ADP
globalce-266	1	59	medicine	medicine	NOUN
globalce-266	1	60	,	,	PUNCT
globalce-266	1	61	aristotle	aristotle	PROPN
globalce-266	1	62	university	university	PROPN
globalce-266	1	63	of	of	ADP
globalce-266	1	64	thessaloniki	thessaloniki	PROPN
globalce-266	1	65	,	,	PUNCT
globalce-266	1	66	greece	greece	PROPN
globalce-266	1	67	.	.	PROPN
globalce-266	1	68	2	2	NUM
globalce-266	1	69	systems	system	NOUN
globalce-266	1	70	engineering	engineering	NOUN
globalce-266	1	71	and	and	CCONJ
globalce-266	1	72	multidisciplinary	multidisciplinary	ADJ
globalce-266	1	73	design	design	NOUN
globalce-266	1	74	,	,	PUNCT
globalce-266	1	75	university	university	PROPN
globalce-266	1	76	of	of	ADP
globalce-266	1	77	twente	twente	PROPN
globalce-266	1	78	,	,	PUNCT
globalce-266	1	79	netherlands	netherlands	PROPN
globalce-266	1	80	.	.	PUNCT
globalce-266	2	1	*	*	PUNCT
globalce-266	2	2	corresponding	correspond	VERB
globalce-266	2	3	author	author	NOUN
globalce-266	2	4	email	email	NOUN
globalce-266	2	5	:	:	PUNCT
globalce-266	2	6	filimarg@ece.auth.gr	filimarg@ece.auth.gr	VERB
globalce-266	2	7	abstract	abstract	ADV
globalce-266	2	8	this	this	DET
globalce-266	2	9	study	study	NOUN
globalce-266	2	10	outlines	outline	VERB
globalce-266	2	11	a	a	DET
globalce-266	2	12	comprehensive	comprehensive	ADJ
globalce-266	2	13	approach	approach	NOUN
globalce-266	2	14	to	to	ADP
globalce-266	2	15	the	the	DET
globalce-266	2	16	kinematic	kinematic	ADJ
globalce-266	2	17	and	and	CCONJ
globalce-266	2	18	dynamic	dynamic	ADJ
globalce-266	2	19	analysis	analysis	NOUN
globalce-266	2	20	of	of	ADP
globalce-266	2	21	lower	low	ADJ
globalce-266	2	22	limb	limb	NOUN
globalce-266	2	23	movement	movement	NOUN
globalce-266	2	24	,	,	PUNCT
globalce-266	2	25	with	with	ADP
globalce-266	2	26	the	the	DET
globalce-266	2	27	express	express	ADJ
globalce-266	2	28	purpose	purpose	NOUN
globalce-266	2	29	of	of	ADP
globalce-266	2	30	designing	design	VERB
globalce-266	2	31	an	an	DET
globalce-266	2	32	efficient	efficient	ADJ
globalce-266	2	33	wearable	wearable	ADJ
globalce-266	2	34	rehabilitation	rehabilitation	NOUN
globalce-266	2	35	assistant	assistant	NOUN
globalce-266	2	36	device	device	NOUN
globalce-266	2	37	for	for	ADP
globalce-266	2	38	the	the	DET
globalce-266	2	39	lower	low	ADJ
globalce-266	2	40	body	body	NOUN
globalce-266	2	41	.	.	PUNCT
globalce-266	3	1	the	the	DET
globalce-266	3	2	approach	approach	NOUN
globalce-266	3	3	begins	begin	VERB
globalce-266	3	4	by	by	ADP
globalce-266	3	5	conducting	conduct	VERB
globalce-266	3	6	a	a	DET
globalce-266	3	7	kinematic	kinematic	ADJ
globalce-266	3	8	analysis	analysis	NOUN
globalce-266	3	9	of	of	ADP
globalce-266	3	10	the	the	DET
globalce-266	3	11	lower	low	ADJ
globalce-266	3	12	limbs	limb	NOUN
globalce-266	3	13	,	,	PUNCT
globalce-266	3	14	presenting	present	VERB
globalce-266	3	15	the	the	DET
globalce-266	3	16	degrees	degree	NOUN
globalce-266	3	17	of	of	ADP
globalce-266	3	18	freedom	freedom	NOUN
globalce-266	3	19	and	and	CCONJ
globalce-266	3	20	each	each	DET
globalce-266	3	21	joint	joint	NOUN
globalce-266	3	22	’s	’s	PART
globalce-266	3	23	range	range	NOUN
globalce-266	3	24	of	of	ADP
globalce-266	3	25	motion	motion	NOUN
globalce-266	3	26	.	.	PUNCT
globalce-266	4	1	a	a	DET
globalce-266	4	2	kinematic	kinematic	ADJ
globalce-266	4	3	model	model	NOUN
globalce-266	4	4	is	be	AUX
globalce-266	4	5	designed	design	VERB
globalce-266	4	6	by	by	ADP
globalce-266	4	7	deciding	decide	VERB
globalce-266	4	8	on	on	ADP
globalce-266	4	9	a	a	DET
globalce-266	4	10	kinematic	kinematic	ADJ
globalce-266	4	11	chain	chain	NOUN
globalce-266	4	12	configuration	configuration	NOUN
globalce-266	4	13	and	and	CCONJ
globalce-266	4	14	calculating	calculate	VERB
globalce-266	4	15	the	the	DET
globalce-266	4	16	denavit	denavit	PROPN
globalce-266	4	17	hartenberg	hartenberg	PROPN
globalce-266	4	18	(	(	PUNCT
globalce-266	4	19	dh	dh	NOUN
globalce-266	4	20	)	)	PUNCT
globalce-266	4	21	parameters	parameter	NOUN
globalce-266	4	22	.	.	PUNCT
globalce-266	5	1	next	next	ADJ
globalce-266	5	2	,	,	PUNCT
globalce-266	5	3	differential	differential	ADJ
globalce-266	5	4	kinematic	kinematic	ADJ
globalce-266	5	5	analysis	analysis	NOUN
globalce-266	5	6	is	be	AUX
globalce-266	5	7	employed	employ	VERB
globalce-266	5	8	to	to	PART
globalce-266	5	9	calculate	calculate	VERB
globalce-266	5	10	the	the	DET
globalce-266	5	11	velocity	velocity	NOUN
globalce-266	5	12	of	of	ADP
globalce-266	5	13	the	the	DET
globalce-266	5	14	limbs	limb	NOUN
globalce-266	5	15	,	,	PUNCT
globalce-266	5	16	generated	generate	VERB
globalce-266	5	17	by	by	ADP
globalce-266	5	18	the	the	DET
globalce-266	5	19	corresponding	correspond	VERB
globalce-266	5	20	muscle	muscle	NOUN
globalce-266	5	21	groups	group	NOUN
globalce-266	5	22	during	during	ADP
globalce-266	5	23	different	different	ADJ
globalce-266	5	24	types	type	NOUN
globalce-266	5	25	of	of	ADP
globalce-266	5	26	movements	movement	NOUN
globalce-266	5	27	.	.	PUNCT
globalce-266	6	1	this	this	PRON
globalce-266	6	2	can	can	AUX
globalce-266	6	3	provide	provide	VERB
globalce-266	6	4	significant	significant	ADJ
globalce-266	6	5	insights	insight	NOUN
globalce-266	6	6	into	into	ADP
globalce-266	6	7	the	the	DET
globalce-266	6	8	design	design	NOUN
globalce-266	6	9	of	of	ADP
globalce-266	6	10	a	a	DET
globalce-266	6	11	device	device	NOUN
globalce-266	6	12	that	that	PRON
globalce-266	6	13	can	can	AUX
globalce-266	6	14	accurately	accurately	ADV
globalce-266	6	15	track	track	VERB
globalce-266	6	16	and	and	CCONJ
globalce-266	6	17	assist	assist	VERB
globalce-266	6	18	these	these	DET
globalce-266	6	19	movements	movement	NOUN
globalce-266	6	20	.	.	PUNCT
globalce-266	7	1	furthermore	furthermore	ADV
globalce-266	7	2	,	,	PUNCT
globalce-266	7	3	a	a	DET
globalce-266	7	4	dynamic	dynamic	ADJ
globalce-266	7	5	analysis	analysis	NOUN
globalce-266	7	6	is	be	AUX
globalce-266	7	7	performed	perform	VERB
globalce-266	7	8	to	to	PART
globalce-266	7	9	calculate	calculate	VERB
globalce-266	7	10	joint	joint	ADJ
globalce-266	7	11	moments	moment	NOUN
globalce-266	7	12	and	and	CCONJ
globalce-266	7	13	forces	force	NOUN
globalce-266	7	14	.	.	PUNCT
globalce-266	8	1	this	this	DET
globalce-266	8	2	analysis	analysis	NOUN
globalce-266	8	3	provides	provide	VERB
globalce-266	8	4	insights	insight	NOUN
globalce-266	8	5	into	into	ADP
globalce-266	8	6	the	the	DET
globalce-266	8	7	forces	force	NOUN
globalce-266	8	8	that	that	PRON
globalce-266	8	9	the	the	DET
globalce-266	8	10	joints	joint	NOUN
globalce-266	8	11	experience	experience	NOUN
globalce-266	8	12	during	during	ADP
globalce-266	8	13	movement	movement	NOUN
globalce-266	8	14	.	.	PUNCT
globalce-266	9	1	when	when	SCONJ
globalce-266	9	2	combined	combine	VERB
globalce-266	9	3	with	with	ADP
globalce-266	9	4	electromyography	electromyography	NOUN
globalce-266	9	5	(	(	PUNCT
globalce-266	9	6	emg	emg	NOUN
globalce-266	9	7	)	)	PUNCT
globalce-266	9	8	data	datum	NOUN
globalce-266	9	9	,	,	PUNCT
globalce-266	9	10	it	it	PRON
globalce-266	9	11	allows	allow	VERB
globalce-266	9	12	for	for	ADP
globalce-266	9	13	a	a	DET
globalce-266	9	14	more	more	ADV
globalce-266	9	15	holistic	holistic	ADJ
globalce-266	9	16	description	description	NOUN
globalce-266	9	17	of	of	ADP
globalce-266	9	18	muscle	muscle	NOUN
globalce-266	9	19	activity	activity	NOUN
globalce-266	9	20	and	and	CCONJ
globalce-266	9	21	a	a	DET
globalce-266	9	22	more	more	ADV
globalce-266	9	23	accurate	accurate	ADJ
globalce-266	9	24	estimation	estimation	NOUN
globalce-266	9	25	of	of	ADP
globalce-266	9	26	individual	individual	ADJ
globalce-266	9	27	muscle	muscle	NOUN
globalce-266	9	28	forces	force	NOUN
globalce-266	9	29	and	and	CCONJ
globalce-266	9	30	joint	joint	ADJ
globalce-266	9	31	loads	load	NOUN
globalce-266	9	32	.	.	PUNCT
globalce-266	10	1	the	the	DET
globalce-266	10	2	research	research	NOUN
globalce-266	10	3	also	also	ADV
globalce-266	10	4	lays	lay	VERB
globalce-266	10	5	out	out	ADP
globalce-266	10	6	a	a	DET
globalce-266	10	7	plan	plan	NOUN
globalce-266	10	8	for	for	ADP
globalce-266	10	9	the	the	DET
globalce-266	10	10	wearable	wearable	ADJ
globalce-266	10	11	device	device	NOUN
globalce-266	10	12	’s	’s	PART
globalce-266	10	13	implementation	implementation	NOUN
globalce-266	10	14	.	.	PUNCT
globalce-266	11	1	based	base	VERB
globalce-266	11	2	on	on	ADP
globalce-266	11	3	opensensert1	opensensert1	PROPN
globalce-266	11	4	an	an	DET
globalce-266	11	5	open	open	ADJ
globalce-266	11	6	-	-	PUNCT
globalce-266	11	7	source	source	NOUN
globalce-266	11	8	software	software	NOUN
globalce-266	11	9	and	and	CCONJ
globalce-266	11	10	hardware	hardware	NOUN
globalce-266	11	11	project	project	NOUN
globalce-266	11	12	,	,	PUNCT
globalce-266	11	13	that	that	PRON
globalce-266	11	14	utilized	utilize	VERB
globalce-266	11	15	the	the	DET
globalce-266	11	16	opensim2	opensim2	PROPN
globalce-266	11	17	api	api	NOUN
globalce-266	11	18	,	,	PUNCT
globalce-266	11	19	real	real	ADJ
globalce-266	11	20	-	-	PUNCT
globalce-266	11	21	time	time	NOUN
globalce-266	11	22	inverse	inverse	NOUN
globalce-266	11	23	kinematics	kinematic	NOUN
globalce-266	11	24	of	of	ADP
globalce-266	11	25	a	a	DET
globalce-266	11	26	movement	movement	NOUN
globalce-266	11	27	can	can	AUX
globalce-266	11	28	be	be	AUX
globalce-266	11	29	calculated	calculate	VERB
globalce-266	11	30	using	use	VERB
globalce-266	11	31	data	datum	NOUN
globalce-266	11	32	from	from	ADP
globalce-266	11	33	inertial	inertial	ADJ
globalce-266	11	34	measurement	measurement	NOUN
globalce-266	11	35	units	unit	NOUN
globalce-266	11	36	(	(	PUNCT
globalce-266	11	37	imus	imus	PROPN
globalce-266	11	38	)	)	PUNCT
globalce-266	11	39	.	.	PUNCT
globalce-266	12	1	this	this	DET
globalce-266	12	2	data	data	NOUN
globalce-266	12	3	is	be	AUX
globalce-266	12	4	then	then	ADV
globalce-266	12	5	used	use	VERB
globalce-266	12	6	to	to	PART
globalce-266	12	7	compute	compute	VERB
globalce-266	12	8	the	the	DET
globalce-266	12	9	error	error	NOUN
globalce-266	12	10	in	in	ADP
globalce-266	12	11	a	a	DET
globalce-266	12	12	person	person	NOUN
globalce-266	12	13	’s	’s	PART
globalce-266	12	14	movement	movement	NOUN
globalce-266	12	15	during	during	ADP
globalce-266	12	16	lower	low	ADJ
globalce-266	12	17	limb	limb	NOUN
globalce-266	12	18	rehabilitation	rehabilitation	NOUN
globalce-266	12	19	exercises	exercise	NOUN
globalce-266	12	20	.	.	PUNCT
globalce-266	13	1	this	this	DET
globalce-266	13	2	error	error	NOUN
globalce-266	13	3	,	,	PUNCT
globalce-266	13	4	along	along	ADP
globalce-266	13	5	with	with	ADP
globalce-266	13	6	the	the	DET
globalce-266	13	7	error	error	NOUN
globalce-266	13	8	derived	derive	VERB
globalce-266	13	9	from	from	ADP
globalce-266	13	10	real	real	ADJ
globalce-266	13	11	-	-	PUNCT
globalce-266	13	12	time	time	NOUN
globalce-266	13	13	dynamic	dynamic	ADJ
globalce-266	13	14	analysis	analysis	NOUN
globalce-266	13	15	and	and	CCONJ
globalce-266	13	16	emg	emg	NOUN
globalce-266	13	17	data	datum	NOUN
globalce-266	13	18	,	,	PUNCT
globalce-266	13	19	can	can	AUX
globalce-266	13	20	be	be	AUX
globalce-266	13	21	integrated	integrate	VERB
globalce-266	13	22	to	to	PART
globalce-266	13	23	improve	improve	VERB
globalce-266	13	24	the	the	DET
globalce-266	13	25	control	control	NOUN
globalce-266	13	26	accuracy	accuracy	NOUN
globalce-266	13	27	of	of	ADP
globalce-266	13	28	the	the	DET
globalce-266	13	29	wearable	wearable	ADJ
globalce-266	13	30	device	device	NOUN
globalce-266	13	31	.	.	PUNCT
globalce-266	14	1	keywords	keyword	NOUN
globalce-266	14	2	—	—	PUNCT
globalce-266	14	3	lower	low	ADJ
globalce-266	14	4	limb	limb	NOUN
globalce-266	14	5	kinematic	kinematic	ADJ
globalce-266	14	6	analysis	analysis	NOUN
globalce-266	14	7	,	,	PUNCT
globalce-266	14	8	lower	low	ADJ
globalce-266	14	9	limb	limb	NOUN
globalce-266	14	10	dynamic	dynamic	ADJ
globalce-266	14	11	analysis	analysis	NOUN
globalce-266	14	12	,	,	PUNCT
globalce-266	14	13	opensim	opensim	NOUN
globalce-266	14	14	,	,	PUNCT
globalce-266	14	15	opensensert	opensensert	NOUN
globalce-266	14	16	system	system	NOUN
globalce-266	14	17	,	,	PUNCT
globalce-266	14	18	imu	imu	ADJ
globalce-266	14	19	inverse	inverse	NOUN
globalce-266	14	20	kinematics	kinematic	NOUN
globalce-266	14	21	,	,	PUNCT
globalce-266	14	22	real	real	ADJ
globalce-266	14	23	-	-	PUNCT
globalce-266	14	24	time	time	NOUN
globalce-266	14	25	inverse	inverse	NOUN
globalce-266	14	26	kinematics	kinematic	NOUN
globalce-266	14	27	,	,	PUNCT
globalce-266	14	28	real	real	ADJ
globalce-266	14	29	-	-	PUNCT
globalce-266	14	30	time	time	NOUN
globalce-266	14	31	motion	motion	NOUN
globalce-266	14	32	analysis	analysis	NOUN
globalce-266	14	33	,	,	PUNCT
globalce-266	14	34	wearable	wearable	ADJ
globalce-266	14	35	rehabilitation	rehabilitation	NOUN
globalce-266	14	36	assistant	assistant	NOUN
globalce-266	14	37	device	device	NOUN
globalce-266	14	38	.	.	PUNCT
globalce-266	15	1	copyright	copyright	NOUN
globalce-266	15	2	©	©	PROPN
globalce-266	15	3	2024	2024	NUM
globalce-266	15	4	.	.	PUNCT
globalce-266	16	1	this	this	PRON
globalce-266	16	2	is	be	AUX
globalce-266	16	3	an	an	DET
globalce-266	16	4	open	open	ADJ
globalce-266	16	5	-	-	PUNCT
globalce-266	16	6	access	access	NOUN
globalce-266	16	7	article	article	NOUN
globalce-266	16	8	distributed	distribute	VERB
globalce-266	16	9	under	under	ADP
globalce-266	16	10	the	the	DET
globalce-266	16	11	terms	term	NOUN
globalce-266	16	12	of	of	ADP
globalce-266	16	13	the	the	DET
globalce-266	16	14	creative	creative	ADJ
globalce-266	16	15	commons	common	NOUN
globalce-266	16	16	attribution	attribution	NOUN
globalce-266	16	17	license	license	NOUN
globalce-266	16	18	(	(	PUNCT
globalce-266	16	19	cc	cc	NOUN
globalce-266	16	20	by	by	ADV
globalce-266	16	21	):	):	PUNCT
globalce-266	16	22	creative	creative	ADJ
globalce-266	16	23	commons	common	NOUN
globalce-266	16	24	attribution	attribution	NOUN
globalce-266	16	25	4.0	4.0	NUM
globalce-266	16	26	international	international	NOUN
globalce-266	16	27	cc	cc	NOUN
globalce-266	16	28	by	by	ADP
globalce-266	16	29	4.0	4.0	NUM
globalce-266	16	30	.	.	PUNCT
globalce-266	17	1	the	the	DET
globalce-266	17	2	use	use	NOUN
globalce-266	17	3	,	,	PUNCT
globalce-266	17	4	distribution	distribution	NOUN
globalce-266	17	5	or	or	CCONJ
globalce-266	17	6	reproduction	reproduction	NOUN
globalce-266	17	7	in	in	ADP
globalce-266	17	8	other	other	ADJ
globalce-266	17	9	forums	forum	NOUN
globalce-266	17	10	is	be	AUX
globalce-266	17	11	permitted	permit	VERB
globalce-266	17	12	,	,	PUNCT
globalce-266	17	13	provided	provide	VERB
globalce-266	17	14	the	the	DET
globalce-266	17	15	original	original	ADJ
globalce-266	17	16	author(s	author(s	NOUN
globalce-266	17	17	)	)	PUNCT
globalce-266	17	18	and	and	CCONJ
globalce-266	17	19	the	the	DET
globalce-266	17	20	copyright	copyright	NOUN
globalce-266	17	21	owner(s	owner(s	NOUN
globalce-266	17	22	)	)	PUNCT
globalce-266	17	23	are	be	AUX
globalce-266	17	24	credited	credit	VERB
globalce-266	17	25	and	and	CCONJ
globalce-266	17	26	that	that	SCONJ
globalce-266	17	27	the	the	DET
globalce-266	17	28	original	original	ADJ
globalce-266	17	29	publication	publication	NOUN
globalce-266	17	30	in	in	ADP
globalce-266	17	31	this	this	DET
globalce-266	17	32	journal	journal	NOUN
globalce-266	17	33	is	be	AUX
globalce-266	17	34	cited	cite	VERB
globalce-266	17	35	,	,	PUNCT
globalce-266	17	36	in	in	ADP
globalce-266	17	37	accordance	accordance	NOUN
globalce-266	17	38	with	with	ADP
globalce-266	17	39	accepted	accept	VERB
globalce-266	17	40	academic	academic	ADJ
globalce-266	17	41	practice	practice	NOUN
globalce-266	17	42	.	.	PUNCT
globalce-266	18	1	no	no	DET
globalce-266	18	2	use	use	NOUN
globalce-266	18	3	,	,	PUNCT
globalce-266	18	4	distribution	distribution	NOUN
globalce-266	18	5	or	or	CCONJ
globalce-266	18	6	reproduction	reproduction	NOUN
globalce-266	18	7	is	be	AUX
globalce-266	18	8	permitted	permit	VERB
globalce-266	18	9	which	which	PRON
globalce-266	18	10	does	do	AUX
globalce-266	18	11	not	not	PART
globalce-266	18	12	comply	comply	VERB
globalce-266	18	13	with	with	ADP
globalce-266	18	14	these	these	DET
globalce-266	18	15	terms	term	NOUN
globalce-266	18	16	.	.	PUNCT
globalce-266	18	17	http://www.globalce.org	http://www.globalce.org	PUNCT
globalce-266	19	1	http://globalce.org	http://globalce.org	PROPN
globalce-266	20	1	http://globalce.org	http://globalce.org	PROPN
globalce-266	20	2	mailto:filimarg@ece.auth.gr	mailto:filimarg@ece.auth.gr	PROPN
globalce-266	20	3	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
globalce-266	20	4	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
globalce-266	20	5	63	63	NUM
globalce-266	20	6	j	j	PROPN
globalce-266	20	7	global	global	ADJ
globalce-266	20	8	clinical	clinical	ADJ
globalce-266	20	9	engineering	engineering	PROPN
globalce-266	20	10	vol.6	vol.6	PROPN
globalce-266	20	11	special	special	ADJ
globalce-266	20	12	issue	issue	NOUN
globalce-266	20	13	6	6	NUM
globalce-266	20	14	:	:	SYM
globalce-266	20	15	2024	2024	NUM
globalce-266	20	16	introduction	introduction	NOUN
globalce-266	20	17	the	the	DET
globalce-266	20	18	human	human	ADJ
globalce-266	20	19	body	body	NOUN
globalce-266	20	20	is	be	AUX
globalce-266	20	21	a	a	DET
globalce-266	20	22	complex	complex	ADJ
globalce-266	20	23	system	system	NOUN
globalce-266	20	24	,	,	PUNCT
globalce-266	20	25	comprising	comprising	NOUN
globalce-266	20	26	of	of	ADP
globalce-266	20	27	various	various	ADJ
globalce-266	20	28	interconnected	interconnected	ADJ
globalce-266	20	29	parts	part	NOUN
globalce-266	20	30	that	that	PRON
globalce-266	20	31	function	function	VERB
globalce-266	20	32	in	in	ADP
globalce-266	20	33	harmony	harmony	NOUN
globalce-266	20	34	to	to	PART
globalce-266	20	35	enable	enable	VERB
globalce-266	20	36	mobility	mobility	NOUN
globalce-266	20	37	.	.	PUNCT
globalce-266	21	1	the	the	DET
globalce-266	21	2	lower	low	ADJ
globalce-266	21	3	limbs	limb	NOUN
globalce-266	21	4	,	,	PUNCT
globalce-266	21	5	particularly	particularly	ADV
globalce-266	21	6	,	,	PUNCT
globalce-266	21	7	play	play	VERB
globalce-266	21	8	a	a	DET
globalce-266	21	9	crucial	crucial	ADJ
globalce-266	21	10	role	role	NOUN
globalce-266	21	11	in	in	ADP
globalce-266	21	12	locomotion	locomotion	NOUN
globalce-266	21	13	and	and	CCONJ
globalce-266	21	14	maintaining	maintain	VERB
globalce-266	21	15	balance	balance	NOUN
globalce-266	21	16	.	.	PUNCT
globalce-266	22	1	understanding	understand	VERB
globalce-266	22	2	the	the	DET
globalce-266	22	3	movement	movement	NOUN
globalce-266	22	4	of	of	ADP
globalce-266	22	5	these	these	DET
globalce-266	22	6	limbs	limb	NOUN
globalce-266	22	7	,	,	PUNCT
globalce-266	22	8	especially	especially	ADV
globalce-266	22	9	in	in	ADP
globalce-266	22	10	scenarios	scenario	NOUN
globalce-266	22	11	such	such	ADJ
globalce-266	22	12	as	as	ADP
globalce-266	22	13	injury	injury	NOUN
globalce-266	22	14	or	or	CCONJ
globalce-266	22	15	disease	disease	NOUN
globalce-266	22	16	,	,	PUNCT
globalce-266	22	17	is	be	AUX
globalce-266	22	18	vital	vital	ADJ
globalce-266	22	19	to	to	ADP
globalce-266	22	20	developing	develop	VERB
globalce-266	22	21	effective	effective	ADJ
globalce-266	22	22	rehabilitation	rehabilitation	NOUN
globalce-266	22	23	strategies	strategy	NOUN
globalce-266	22	24	.	.	PUNCT
globalce-266	23	1	this	this	DET
globalce-266	23	2	study	study	NOUN
globalce-266	23	3	delves	delve	VERB
globalce-266	23	4	into	into	ADP
globalce-266	23	5	this	this	DET
globalce-266	23	6	subject	subject	NOUN
globalce-266	23	7	,	,	PUNCT
globalce-266	23	8	presenting	present	VERB
globalce-266	23	9	a	a	DET
globalce-266	23	10	comprehensive	comprehensive	ADJ
globalce-266	23	11	approach	approach	NOUN
globalce-266	23	12	to	to	ADP
globalce-266	23	13	analyzing	analyze	VERB
globalce-266	23	14	the	the	DET
globalce-266	23	15	kinematics	kinematic	NOUN
globalce-266	23	16	and	and	CCONJ
globalce-266	23	17	dynamics	dynamic	NOUN
globalce-266	23	18	of	of	ADP
globalce-266	23	19	lower	low	ADJ
globalce-266	23	20	limb	limb	NOUN
globalce-266	23	21	movement	movement	NOUN
globalce-266	23	22	and	and	CCONJ
globalce-266	23	23	designing	design	VERB
globalce-266	23	24	an	an	DET
globalce-266	23	25	implementation	implementation	NOUN
globalce-266	23	26	plan	plan	NOUN
globalce-266	23	27	for	for	ADP
globalce-266	23	28	the	the	DET
globalce-266	23	29	wearable	wearable	ADJ
globalce-266	23	30	device	device	NOUN
globalce-266	23	31	.	.	PUNCT
globalce-266	24	1	kinematic	kinematic	VERB
globalce-266	24	2	analysis	analysis	NOUN
globalce-266	24	3	to	to	PART
globalce-266	24	4	calculate	calculate	VERB
globalce-266	24	5	the	the	DET
globalce-266	24	6	kinematic	kinematic	ADJ
globalce-266	24	7	model	model	NOUN
globalce-266	24	8	of	of	ADP
globalce-266	24	9	the	the	DET
globalce-266	24	10	lower	low	ADJ
globalce-266	24	11	body	body	NOUN
globalce-266	24	12	,	,	PUNCT
globalce-266	24	13	first	first	ADV
globalce-266	24	14	,	,	PUNCT
globalce-266	24	15	the	the	DET
globalce-266	24	16	degrees	degree	NOUN
globalce-266	24	17	of	of	ADP
globalce-266	24	18	freedom	freedom	NOUN
globalce-266	24	19	(	(	PUNCT
globalce-266	24	20	dof	dof	NOUN
globalce-266	24	21	)	)	PUNCT
globalce-266	24	22	and	and	CCONJ
globalce-266	24	23	the	the	DET
globalce-266	24	24	range	range	NOUN
globalce-266	24	25	of	of	ADP
globalce-266	24	26	motion	motion	NOUN
globalce-266	24	27	(	(	PUNCT
globalce-266	24	28	rom	rom	NOUN
globalce-266	24	29	)	)	PUNCT
globalce-266	24	30	of	of	ADP
globalce-266	24	31	each	each	DET
globalce-266	24	32	joint	joint	NOUN
globalce-266	24	33	were	be	AUX
globalce-266	24	34	found	find	VERB
globalce-266	24	35	.	.	PUNCT
globalce-266	25	1	the	the	DET
globalce-266	25	2	selection	selection	NOUN
globalce-266	25	3	of	of	ADP
globalce-266	25	4	dof	dof	NOUN
globalce-266	25	5	for	for	ADP
globalce-266	25	6	each	each	DET
globalce-266	25	7	joint	joint	NOUN
globalce-266	25	8	was	be	AUX
globalce-266	25	9	influenced	influence	VERB
globalce-266	25	10	by	by	ADP
globalce-266	25	11	the	the	DET
globalce-266	25	12	project	project	NOUN
globalce-266	25	13	’s	’s	PART
globalce-266	25	14	current	current	ADJ
globalce-266	25	15	focus	focus	NOUN
globalce-266	25	16	on	on	ADP
globalce-266	25	17	individuals	individual	NOUN
globalce-266	25	18	with	with	ADP
globalce-266	25	19	tetraplegia	tetraplegia	NOUN
globalce-266	25	20	or	or	CCONJ
globalce-266	25	21	paraplegia	paraplegia	ADJ
globalce-266	25	22	,	,	PUNCT
globalce-266	25	23	thus	thus	ADV
globalce-266	25	24	excluding	exclude	VERB
globalce-266	25	25	the	the	DET
globalce-266	25	26	need	need	NOUN
globalce-266	25	27	to	to	PART
globalce-266	25	28	maintain	maintain	VERB
globalce-266	25	29	a	a	DET
globalce-266	25	30	standing	stand	VERB
globalce-266	25	31	balance	balance	NOUN
globalce-266	25	32	.	.	PUNCT
globalce-266	26	1	the	the	DET
globalce-266	26	2	lower	low	ADJ
globalce-266	26	3	limb	limb	NOUN
globalce-266	26	4	can	can	AUX
globalce-266	26	5	be	be	AUX
globalce-266	26	6	modeled	model	VERB
globalce-266	26	7	as	as	ADP
globalce-266	26	8	a	a	DET
globalce-266	26	9	sequence	sequence	NOUN
globalce-266	26	10	of	of	ADP
globalce-266	26	11	rigid	rigid	ADJ
globalce-266	26	12	links	link	NOUN
globalce-266	26	13	connected	connect	VERB
globalce-266	26	14	by	by	ADP
globalce-266	26	15	one	one	NUM
globalce-266	26	16	universal	universal	ADJ
globalce-266	26	17	rotary	rotary	NOUN
globalce-266	26	18	joint	joint	NOUN
globalce-266	26	19	representing	represent	VERB
globalce-266	26	20	the	the	DET
globalce-266	26	21	hip	hip	NOUN
globalce-266	26	22	and	and	CCONJ
globalce-266	26	23	two	two	NUM
globalce-266	26	24	revolute	revolute	ADJ
globalce-266	26	25	joints	joint	NOUN
globalce-266	26	26	representing	represent	VERB
globalce-266	26	27	the	the	DET
globalce-266	26	28	knee	knee	NOUN
globalce-266	26	29	,	,	PUNCT
globalce-266	26	30	and	and	CCONJ
globalce-266	26	31	ankle	ankle	NOUN
globalce-266	26	32	joints	joint	NOUN
globalce-266	26	33	.	.	PUNCT
globalce-266	27	1	the	the	DET
globalce-266	27	2	dof	dof	NOUN
globalce-266	27	3	of	of	ADP
globalce-266	27	4	a	a	DET
globalce-266	27	5	joint	joint	ADJ
globalce-266	27	6	defines	define	NOUN
globalce-266	27	7	the	the	DET
globalce-266	27	8	number	number	NOUN
globalce-266	27	9	of	of	ADP
globalce-266	27	10	independent	independent	ADJ
globalce-266	27	11	movements	movement	NOUN
globalce-266	27	12	it	it	PRON
globalce-266	27	13	can	can	AUX
globalce-266	27	14	make	make	VERB
globalce-266	27	15	.	.	PUNCT
globalce-266	28	1	in	in	ADP
globalce-266	28	2	our	our	PRON
globalce-266	28	3	model	model	NOUN
globalce-266	28	4	the	the	DET
globalce-266	28	5	hip	hip	NOUN
globalce-266	28	6	has	have	VERB
globalce-266	28	7	three	three	NUM
globalce-266	28	8	dof	dof	NOUN
globalce-266	28	9	allowing	allow	VERB
globalce-266	28	10	flexion	flexion	NOUN
globalce-266	28	11	—	—	PUNCT
globalce-266	28	12	extension	extension	NOUN
globalce-266	28	13	,	,	PUNCT
globalce-266	28	14	adduction	adduction	NOUN
globalce-266	28	15	—	—	PUNCT
globalce-266	28	16	abduction	abduction	NOUN
globalce-266	28	17	,	,	PUNCT
globalce-266	28	18	and	and	CCONJ
globalce-266	28	19	the	the	DET
globalce-266	28	20	internal	internal	ADJ
globalce-266	28	21	—	—	PUNCT
globalce-266	28	22	external	external	ADJ
globalce-266	28	23	rotation	rotation	NOUN
globalce-266	28	24	of	of	ADP
globalce-266	28	25	the	the	DET
globalce-266	28	26	joint	joint	NOUN
globalce-266	28	27	,	,	PUNCT
globalce-266	28	28	the	the	DET
globalce-266	28	29	knee	knee	NOUN
globalce-266	28	30	has	have	VERB
globalce-266	28	31	one	one	NUM
globalce-266	28	32	dof	dof	NOUN
globalce-266	28	33	allowing	allow	VERB
globalce-266	28	34	flexion	flexion	NOUN
globalce-266	28	35	/	/	SYM
globalce-266	28	36	extension	extension	NOUN
globalce-266	28	37	motions	motion	NOUN
globalce-266	28	38	,	,	PUNCT
globalce-266	28	39	and	and	CCONJ
globalce-266	28	40	the	the	DET
globalce-266	28	41	ankle	ankle	NOUN
globalce-266	28	42	also	also	ADV
globalce-266	28	43	has	have	VERB
globalce-266	28	44	one	one	NUM
globalce-266	28	45	dof	dof	NOUN
globalce-266	28	46	allowing	allow	VERB
globalce-266	28	47	dorsiflexion	dorsiflexion	NOUN
globalce-266	28	48	and	and	CCONJ
globalce-266	28	49	plantar	plantar	NOUN
globalce-266	28	50	flexion	flexion	NOUN
globalce-266	28	51	.	.	PUNCT
globalce-266	29	1	for	for	ADP
globalce-266	29	2	the	the	DET
globalce-266	29	3	sake	sake	NOUN
globalce-266	29	4	of	of	ADP
globalce-266	29	5	simplicity	simplicity	NOUN
globalce-266	29	6	,	,	PUNCT
globalce-266	29	7	without	without	ADP
globalce-266	29	8	loss	loss	NOUN
globalce-266	29	9	of	of	ADP
globalce-266	29	10	generality	generality	NOUN
globalce-266	29	11	,	,	PUNCT
globalce-266	29	12	the	the	DET
globalce-266	29	13	hip	hip	NOUN
globalce-266	29	14	joint	joint	NOUN
globalce-266	29	15	is	be	AUX
globalce-266	29	16	equivalently	equivalently	ADV
globalce-266	29	17	modeled	model	VERB
globalce-266	29	18	as	as	ADP
globalce-266	29	19	three	three	NUM
globalce-266	29	20	closely	closely	ADV
globalce-266	29	21	placed	place	VERB
globalce-266	29	22	revolute	revolute	ADJ
globalce-266	29	23	joints	joint	NOUN
globalce-266	29	24	instead	instead	ADV
globalce-266	29	25	of	of	ADP
globalce-266	29	26	a	a	DET
globalce-266	29	27	spherical	spherical	ADJ
globalce-266	29	28	joint.3	joint.3	ADJ
globalce-266	29	29	athe	athe	ADJ
globalce-266	29	30	range	range	NOUN
globalce-266	29	31	of	of	ADP
globalce-266	29	32	motion	motion	NOUN
globalce-266	29	33	(	(	PUNCT
globalce-266	29	34	rom	rom	NOUN
globalce-266	29	35	)	)	PUNCT
globalce-266	29	36	of	of	ADP
globalce-266	29	37	a	a	DET
globalce-266	29	38	joint	joint	NOUN
globalce-266	29	39	,	,	PUNCT
globalce-266	29	40	on	on	ADP
globalce-266	29	41	the	the	DET
globalce-266	29	42	other	other	ADJ
globalce-266	29	43	hand	hand	NOUN
globalce-266	29	44	,	,	PUNCT
globalce-266	29	45	refers	refer	VERB
globalce-266	29	46	to	to	ADP
globalce-266	29	47	the	the	DET
globalce-266	29	48	total	total	ADJ
globalce-266	29	49	amount	amount	NOUN
globalce-266	29	50	of	of	ADP
globalce-266	29	51	movement	movement	NOUN
globalce-266	29	52	that	that	PRON
globalce-266	29	53	can	can	AUX
globalce-266	29	54	occur	occur	VERB
globalce-266	29	55	at	at	ADP
globalce-266	29	56	a	a	DET
globalce-266	29	57	joint	joint	NOUN
globalce-266	29	58	in	in	ADP
globalce-266	29	59	each	each	PRON
globalce-266	29	60	of	of	ADP
globalce-266	29	61	its	its	PRON
globalce-266	29	62	possible	possible	ADJ
globalce-266	29	63	planes	plane	NOUN
globalce-266	29	64	of	of	ADP
globalce-266	29	65	movement	movement	NOUN
globalce-266	29	66	.	.	PUNCT
globalce-266	30	1	from	from	ADP
globalce-266	30	2	range	range	NOUN
globalce-266	30	3	of	of	ADP
globalce-266	30	4	joint	joint	ADJ
globalce-266	30	5	motion	motion	NOUN
globalce-266	30	6	evaluation	evaluation	NOUN
globalce-266	30	7	chart4	chart4	NOUN
globalce-266	30	8	and	and	CCONJ
globalce-266	30	9	kinesiology	kinesiology	NOUN
globalce-266	30	10	:	:	PUNCT
globalce-266	30	11	scientific	scientific	ADJ
globalce-266	30	12	basis	basis	NOUN
globalce-266	30	13	of	of	ADP
globalce-266	30	14	human	human	ADJ
globalce-266	30	15	motion	motion	NOUN
globalce-266	30	16	(	(	PUNCT
globalce-266	30	17	b&b	b&b	PROPN
globalce-266	30	18	physical	physical	ADJ
globalce-266	30	19	education)5	education)5	PROPN
globalce-266	30	20	,	,	PUNCT
globalce-266	30	21	the	the	DET
globalce-266	30	22	rom	rom	NOUN
globalce-266	30	23	of	of	ADP
globalce-266	30	24	the	the	DET
globalce-266	30	25	lower	low	ADJ
globalce-266	30	26	limb	limb	NOUN
globalce-266	30	27	joints	joint	NOUN
globalce-266	30	28	is	be	AUX
globalce-266	30	29	shown	show	VERB
globalce-266	30	30	in	in	ADP
globalce-266	30	31	table	table	NOUN
globalce-266	30	32	1	1	NUM
globalce-266	30	33	.	.	PUNCT
globalce-266	31	1	the	the	DET
globalce-266	31	2	kinematic	kinematic	ADJ
globalce-266	31	3	analysis	analysis	NOUN
globalce-266	31	4	is	be	AUX
globalce-266	31	5	performed	perform	VERB
globalce-266	31	6	using	use	VERB
globalce-266	31	7	the	the	DET
globalce-266	31	8	rigid	rigid	ADJ
globalce-266	31	9	body	body	NOUN
globalce-266	31	10	segment	segment	NOUN
globalce-266	31	11	model	model	NOUN
globalce-266	31	12	approach	approach	NOUN
globalce-266	31	13	,	,	PUNCT
globalce-266	31	14	assuming	assume	VERB
globalce-266	31	15	that	that	SCONJ
globalce-266	31	16	the	the	DET
globalce-266	31	17	bones	bone	NOUN
globalce-266	31	18	are	be	AUX
globalce-266	31	19	completely	completely	ADV
globalce-266	31	20	rigid	rigid	ADJ
globalce-266	31	21	while	while	SCONJ
globalce-266	31	22	they	they	PRON
globalce-266	31	23	may	may	AUX
globalce-266	31	24	have	have	VERB
globalce-266	31	25	some	some	DET
globalce-266	31	26	flexibility	flexibility	NOUN
globalce-266	31	27	.	.	PUNCT
globalce-266	32	1	each	each	DET
globalce-266	32	2	body	body	NOUN
globalce-266	32	3	segment	segment	NOUN
globalce-266	32	4	is	be	AUX
globalce-266	32	5	linked	link	VERB
globalce-266	32	6	to	to	ADP
globalce-266	32	7	the	the	DET
globalce-266	32	8	next	next	ADJ
globalce-266	32	9	by	by	ADP
globalce-266	32	10	a	a	DET
globalce-266	32	11	joint	joint	NOUN
globalce-266	32	12	,	,	PUNCT
globalce-266	32	13	allowing	allow	VERB
globalce-266	32	14	specific	specific	ADJ
globalce-266	32	15	degrees	degree	NOUN
globalce-266	32	16	of	of	ADP
globalce-266	32	17	freedom	freedom	NOUN
globalce-266	32	18	.	.	PUNCT
globalce-266	33	1	this	this	PRON
globalce-266	33	2	forms	form	VERB
globalce-266	33	3	a	a	DET
globalce-266	33	4	chain	chain	NOUN
globalce-266	33	5	of	of	ADP
globalce-266	33	6	rigid	rigid	ADJ
globalce-266	33	7	bodies	body	NOUN
globalce-266	33	8	,	,	PUNCT
globalce-266	33	9	also	also	ADV
globalce-266	33	10	known	know	VERB
globalce-266	33	11	as	as	ADP
globalce-266	33	12	a	a	DET
globalce-266	33	13	kinematic	kinematic	ADJ
globalce-266	33	14	chain	chain	NOUN
globalce-266	33	15	.	.	PUNCT
globalce-266	34	1	the	the	DET
globalce-266	34	2	kinematic	kinematic	ADJ
globalce-266	34	3	chain	chain	NOUN
globalce-266	34	4	consists	consist	VERB
globalce-266	34	5	of	of	ADP
globalce-266	34	6	local	local	ADJ
globalce-266	34	7	reference	reference	NOUN
globalce-266	34	8	frames	frame	NOUN
globalce-266	34	9	for	for	ADP
globalce-266	34	10	each	each	DET
globalce-266	34	11	joint	joint	NOUN
globalce-266	34	12	’s	’s	PART
globalce-266	34	13	motion	motion	NOUN
globalce-266	34	14	,	,	PUNCT
globalce-266	34	15	which	which	PRON
globalce-266	34	16	helps	help	VERB
globalce-266	34	17	us	we	PRON
globalce-266	34	18	identify	identify	VERB
globalce-266	34	19	the	the	DET
globalce-266	34	20	position	position	NOUN
globalce-266	34	21	and	and	CCONJ
globalce-266	34	22	orientation	orientation	NOUN
globalce-266	34	23	of	of	ADP
globalce-266	34	24	each	each	DET
globalce-266	34	25	body	body	NOUN
globalce-266	34	26	segment	segment	NOUN
globalce-266	34	27	.	.	PUNCT
globalce-266	35	1	in	in	ADP
globalce-266	35	2	figure	figure	NOUN
globalce-266	35	3	1	1	NUM
globalce-266	35	4	,	,	PUNCT
globalce-266	35	5	these	these	DET
globalce-266	35	6	local	local	ADJ
globalce-266	35	7	frames	frame	NOUN
globalce-266	35	8	are	be	AUX
globalce-266	35	9	then	then	ADV
globalce-266	35	10	expressed	express	VERB
globalce-266	35	11	relative	relative	ADJ
globalce-266	35	12	to	to	ADP
globalce-266	35	13	a	a	DET
globalce-266	35	14	fixed	fix	VERB
globalce-266	35	15	global	global	ADJ
globalce-266	35	16	reference	reference	NOUN
globalce-266	35	17	frame	frame	NOUN
globalce-266	35	18	,	,	PUNCT
globalce-266	35	19	frame	frame	NOUN
globalce-266	35	20	{	{	PUNCT
globalce-266	35	21	0	0	NUM
globalce-266	35	22	}	}	PUNCT
globalce-266	35	23	,	,	PUNCT
globalce-266	35	24	located	locate	VERB
globalce-266	35	25	at	at	ADP
globalce-266	35	26	the	the	DET
globalce-266	35	27	pelvis	pelvis	PROPN
globalce-266	35	28	’s	’s	PART
globalce-266	35	29	center	center	NOUN
globalce-266	35	30	between	between	ADP
globalce-266	35	31	the	the	DET
globalce-266	35	32	hip	hip	NOUN
globalce-266	35	33	joints	joint	NOUN
globalce-266	35	34	.	.	PUNCT
globalce-266	36	1	our	our	PRON
globalce-266	36	2	model	model	NOUN
globalce-266	36	3	incorporates	incorporate	VERB
globalce-266	36	4	seven	seven	NUM
globalce-266	36	5	frames	frame	NOUN
globalce-266	36	6	,	,	PUNCT
globalce-266	36	7	labeled	label	VERB
globalce-266	36	8	{	{	PUNCT
globalce-266	36	9	0	0	NUM
globalce-266	36	10	}	}	PUNCT
globalce-266	36	11	to	to	ADP
globalce-266	36	12	{	{	PUNCT
globalce-266	36	13	6	6	NUM
globalce-266	36	14	}	}	PUNCT
globalce-266	36	15	.	.	PUNCT
globalce-266	37	1	frame	frame	NOUN
globalce-266	37	2	{	{	PUNCT
globalce-266	37	3	0	0	NUM
globalce-266	37	4	}	}	PUNCT
globalce-266	37	5	serves	serve	VERB
globalce-266	37	6	as	as	ADP
globalce-266	37	7	a	a	DET
globalce-266	37	8	stable	stable	ADJ
globalce-266	37	9	global	global	ADJ
globalce-266	37	10	reference	reference	NOUN
globalce-266	37	11	positioned	position	VERB
globalce-266	37	12	at	at	ADP
globalce-266	37	13	the	the	DET
globalce-266	37	14	pelvis	pelvis	ADJ
globalce-266	37	15	center	center	NOUN
globalce-266	37	16	.	.	PUNCT
globalce-266	38	1	frames	frame	NOUN
globalce-266	38	2	{	{	PUNCT
globalce-266	38	3	1	1	NUM
globalce-266	38	4	}	}	PUNCT
globalce-266	38	5	,	,	PUNCT
globalce-266	38	6	{	{	PUNCT
globalce-266	38	7	2	2	NUM
globalce-266	38	8	}	}	PUNCT
globalce-266	38	9	,	,	PUNCT
globalce-266	38	10	and	and	CCONJ
globalce-266	38	11	{	{	PUNCT
globalce-266	38	12	3	3	X
globalce-266	38	13	}	}	PUNCT
globalce-266	38	14	are	be	AUX
globalce-266	38	15	associated	associate	VERB
globalce-266	38	16	with	with	ADP
globalce-266	38	17	the	the	DET
globalce-266	38	18	hip	hip	NOUN
globalce-266	38	19	joint	joint	NOUN
globalce-266	38	20	’s	’s	PART
globalce-266	38	21	three	three	NUM
globalce-266	38	22	movements	movement	NOUN
globalce-266	38	23	.	.	PUNCT
globalce-266	39	1	frame	frame	NOUN
globalce-266	39	2	{	{	PUNCT
globalce-266	39	3	4	4	NUM
globalce-266	39	4	}	}	PUNCT
globalce-266	39	5	corresponds	correspond	NOUN
globalce-266	39	6	to	to	ADP
globalce-266	39	7	the	the	DET
globalce-266	39	8	knee	knee	NOUN
globalce-266	39	9	joint	joint	NOUN
globalce-266	39	10	’s	’s	PART
globalce-266	39	11	flexion	flexion	NOUN
globalce-266	39	12	and	and	CCONJ
globalce-266	39	13	extension	extension	NOUN
globalce-266	39	14	,	,	PUNCT
globalce-266	39	15	while	while	SCONJ
globalce-266	39	16	frame	frame	NOUN
globalce-266	39	17	{	{	PUNCT
globalce-266	39	18	5	5	NUM
globalce-266	39	19	}	}	PUNCT
globalce-266	39	20	is	be	AUX
globalce-266	39	21	linked	link	VERB
globalce-266	39	22	to	to	ADP
globalce-266	39	23	dorsiflexion	dorsiflexion	NOUN
globalce-266	39	24	and	and	CCONJ
globalce-266	39	25	plantar	plantar	NOUN
globalce-266	39	26	flexion	flexion	NOUN
globalce-266	39	27	.	.	PUNCT
globalce-266	40	1	frame	frame	NOUN
globalce-266	40	2	{	{	PUNCT
globalce-266	40	3	6	6	NUM
globalce-266	40	4	}	}	PUNCT
globalce-266	40	5	,	,	PUNCT
globalce-266	40	6	finally	finally	ADV
globalce-266	40	7	,	,	PUNCT
globalce-266	40	8	is	be	AUX
globalce-266	40	9	the	the	DET
globalce-266	40	10	end	end	NOUN
globalce-266	40	11	-	-	PUNCT
globalce-266	40	12	effector	effector	NOUN
globalce-266	40	13	frame	frame	NOUN
globalce-266	40	14	,	,	PUNCT
globalce-266	40	15	marking	mark	VERB
globalce-266	40	16	the	the	DET
globalce-266	40	17	kinematic	kinematic	ADJ
globalce-266	40	18	chain	chain	NOUN
globalce-266	40	19	’s	’s	PART
globalce-266	40	20	terminal	terminal	ADJ
globalce-266	40	21	point	point	NOUN
globalce-266	40	22	.	.	PUNCT
globalce-266	41	1	table	table	NOUN
globalce-266	41	2	1	1	NUM
globalce-266	41	3	.	.	PUNCT
globalce-266	42	1	range	range	NOUN
globalce-266	42	2	of	of	ADP
globalce-266	42	3	motion	motion	NOUN
globalce-266	42	4	(	(	PUNCT
globalce-266	42	5	rom	rom	NOUN
globalce-266	42	6	)	)	PUNCT
globalce-266	42	7	of	of	ADP
globalce-266	42	8	lower	low	ADJ
globalce-266	42	9	limb	limb	NOUN
globalce-266	42	10	joints	joint	NOUN
globalce-266	42	11	.	.	PUNCT
globalce-266	43	1	joint	joint	ADJ
globalce-266	43	2	movement	movement	NOUN
globalce-266	43	3	degree	degree	NOUN
globalce-266	43	4	hip	hip	NOUN
globalce-266	43	5	flexion	flexion	NOUN
globalce-266	43	6	/	/	SYM
globalce-266	43	7	extension	extension	NOUN
globalce-266	43	8	100	100	NUM
globalce-266	43	9	°	°	NUM
globalce-266	43	10	/30	/30	NOUN
globalce-266	43	11	°	°	PROPN
globalce-266	43	12	hip	hip	NOUN
globalce-266	43	13	abduction	abduction	NOUN
globalce-266	43	14	/	/	SYM
globalce-266	43	15	addaction	addaction	NOUN
globalce-266	43	16	40	40	NUM
globalce-266	43	17	°	°	NOUN
globalce-266	43	18	/20	/20	SYM
globalce-266	43	19	°	°	PROPN
globalce-266	43	20	hip	hip	NOUN
globalce-266	43	21	internal	internal	ADJ
globalce-266	43	22	/	/	SYM
globalce-266	43	23	external	external	ADJ
globalce-266	43	24	rotation	rotation	NOUN
globalce-266	43	25	40	40	NUM
globalce-266	43	26	°	°	NOUN
globalce-266	43	27	/50	/50	NOUN
globalce-266	43	28	°	°	ADJ
globalce-266	43	29	knee	knee	NOUN
globalce-266	43	30	flexion	flexion	NOUN
globalce-266	43	31	/	/	SYM
globalce-266	43	32	extension	extension	NOUN
globalce-266	43	33	150	150	NUM
globalce-266	43	34	°	°	NUM
globalce-266	43	35	/0	/0	NOUN
globalce-266	43	36	°	°	ADJ
globalce-266	43	37	ankle	ankle	NOUN
globalce-266	43	38	dorsiflexion	dorsiflexion	NOUN
globalce-266	43	39	/	/	SYM
globalce-266	43	40	plantar	plantar	NOUN
globalce-266	43	41	flexion	flexion	NOUN
globalce-266	43	42	20	20	NUM
globalce-266	43	43	°	°	NUM
globalce-266	43	44	/40	/40	SYM
globalce-266	43	45	°	°	NUM
globalce-266	43	46	figure	figure	NOUN
globalce-266	43	47	1	1	NUM
globalce-266	43	48	.	.	PUNCT
globalce-266	43	49	representation	representation	NOUN
globalce-266	43	50	of	of	ADP
globalce-266	43	51	the	the	DET
globalce-266	43	52	lower	low	ADJ
globalce-266	43	53	limb	limb	NOUN
globalce-266	43	54	’s	’s	PART
globalce-266	43	55	kinematic	kinematic	ADJ
globalce-266	43	56	chain	chain	NOUN
globalce-266	43	57	:	:	PUNCT
globalce-266	43	58	featuring	feature	VERB
globalce-266	43	59	the	the	DET
globalce-266	43	60	frames	frame	NOUN
globalce-266	43	61	of	of	ADP
globalce-266	43	62	joint	joint	ADJ
globalce-266	43	63	movements	movement	NOUN
globalce-266	43	64	,	,	PUNCT
globalce-266	43	65	θ	θ	PROPN
globalce-266	43	66	angle	angle	NOUN
globalce-266	43	67	variables	variable	NOUN
globalce-266	43	68	,	,	PUNCT
globalce-266	43	69	and	and	CCONJ
globalce-266	43	70	the	the	DET
globalce-266	43	71	coordinate	coordinate	NOUN
globalce-266	43	72	systems	system	NOUN
globalce-266	43	73	for	for	ADP
globalce-266	43	74	each	each	DET
globalce-266	43	75	frame	frame	NOUN
globalce-266	43	76	,	,	PUNCT
globalce-266	43	77	in	in	ADP
globalce-266	43	78	accordance	accordance	NOUN
globalce-266	43	79	with	with	ADP
globalce-266	43	80	the	the	DET
globalce-266	43	81	denavit	denavit	PROPN
globalce-266	43	82	-	-	PUNCT
globalce-266	43	83	hartenberg	hartenberg	PROPN
globalce-266	43	84	convention	convention	PROPN
globalce-266	43	85	.	.	PUNCT
globalce-266	43	86	http://www.globalce.org	http://www.globalce.org	PUNCT
globalce-266	44	1	http://globalce.org	http://globalce.org	PROPN
globalce-266	44	2	http://globalce.org	http://globalce.org	PROPN
globalce-266	44	3	j	j	PROPN
globalce-266	44	4	global	global	ADJ
globalce-266	44	5	clinical	clinical	ADJ
globalce-266	44	6	engineering	engineering	PROPN
globalce-266	44	7	vol.6	vol.6	PROPN
globalce-266	44	8	special	special	ADJ
globalce-266	44	9	issue	issue	NOUN
globalce-266	44	10	6	6	NUM
globalce-266	44	11	:	:	SYM
globalce-266	44	12	2024	2024	NUM
globalce-266	44	13	64	64	NUM
globalce-266	44	14	the	the	DET
globalce-266	44	15	design	design	NOUN
globalce-266	44	16	of	of	ADP
globalce-266	44	17	the	the	DET
globalce-266	44	18	kinematic	kinematic	ADJ
globalce-266	44	19	chain	chain	NOUN
globalce-266	44	20	necessitates	necessitate	VERB
globalce-266	44	21	the	the	DET
globalce-266	44	22	definition	definition	NOUN
globalce-266	44	23	of	of	ADP
globalce-266	44	24	the	the	DET
globalce-266	44	25	rotation	rotation	NOUN
globalce-266	44	26	axes	axis	NOUN
globalce-266	44	27	for	for	ADP
globalce-266	44	28	each	each	DET
globalce-266	44	29	frame	frame	NOUN
globalce-266	44	30	and	and	CCONJ
globalce-266	44	31	the	the	DET
globalce-266	44	32	direction	direction	NOUN
globalce-266	44	33	of	of	ADP
globalce-266	44	34	motion	motion	NOUN
globalce-266	44	35	for	for	ADP
globalce-266	44	36	each	each	DET
globalce-266	44	37	segment	segment	NOUN
globalce-266	44	38	,	,	PUNCT
globalce-266	44	39	while	while	SCONJ
globalce-266	44	40	also	also	ADV
globalce-266	44	41	taking	take	VERB
globalce-266	44	42	into	into	ADP
globalce-266	44	43	consideration	consideration	NOUN
globalce-266	44	44	any	any	DET
globalce-266	44	45	anatomical	anatomical	ADJ
globalce-266	44	46	constraints	constraint	NOUN
globalce-266	44	47	or	or	CCONJ
globalce-266	44	48	joint	joint	ADJ
globalce-266	44	49	limitations	limitation	NOUN
globalce-266	44	50	that	that	PRON
globalce-266	44	51	affect	affect	VERB
globalce-266	44	52	the	the	DET
globalce-266	44	53	range	range	NOUN
globalce-266	44	54	of	of	ADP
globalce-266	44	55	motion	motion	NOUN
globalce-266	44	56	at	at	ADP
globalce-266	44	57	each	each	DET
globalce-266	44	58	joint	joint	NOUN
globalce-266	44	59	.	.	PUNCT
globalce-266	45	1	this	this	DET
globalce-266	45	2	procedure	procedure	NOUN
globalce-266	45	3	is	be	AUX
globalce-266	45	4	guided	guide	VERB
globalce-266	45	5	by	by	ADP
globalce-266	45	6	the	the	DET
globalce-266	45	7	principles	principle	NOUN
globalce-266	45	8	of	of	ADP
globalce-266	45	9	the	the	DET
globalce-266	45	10	denavit	denavit	PROPN
globalce-266	45	11	hartenberg	hartenberg	PROPN
globalce-266	45	12	(	(	PUNCT
globalce-266	45	13	dh	dh	NOUN
globalce-266	45	14	)	)	PUNCT
globalce-266	45	15	convention	convention	NOUN
globalce-266	45	16	,	,	PUNCT
globalce-266	45	17	which	which	PRON
globalce-266	45	18	provides	provide	VERB
globalce-266	45	19	a	a	DET
globalce-266	45	20	systematic	systematic	ADJ
globalce-266	45	21	method	method	NOUN
globalce-266	45	22	for	for	ADP
globalce-266	45	23	representing	represent	VERB
globalce-266	45	24	the	the	DET
globalce-266	45	25	kinematic	kinematic	ADJ
globalce-266	45	26	equations	equation	NOUN
globalce-266	45	27	of	of	ADP
globalce-266	45	28	a	a	DET
globalce-266	45	29	manipulator	manipulator	NOUN
globalce-266	45	30	.	.	PUNCT
globalce-266	46	1	this	this	DET
globalce-266	46	2	convention	convention	NOUN
globalce-266	46	3	is	be	AUX
globalce-266	46	4	particularly	particularly	ADV
globalce-266	46	5	useful	useful	ADJ
globalce-266	46	6	in	in	ADP
globalce-266	46	7	the	the	DET
globalce-266	46	8	context	context	NOUN
globalce-266	46	9	of	of	ADP
globalce-266	46	10	serial	serial	ADJ
globalce-266	46	11	manipulators	manipulator	NOUN
globalce-266	46	12	,	,	PUNCT
globalce-266	46	13	where	where	SCONJ
globalce-266	46	14	a	a	DET
globalce-266	46	15	matrix	matrix	NOUN
globalce-266	46	16	is	be	AUX
globalce-266	46	17	used	use	VERB
globalce-266	46	18	to	to	PART
globalce-266	46	19	represent	represent	VERB
globalce-266	46	20	the	the	DET
globalce-266	46	21	pose	pose	NOUN
globalce-266	46	22	(	(	PUNCT
globalce-266	46	23	position	position	NOUN
globalce-266	46	24	and	and	CCONJ
globalce-266	46	25	orientation	orientation	NOUN
globalce-266	46	26	)	)	PUNCT
globalce-266	46	27	of	of	ADP
globalce-266	46	28	one	one	NUM
globalce-266	46	29	body	body	NOUN
globalce-266	46	30	relative	relative	ADJ
globalce-266	46	31	to	to	ADP
globalce-266	46	32	another	another	PRON
globalce-266	46	33	.	.	PUNCT
globalce-266	47	1	applying	apply	VERB
globalce-266	47	2	the	the	DET
globalce-266	47	3	dh	dh	NOUN
globalce-266	47	4	parameters	parameter	NOUN
globalce-266	47	5	to	to	PART
globalce-266	47	6	figure	figure	VERB
globalce-266	47	7	1	1	NUM
globalce-266	47	8	,	,	PUNCT
globalce-266	47	9	we	we	PRON
globalce-266	47	10	can	can	AUX
globalce-266	47	11	produce	produce	VERB
globalce-266	47	12	the	the	DET
globalce-266	47	13	table	table	NOUN
globalce-266	47	14	2	2	NUM
globalce-266	47	15	:	:	PUNCT
globalce-266	47	16	variable	variable	NOUN
globalce-266	47	17	angles	angle	VERB
globalce-266	47	18	φ	φ	PROPN
globalce-266	47	19	change	change	NOUN
globalce-266	47	20	based	base	VERB
globalce-266	47	21	on	on	ADP
globalce-266	47	22	the	the	DET
globalce-266	47	23	position	position	NOUN
globalce-266	47	24	of	of	ADP
globalce-266	47	25	the	the	DET
globalce-266	47	26	lower	low	ADJ
globalce-266	47	27	limbs	limb	NOUN
globalce-266	47	28	and	and	CCONJ
globalce-266	47	29	are	be	AUX
globalce-266	47	30	constrained	constrain	VERB
globalce-266	47	31	by	by	ADP
globalce-266	47	32	the	the	DET
globalce-266	47	33	range	range	NOUN
globalce-266	47	34	of	of	ADP
globalce-266	47	35	motion	motion	NOUN
globalce-266	47	36	at	at	ADP
globalce-266	47	37	each	each	DET
globalce-266	47	38	joint	joint	NOUN
globalce-266	47	39	.	.	PUNCT
globalce-266	48	1	in	in	ADP
globalce-266	48	2	particular	particular	ADJ
globalce-266	48	3	,	,	PUNCT
globalce-266	48	4	the	the	DET
globalce-266	48	5	angle	angle	NOUN
globalce-266	48	6	φ1	φ1	NOUN
globalce-266	48	7	is	be	AUX
globalce-266	48	8	within	within	ADP
globalce-266	48	9	the	the	DET
globalce-266	48	10	interval	interval	NOUN
globalce-266	48	11	[	[	X
globalce-266	48	12	−50	−50	NOUN
globalce-266	48	13	°	°	NUM
globalce-266	48	14	,	,	PUNCT
globalce-266	48	15	40	40	NUM
globalce-266	48	16	°	°	NOUN
globalce-266	48	17	]	]	PUNCT
globalce-266	48	18	,	,	PUNCT
globalce-266	48	19	φ2	φ2	PROPN
globalce-266	48	20	in	in	ADP
globalce-266	48	21	[	[	X
globalce-266	48	22	−20	−20	NOUN
globalce-266	48	23	°	°	NUM
globalce-266	48	24	,	,	PUNCT
globalce-266	48	25	40	40	NUM
globalce-266	48	26	°	°	NOUN
globalce-266	48	27	]	]	PUNCT
globalce-266	48	28	,	,	PUNCT
globalce-266	48	29	φ3	φ3	NOUN
globalce-266	48	30	in	in	ADP
globalce-266	48	31	[	[	X
globalce-266	48	32	−30	−30	NOUN
globalce-266	48	33	°	°	NOUN
globalce-266	48	34	,	,	PUNCT
globalce-266	48	35	100	100	NUM
globalce-266	48	36	°	°	NOUN
globalce-266	48	37	]	]	X
globalce-266	48	38	,	,	PUNCT
globalce-266	48	39	φ4	φ4	NOUN
globalce-266	48	40	in	in	ADP
globalce-266	48	41	[	[	X
globalce-266	48	42	0	0	NUM
globalce-266	48	43	°	°	NUM
globalce-266	48	44	,	,	PUNCT
globalce-266	48	45	150	150	NUM
globalce-266	48	46	°	°	NOUN
globalce-266	48	47	]	]	PUNCT
globalce-266	48	48	and	and	CCONJ
globalce-266	48	49	φ5	φ5	VERB
globalce-266	48	50	in	in	ADP
globalce-266	48	51	[	[	X
globalce-266	48	52	−40	−40	NOUN
globalce-266	48	53	°	°	NOUN
globalce-266	48	54	,	,	PUNCT
globalce-266	48	55	20	20	NUM
globalce-266	48	56	°	°	NUM
globalce-266	48	57	]	]	PUNCT
globalce-266	48	58	.	.	PUNCT
globalce-266	49	1	the	the	DET
globalce-266	49	2	dh	dh	PROPN
globalce-266	49	3	parameters	parameter	NOUN
globalce-266	49	4	are	be	AUX
globalce-266	49	5	used	use	VERB
globalce-266	49	6	to	to	PART
globalce-266	49	7	find	find	VERB
globalce-266	49	8	the	the	DET
globalce-266	49	9	homogeneous	homogeneous	ADJ
globalce-266	49	10	transformation	transformation	NOUN
globalce-266	49	11	matrix	matrix	NOUN
globalce-266	49	12	and	and	CCONJ
globalce-266	49	13	solve	solve	VERB
globalce-266	49	14	the	the	DET
globalce-266	49	15	forward	forward	ADJ
globalce-266	49	16	and	and	CCONJ
globalce-266	49	17	inverse	inverse	NOUN
globalce-266	49	18	kinematics	kinematic	NOUN
globalce-266	49	19	problems	problem	NOUN
globalce-266	49	20	.	.	PUNCT
globalce-266	50	1	transformation	transformation	NOUN
globalce-266	50	2	matrices	matrix	NOUN
globalce-266	50	3	and	and	CCONJ
globalce-266	50	4	coordinate	coordinate	NOUN
globalce-266	50	5	systems	system	NOUN
globalce-266	50	6	are	be	AUX
globalce-266	50	7	utilized	utilize	VERB
globalce-266	50	8	to	to	PART
globalce-266	50	9	find	find	VERB
globalce-266	50	10	any	any	DET
globalce-266	50	11	position	position	NOUN
globalce-266	50	12	and	and	CCONJ
globalce-266	50	13	orientation	orientation	NOUN
globalce-266	50	14	for	for	ADP
globalce-266	50	15	any	any	DET
globalce-266	50	16	frame	frame	NOUN
globalce-266	50	17	relative	relative	ADJ
globalce-266	50	18	to	to	ADP
globalce-266	50	19	the	the	DET
globalce-266	50	20	base	base	NOUN
globalce-266	50	21	frame	frame	NOUN
globalce-266	50	22	.	.	PUNCT
globalce-266	51	1	in	in	ADP
globalce-266	51	2	particular	particular	ADJ
globalce-266	51	3	,	,	PUNCT
globalce-266	51	4	the	the	DET
globalce-266	51	5	homogeneous	homogeneous	ADJ
globalce-266	51	6	transformation	transformation	NOUN
globalce-266	51	7	matrices	matrix	NOUN
globalce-266	51	8	allow	allow	VERB
globalce-266	51	9	us	we	PRON
globalce-266	51	10	to	to	PART
globalce-266	51	11	combine	combine	VERB
globalce-266	51	12	3	3	NUM
globalce-266	51	13	×	×	NOUN
globalce-266	51	14	3	3	NUM
globalce-266	51	15	rotation	rotation	NOUN
globalce-266	51	16	matrices	matrix	NOUN
globalce-266	51	17	and	and	CCONJ
globalce-266	51	18	3	3	NUM
globalce-266	51	19	×	×	NOUN
globalce-266	51	20	1	1	NUM
globalce-266	51	21	displacement	displacement	ADJ
globalce-266	51	22	vectors	vector	NOUN
globalce-266	51	23	into	into	ADP
globalce-266	51	24	a	a	DET
globalce-266	51	25	single	single	ADJ
globalce-266	51	26	4	4	NUM
globalce-266	51	27	×	×	NOUN
globalce-266	51	28	4	4	NUM
globalce-266	51	29	matrix	matrix	NOUN
globalce-266	51	30	,	,	PUNCT
globalce-266	51	31	adding	add	VERB
globalce-266	51	32	an	an	DET
globalce-266	51	33	additional	additional	ADJ
globalce-266	51	34	row	row	NOUN
globalce-266	51	35	:	:	PUNCT
globalce-266	52	1	[	[	X
globalce-266	52	2	0	0	NUM
globalce-266	52	3	0	0	NUM
globalce-266	52	4	0	0	NUM
globalce-266	52	5	1	1	NUM
globalce-266	52	6	]	]	PUNCT
globalce-266	52	7	.	.	PUNCT
globalce-266	53	1	the	the	DET
globalce-266	53	2	general	general	ADJ
globalce-266	53	3	form	form	NOUN
globalce-266	53	4	of	of	ADP
globalce-266	53	5	the	the	DET
globalce-266	53	6	transformation	transformation	NOUN
globalce-266	53	7	matrix	matrix	NOUN
globalce-266	53	8	(	(	PUNCT
globalce-266	53	9	t	t	PROPN
globalce-266	53	10	)	)	PUNCT
globalce-266	53	11	,	,	PUNCT
globalce-266	53	12	according	accord	VERB
globalce-266	53	13	to	to	ADP
globalce-266	53	14	introduction	introduction	NOUN
globalce-266	53	15	to	to	ADP
globalce-266	53	16	robotics	robotic	NOUN
globalce-266	53	17	:	:	PUNCT
globalce-266	53	18	mechanics	mechanic	NOUN
globalce-266	53	19	and	and	CCONJ
globalce-266	53	20	control6	control6	PROPN
globalce-266	53	21	,	,	PUNCT
globalce-266	53	22	that	that	PRON
globalce-266	53	23	defines	define	VERB
globalce-266	53	24	frame	frame	NOUN
globalce-266	53	25	{	{	PUNCT
globalce-266	53	26	i	i	NOUN
globalce-266	53	27	}	}	PUNCT
globalce-266	53	28	relative	relative	ADJ
globalce-266	53	29	to	to	ADP
globalce-266	53	30	the	the	DET
globalce-266	53	31	frame	frame	NOUN
globalce-266	53	32	{	{	PUNCT
globalce-266	53	33	i−1	i−1	PROPN
globalce-266	53	34	}	}	PUNCT
globalce-266	53	35	,	,	PUNCT
globalce-266	53	36	in	in	ADP
globalce-266	53	37	accord	accord	NOUN
globalce-266	53	38	with	with	ADP
globalce-266	53	39	the	the	DET
globalce-266	53	40	dh	dh	PROPN
globalce-266	53	41	convention	convention	PROPN
globalce-266	53	42	,	,	PUNCT
globalce-266	53	43	is	be	AUX
globalce-266	53	44	:	:	PUNCT
globalce-266	53	45	by	by	ADP
globalce-266	53	46	chaining	chain	VERB
globalce-266	53	47	together	together	ADV
globalce-266	53	48	the	the	DET
globalce-266	53	49	transformation	transformation	NOUN
globalce-266	53	50	matrices	matrix	NOUN
globalce-266	53	51	of	of	ADP
globalce-266	53	52	each	each	DET
globalce-266	53	53	joint	joint	NOUN
globalce-266	53	54	starting	start	VERB
globalce-266	53	55	from	from	ADP
globalce-266	53	56	the	the	DET
globalce-266	53	57	base	base	NOUN
globalce-266	53	58	of	of	ADP
globalce-266	53	59	the	the	DET
globalce-266	53	60	robot	robot	NOUN
globalce-266	53	61	,	,	PUNCT
globalce-266	53	62	we	we	PRON
globalce-266	53	63	can	can	AUX
globalce-266	53	64	obtain	obtain	VERB
globalce-266	53	65	the	the	DET
globalce-266	53	66	overall	overall	ADJ
globalce-266	53	67	transformation	transformation	NOUN
globalce-266	53	68	matrix	matrix	NOUN
globalce-266	53	69	of	of	ADP
globalce-266	53	70	the	the	DET
globalce-266	53	71	lower	low	ADJ
globalce-266	53	72	limb	limb	NOUN
globalce-266	53	73	.	.	PUNCT
globalce-266	54	1	this	this	DET
globalce-266	54	2	matrix	matrix	NOUN
globalce-266	54	3	can	can	AUX
globalce-266	54	4	then	then	ADV
globalce-266	54	5	be	be	AUX
globalce-266	54	6	used	use	VERB
globalce-266	54	7	to	to	PART
globalce-266	54	8	calculate	calculate	VERB
globalce-266	54	9	the	the	DET
globalce-266	54	10	position	position	NOUN
globalce-266	54	11	and	and	CCONJ
globalce-266	54	12	orientation	orientation	NOUN
globalce-266	54	13	of	of	ADP
globalce-266	54	14	the	the	DET
globalce-266	54	15	end	end	NOUN
globalce-266	54	16	-	-	PUNCT
globalce-266	54	17	effector	effector	NOUN
globalce-266	54	18	for	for	ADP
globalce-266	54	19	a	a	DET
globalce-266	54	20	given	give	VERB
globalce-266	54	21	set	set	NOUN
globalce-266	54	22	of	of	ADP
globalce-266	54	23	joint	joint	ADJ
globalce-266	54	24	angles	angle	NOUN
globalce-266	54	25	(	(	PUNCT
globalce-266	54	26	forward	forward	ADJ
globalce-266	54	27	kinematics	kinematic	NOUN
globalce-266	54	28	)	)	PUNCT
globalce-266	54	29	or	or	CCONJ
globalce-266	54	30	to	to	PART
globalce-266	54	31	determine	determine	VERB
globalce-266	54	32	the	the	DET
globalce-266	54	33	joint	joint	ADJ
globalce-266	54	34	angles	angle	NOUN
globalce-266	54	35	required	require	VERB
globalce-266	54	36	to	to	PART
globalce-266	54	37	achieve	achieve	VERB
globalce-266	54	38	a	a	DET
globalce-266	54	39	desired	desire	VERB
globalce-266	54	40	end	end	NOUN
globalce-266	54	41	-	-	PUNCT
globalce-266	54	42	effector	effector	NOUN
globalce-266	54	43	position	position	NOUN
globalce-266	54	44	and	and	CCONJ
globalce-266	54	45	orientation	orientation	NOUN
globalce-266	54	46	(	(	PUNCT
globalce-266	54	47	inverse	inverse	NOUN
globalce-266	54	48	kinematics	kinematic	NOUN
globalce-266	54	49	)	)	PUNCT
globalce-266	54	50	.	.	PUNCT
globalce-266	55	1	from	from	ADP
globalce-266	55	2	the	the	DET
globalce-266	55	3	transformation	transformation	NOUN
globalce-266	55	4	matrix	matrix	NOUN
globalce-266	55	5	calculated	calculate	VERB
globalce-266	55	6	previously	previously	ADV
globalce-266	55	7	,	,	PUNCT
globalce-266	55	8	we	we	PRON
globalce-266	55	9	obtain	obtain	VERB
globalce-266	55	10	:	:	PUNCT
globalce-266	55	11	where	where	SCONJ
globalce-266	55	12	r	r	NOUN
globalce-266	55	13	is	be	AUX
globalce-266	55	14	the	the	DET
globalce-266	55	15	rotation	rotation	NOUN
globalce-266	55	16	matrix	matrix	NOUN
globalce-266	55	17	and	and	CCONJ
globalce-266	55	18	p	p	NOUN
globalce-266	55	19	is	be	AUX
globalce-266	55	20	the	the	DET
globalce-266	55	21	position	position	NOUN
globalce-266	55	22	vector	vector	NOUN
globalce-266	55	23	of	of	ADP
globalce-266	55	24	frame	frame	NOUN
globalce-266	55	25	5	5	NUM
globalce-266	55	26	with	with	ADP
globalce-266	55	27	respect	respect	NOUN
globalce-266	55	28	to	to	ADP
globalce-266	55	29	the	the	DET
globalce-266	55	30	reference	reference	NOUN
globalce-266	55	31	base	base	NOUN
globalce-266	55	32	frame	frame	NOUN
globalce-266	55	33	0.7	0.7	NUM
globalce-266	55	34	the	the	DET
globalce-266	55	35	position	position	NOUN
globalce-266	55	36	vector	vector	NOUN
globalce-266	55	37	p	p	NOUN
globalce-266	55	38	provides	provide	VERB
globalce-266	55	39	the	the	DET
globalce-266	55	40	position	position	NOUN
globalce-266	55	41	of	of	ADP
globalce-266	55	42	the	the	DET
globalce-266	55	43	desired	desire	VERB
globalce-266	55	44	frame	frame	NOUN
globalce-266	55	45	,	,	PUNCT
globalce-266	55	46	and	and	CCONJ
globalce-266	55	47	the	the	DET
globalce-266	55	48	rotation	rotation	NOUN
globalce-266	55	49	matrix	matrix	NOUN
globalce-266	55	50	r	r	NOUN
globalce-266	55	51	provides	provide	VERB
globalce-266	55	52	the	the	DET
globalce-266	55	53	orientation	orientation	NOUN
globalce-266	55	54	,	,	PUNCT
globalce-266	55	55	those	those	DET
globalce-266	55	56	two	two	NUM
globalce-266	55	57	are	be	AUX
globalce-266	55	58	the	the	DET
globalce-266	55	59	solutions	solution	NOUN
globalce-266	55	60	to	to	ADP
globalce-266	55	61	the	the	DET
globalce-266	55	62	forward	forward	ADJ
globalce-266	55	63	kinematics	kinematic	NOUN
globalce-266	55	64	problem	problem	NOUN
globalce-266	55	65	.	.	PUNCT
globalce-266	56	1	on	on	ADP
globalce-266	56	2	the	the	DET
globalce-266	56	3	other	other	ADJ
globalce-266	56	4	hand	hand	NOUN
globalce-266	56	5	,	,	PUNCT
globalce-266	56	6	solving	solve	VERB
globalce-266	56	7	the	the	DET
globalce-266	56	8	inverse	inverse	NOUN
globalce-266	56	9	kinematics	kinematic	NOUN
globalce-266	56	10	problem	problem	NOUN
globalce-266	56	11	involves	involve	VERB
globalce-266	56	12	determining	determine	VERB
globalce-266	56	13	the	the	DET
globalce-266	56	14	joint	joint	ADJ
globalce-266	56	15	angles	angle	NOUN
globalce-266	56	16	.	.	PUNCT
globalce-266	57	1	a	a	DET
globalce-266	57	2	frequently	frequently	ADV
globalce-266	57	3	used	use	VERB
globalce-266	57	4	method	method	NOUN
globalce-266	57	5	for	for	ADP
globalce-266	57	6	this	this	DET
globalce-266	57	7	involves	involve	NOUN
globalce-266	57	8	multiplying	multiply	VERB
globalce-266	57	9	each	each	DET
globalce-266	57	10	side	side	NOUN
globalce-266	57	11	of	of	ADP
globalce-266	57	12	the	the	DET
globalce-266	57	13	transformation	transformation	NOUN
globalce-266	57	14	equation	equation	NOUN
globalce-266	57	15	(	(	PUNCT
globalce-266	57	16	2	2	NUM
globalce-266	57	17	)	)	PUNCT
globalce-266	57	18	by	by	ADP
globalce-266	57	19	the	the	DET
globalce-266	57	20	corresponding	corresponding	ADJ
globalce-266	57	21	inverse	inverse	NOUN
globalce-266	57	22	transformation	transformation	NOUN
globalce-266	57	23	matrix	matrix	NOUN
globalce-266	57	24	,	,	PUNCT
globalce-266	57	25	depending	depend	VERB
globalce-266	57	26	on	on	ADP
globalce-266	57	27	the	the	DET
globalce-266	57	28	frame	frame	NOUN
globalce-266	57	29	’s	’s	PART
globalce-266	57	30	angle	angle	NOUN
globalce-266	57	31	we	we	PRON
globalce-266	57	32	are	be	AUX
globalce-266	57	33	aiming	aim	VERB
globalce-266	57	34	to	to	PART
globalce-266	57	35	solve	solve	VERB
globalce-266	57	36	for.8	for.8	ADV
globalce-266	57	37	however	however	ADV
globalce-266	57	38	,	,	PUNCT
globalce-266	57	39	the	the	DET
globalce-266	57	40	solution	solution	NOUN
globalce-266	57	41	to	to	ADP
globalce-266	57	42	the	the	DET
globalce-266	57	43	inverse	inverse	NOUN
globalce-266	57	44	kinematics	kinematic	NOUN
globalce-266	57	45	problem	problem	NOUN
globalce-266	57	46	is	be	AUX
globalce-266	57	47	not	not	PART
globalce-266	57	48	pertinent	pertinent	ADJ
globalce-266	57	49	to	to	ADP
globalce-266	57	50	this	this	DET
globalce-266	57	51	study	study	NOUN
globalce-266	57	52	,	,	PUNCT
globalce-266	57	53	and	and	CCONJ
globalce-266	57	54	we	we	PRON
globalce-266	57	55	will	will	AUX
globalce-266	57	56	not	not	PART
globalce-266	57	57	delve	delve	VERB
globalce-266	57	58	into	into	ADP
globalce-266	57	59	it	it	PRON
globalce-266	57	60	further	far	ADV
globalce-266	57	61	.	.	PUNCT
globalce-266	58	1	differential	differential	VERB
globalce-266	58	2	kinematic	kinematic	ADJ
globalce-266	58	3	analysis	analysis	NOUN
globalce-266	58	4	differential	differential	ADJ
globalce-266	58	5	kinematics	kinematic	NOUN
globalce-266	58	6	focuses	focus	VERB
globalce-266	58	7	on	on	ADP
globalce-266	58	8	the	the	DET
globalce-266	58	9	relationship	relationship	NOUN
globalce-266	58	10	between	between	ADP
globalce-266	58	11	the	the	DET
globalce-266	58	12	joint	joint	ADJ
globalce-266	58	13	velocities	velocity	NOUN
globalce-266	58	14	and	and	CCONJ
globalce-266	58	15	the	the	DET
globalce-266	58	16	corresponding	corresponding	ADJ
globalce-266	58	17	endeffector	endeffector	NOUN
globalce-266	58	18	’s	’s	PART
globalce-266	58	19	linear	linear	ADJ
globalce-266	58	20	and	and	CCONJ
globalce-266	58	21	angular	angular	ADJ
globalce-266	58	22	velocity	velocity	NOUN
globalce-266	58	23	.	.	PUNCT
globalce-266	59	1	it	it	PRON
globalce-266	59	2	provides	provide	VERB
globalce-266	59	3	a	a	DET
globalce-266	59	4	way	way	NOUN
globalce-266	59	5	to	to	ADP
globalce-266	59	6	table	table	NOUN
globalce-266	59	7	2	2	NUM
globalce-266	59	8	.	.	PUNCT
globalce-266	59	9	denavit	denavit	PROPN
globalce-266	59	10	hartenberg	hartenberg	PROPN
globalce-266	59	11	(	(	PUNCT
globalce-266	59	12	dh	dh	NOUN
globalce-266	59	13	)	)	PUNCT
globalce-266	59	14	parameters	parameter	NOUN
globalce-266	59	15	of	of	ADP
globalce-266	59	16	the	the	DET
globalce-266	59	17	lower	low	ADJ
globalce-266	59	18	limb	limb	NOUN
globalce-266	59	19	model	model	NOUN
globalce-266	59	20	.	.	PUNCT
globalce-266	60	1	joint	joint	NOUN
globalce-266	60	2	i	i	PRON
globalce-266	60	3	αi-1	αi-1	PUNCT
globalce-266	60	4	ai-1	ai-1	X
globalce-266	60	5	di	di	X
globalce-266	60	6	θi	θi	PROPN
globalce-266	60	7	pelvis	pelvis	ADJ
globalce-266	60	8	0	0	NUM
globalce-266	60	9	d0	d0	NOUN
globalce-266	60	10	0	0	NUM
globalce-266	60	11	°	°	NOUN
globalce-266	60	12	(	(	PUNCT
globalce-266	60	13	x1‖x2	x1‖x2	NOUN
globalce-266	60	14	)	)	PUNCT
globalce-266	60	15	hip	hip	NOUN
globalce-266	60	16	1	1	NUM
globalce-266	60	17	α0	α0	ADJ
globalce-266	60	18	0	0	NUM
globalce-266	60	19	0	0	NUM
globalce-266	60	20	φ1	φ1	NOUN
globalce-266	60	21	+	+	CCONJ
globalce-266	60	22	90	90	NUM
globalce-266	60	23	°	°	NUM
globalce-266	60	24	hip	hip	NOUN
globalce-266	60	25	2	2	NUM
globalce-266	60	26	−90	−90	NOUN
globalce-266	60	27	°	°	PROPN
globalce-266	60	28	0	0	NUM
globalce-266	60	29	0	0	NUM
globalce-266	60	30	φ2	φ2	NOUN
globalce-266	60	31	+	+	CCONJ
globalce-266	60	32	90	90	NUM
globalce-266	60	33	°	°	NUM
globalce-266	60	34	hip	hip	NOUN
globalce-266	60	35	3	3	NUM
globalce-266	60	36	+90	+90	NOUN
globalce-266	60	37	°	°	NOUN
globalce-266	60	38	0	0	NUM
globalce-266	60	39	0	0	NUM
globalce-266	60	40	φ3	φ3	NOUN
globalce-266	60	41	+	+	CCONJ
globalce-266	60	42	90	90	NUM
globalce-266	60	43	°	°	NUM
globalce-266	60	44	knee	knee	NOUN
globalce-266	60	45	4	4	NUM
globalce-266	60	46	0	0	NUM
globalce-266	60	47	°	°	NOUN
globalce-266	60	48	(	(	PUNCT
globalce-266	60	49	z3‖z4	z3‖z4	PROPN
globalce-266	60	50	)	)	PUNCT
globalce-266	60	51	l1	l1	PROPN
globalce-266	60	52	0	0	NUM
globalce-266	60	53	φ4	φ4	PROPN
globalce-266	60	54	ankle	ankle	NOUN
globalce-266	60	55	5	5	NUM
globalce-266	60	56	0	0	NUM
globalce-266	60	57	°	°	NOUN
globalce-266	60	58	(	(	PUNCT
globalce-266	60	59	z4‖z5	z4‖z5	NOUN
globalce-266	60	60	)	)	PUNCT
globalce-266	60	61	l2	l2	NOUN
globalce-266	60	62	0	0	NUM
globalce-266	60	63	φ5	φ5	ADJ
globalce-266	60	64	end	end	NOUN
globalce-266	60	65	-	-	PUNCT
globalce-266	60	66	effector	effector	NOUN
globalce-266	60	67	6	6	NUM
globalce-266	60	68	0	0	NUM
globalce-266	60	69	°	°	NOUN
globalce-266	60	70	(	(	PUNCT
globalce-266	60	71	z5‖z6	z5‖z6	NOUN
globalce-266	60	72	)	)	PUNCT
globalce-266	60	73	l3	l3	NOUN
globalce-266	60	74	http://www.globalce.org	http://www.globalce.org	X
globalce-266	61	1	http://globalce.org	http://globalce.org	PROPN
globalce-266	61	2	http://globalce.org	http://globalce.org	NUM
globalce-266	61	3	65	65	NUM
globalce-266	61	4	j	j	PROPN
globalce-266	61	5	global	global	ADJ
globalce-266	61	6	clinical	clinical	ADJ
globalce-266	61	7	engineering	engineering	PROPN
globalce-266	61	8	vol.6	vol.6	PROPN
globalce-266	61	9	special	special	ADJ
globalce-266	61	10	issue	issue	NOUN
globalce-266	61	11	6	6	NUM
globalce-266	61	12	:	:	SYM
globalce-266	61	13	2024	2024	NUM
globalce-266	61	14	analyze	analyze	VERB
globalce-266	61	15	how	how	SCONJ
globalce-266	61	16	changes	change	NOUN
globalce-266	61	17	in	in	ADP
globalce-266	61	18	joint	joint	ADJ
globalce-266	61	19	velocities	velocity	NOUN
globalce-266	61	20	affect	affect	VERB
globalce-266	61	21	the	the	DET
globalce-266	61	22	motion	motion	NOUN
globalce-266	61	23	of	of	ADP
globalce-266	61	24	the	the	DET
globalce-266	61	25	end	end	NOUN
globalce-266	61	26	-	-	PUNCT
globalce-266	61	27	effector	effector	NOUN
globalce-266	61	28	.	.	PUNCT
globalce-266	62	1	to	to	PART
globalce-266	62	2	facilitate	facilitate	VERB
globalce-266	62	3	this	this	DET
globalce-266	62	4	analysis	analysis	NOUN
globalce-266	62	5	,	,	PUNCT
globalce-266	62	6	we	we	PRON
globalce-266	62	7	introduce	introduce	VERB
globalce-266	62	8	a	a	DET
globalce-266	62	9	matrix	matrix	NOUN
globalce-266	62	10	quantity	quantity	NOUN
globalce-266	62	11	known	know	VERB
globalce-266	62	12	as	as	ADP
globalce-266	62	13	the	the	DET
globalce-266	62	14	jacobian	jacobian	PROPN
globalce-266	62	15	,	,	PUNCT
globalce-266	62	16	which	which	PRON
globalce-266	62	17	maps	map	VERB
globalce-266	62	18	velocities	velocity	NOUN
globalce-266	62	19	in	in	ADP
globalce-266	62	20	joint	joint	ADJ
globalce-266	62	21	space	space	NOUN
globalce-266	62	22	to	to	ADP
globalce-266	62	23	velocities	velocity	NOUN
globalce-266	62	24	in	in	ADP
globalce-266	62	25	cartesian	cartesian	ADJ
globalce-266	62	26	space	space	NOUN
globalce-266	62	27	.	.	PUNCT
globalce-266	63	1	there	there	PRON
globalce-266	63	2	are	be	VERB
globalce-266	63	3	two	two	NUM
globalce-266	63	4	types	type	NOUN
globalce-266	63	5	of	of	ADP
globalce-266	63	6	jacobian	jacobian	ADJ
globalce-266	63	7	matrices	matrix	NOUN
globalce-266	63	8	:	:	PUNCT
globalce-266	63	9	geometric	geometric	ADJ
globalce-266	63	10	and	and	CCONJ
globalce-266	63	11	analytical	analytical	ADJ
globalce-266	63	12	.	.	PUNCT
globalce-266	64	1	the	the	DET
globalce-266	64	2	geometric	geometric	ADJ
globalce-266	64	3	jacobian	jacobian	NOUN
globalce-266	64	4	is	be	AUX
globalce-266	64	5	based	base	VERB
globalce-266	64	6	on	on	ADP
globalce-266	64	7	the	the	DET
globalce-266	64	8	pose	pose	NOUN
globalce-266	64	9	matrix	matrix	NOUN
globalce-266	64	10	of	of	ADP
globalce-266	64	11	the	the	DET
globalce-266	64	12	lower	low	ADJ
globalce-266	64	13	body	body	NOUN
globalce-266	64	14	end	end	NOUN
globalce-266	64	15	-	-	PUNCT
globalce-266	64	16	effector	effector	NOUN
globalce-266	64	17	.	.	PUNCT
globalce-266	65	1	on	on	ADP
globalce-266	65	2	the	the	DET
globalce-266	65	3	other	other	ADJ
globalce-266	65	4	hand	hand	NOUN
globalce-266	65	5	,	,	PUNCT
globalce-266	65	6	the	the	DET
globalce-266	65	7	analytical	analytical	ADJ
globalce-266	65	8	jacobian	jacobian	NOUN
globalce-266	65	9	is	be	AUX
globalce-266	65	10	based	base	VERB
globalce-266	65	11	on	on	ADP
globalce-266	65	12	a	a	DET
globalce-266	65	13	minimal	minimal	ADJ
globalce-266	65	14	parametrized	parametrized	ADJ
globalce-266	65	15	form	form	NOUN
globalce-266	65	16	for	for	ADP
globalce-266	65	17	representing	represent	VERB
globalce-266	65	18	the	the	DET
globalce-266	65	19	position	position	NOUN
globalce-266	65	20	and	and	CCONJ
globalce-266	65	21	the	the	DET
globalce-266	65	22	orientation	orientation	NOUN
globalce-266	65	23	of	of	ADP
globalce-266	65	24	the	the	DET
globalce-266	65	25	end	end	NOUN
globalce-266	65	26	-	-	PUNCT
globalce-266	65	27	effector	effector	NOUN
globalce-266	65	28	frame	frame	NOUN
globalce-266	65	29	.	.	PUNCT
globalce-266	66	1	in	in	ADP
globalce-266	66	2	our	our	PRON
globalce-266	66	3	case	case	NOUN
globalce-266	66	4	,	,	PUNCT
globalce-266	66	5	geometric	geometric	ADJ
globalce-266	66	6	jacobian	jacobian	NOUN
globalce-266	66	7	is	be	AUX
globalce-266	66	8	more	more	ADV
globalce-266	66	9	suitable	suitable	ADJ
globalce-266	66	10	since	since	SCONJ
globalce-266	66	11	the	the	DET
globalce-266	66	12	pose	pose	NOUN
globalce-266	66	13	matrix	matrix	NOUN
globalce-266	66	14	is	be	AUX
globalce-266	66	15	available	available	ADJ
globalce-266	66	16	,	,	PUNCT
globalce-266	66	17	rather	rather	ADV
globalce-266	66	18	than	than	ADP
globalce-266	66	19	the	the	DET
globalce-266	66	20	minimal	minimal	ADJ
globalce-266	66	21	representation	representation	NOUN
globalce-266	66	22	form	form	NOUN
globalce-266	66	23	that	that	PRON
globalce-266	66	24	would	would	AUX
globalce-266	66	25	be	be	AUX
globalce-266	66	26	required	require	VERB
globalce-266	66	27	for	for	ADP
globalce-266	66	28	an	an	DET
globalce-266	66	29	analytical	analytical	ADJ
globalce-266	66	30	approach	approach	NOUN
globalce-266	66	31	.	.	PUNCT
globalce-266	67	1	as	as	ADP
globalce-266	67	2	such	such	ADJ
globalce-266	67	3	,	,	PUNCT
globalce-266	67	4	when	when	SCONJ
globalce-266	67	5	we	we	PRON
globalce-266	67	6	refer	refer	VERB
globalce-266	67	7	to	to	ADP
globalce-266	67	8	the	the	DET
globalce-266	67	9	jacobian	jacobian	ADJ
globalce-266	67	10	,	,	PUNCT
globalce-266	67	11	we	we	PRON
globalce-266	67	12	will	will	AUX
globalce-266	67	13	be	be	AUX
globalce-266	67	14	referring	refer	VERB
globalce-266	67	15	specifically	specifically	ADV
globalce-266	67	16	to	to	ADP
globalce-266	67	17	the	the	DET
globalce-266	67	18	geometric	geometric	ADJ
globalce-266	67	19	jacobian.7,9	jacobian.7,9	PROPN
globalce-266	67	20	the	the	DET
globalce-266	67	21	rotation	rotation	NOUN
globalce-266	67	22	matrix	matrix	NOUN
globalce-266	67	23	,	,	PUNCT
globalce-266	67	24	denoted	denote	VERB
globalce-266	67	25	as	as	ADP
globalce-266	67	26	r	r	NOUN
globalce-266	67	27	,	,	PUNCT
globalce-266	67	28	and	and	CCONJ
globalce-266	67	29	the	the	DET
globalce-266	67	30	position	position	NOUN
globalce-266	67	31	vector	vector	NOUN
globalce-266	67	32	,	,	PUNCT
globalce-266	67	33	p	p	PRON
globalce-266	67	34	,	,	PUNCT
globalce-266	67	35	are	be	AUX
globalce-266	67	36	dependent	dependent	ADJ
globalce-266	67	37	solely	solely	ADV
globalce-266	67	38	on	on	ADP
globalce-266	67	39	the	the	DET
globalce-266	67	40	variables	variable	NOUN
globalce-266	67	41	of	of	ADP
globalce-266	67	42	the	the	DET
globalce-266	67	43	joints	joint	NOUN
globalce-266	67	44	.	.	PUNCT
globalce-266	68	1	in	in	ADP
globalce-266	68	2	our	our	PRON
globalce-266	68	3	specific	specific	ADJ
globalce-266	68	4	scenario	scenario	NOUN
globalce-266	68	5	,	,	PUNCT
globalce-266	68	6	where	where	SCONJ
globalce-266	68	7	the	the	DET
globalce-266	68	8	joints	joint	NOUN
globalce-266	68	9	are	be	AUX
globalce-266	68	10	revolute	revolute	ADJ
globalce-266	68	11	,	,	PUNCT
globalce-266	68	12	these	these	DET
globalce-266	68	13	variables	variable	NOUN
globalce-266	68	14	correspond	correspond	VERB
globalce-266	68	15	to	to	ADP
globalce-266	68	16	the	the	DET
globalce-266	68	17	angles	angle	NOUN
globalce-266	68	18	θ	θ	PROPN
globalce-266	68	19	of	of	ADP
globalce-266	68	20	the	the	DET
globalce-266	68	21	model	model	NOUN
globalce-266	68	22	and	and	CCONJ
globalce-266	68	23	are	be	AUX
globalce-266	68	24	represented	represent	VERB
globalce-266	68	25	as	as	ADP
globalce-266	68	26	q	q	NOUN
globalce-266	68	27	,	,	PUNCT
globalce-266	68	28	where	where	SCONJ
globalce-266	68	29	qi	qi	PROPN
globalce-266	68	30	=	=	SYM
globalce-266	68	31	θi	θi	PROPN
globalce-266	68	32	.	.	PUNCT
globalce-266	69	1	the	the	DET
globalce-266	69	2	relationship	relationship	NOUN
globalce-266	69	3	between	between	ADP
globalce-266	69	4	these	these	DET
globalce-266	69	5	joint	joint	ADJ
globalce-266	69	6	variables	variable	NOUN
globalce-266	69	7	,	,	PUNCT
globalce-266	69	8	the	the	DET
globalce-266	69	9	jacobian	jacobian	ADJ
globalce-266	69	10	matrix	matrix	NOUN
globalce-266	69	11	,	,	PUNCT
globalce-266	69	12	and	and	CCONJ
globalce-266	69	13	the	the	DET
globalce-266	69	14	velocity	velocity	NOUN
globalce-266	69	15	of	of	ADP
globalce-266	69	16	the	the	DET
globalce-266	69	17	end	end	NOUN
globalce-266	69	18	-	-	PUNCT
globalce-266	69	19	effector	effector	NOUN
globalce-266	69	20	,	,	PUNCT
globalce-266	69	21	can	can	AUX
globalce-266	69	22	be	be	AUX
globalce-266	69	23	expressed	express	VERB
globalce-266	69	24	as	as	ADP
globalce-266	69	25	follows7	follows7	NOUN
globalce-266	69	26	(	(	PUNCT
globalce-266	69	27	on	on	ADP
globalce-266	69	28	page	page	NOUN
globalce-266	69	29	107	107	NUM
globalce-266	69	30	):	):	PUNCT
globalce-266	70	1	where	where	SCONJ
globalce-266	70	2	q	q	NOUN
globalce-266	70	3	and	and	CCONJ
globalce-266	70	4	are	be	AUX
globalce-266	70	5	given	give	VERB
globalce-266	70	6	by	by	ADP
globalce-266	70	7	:	:	PUNCT
globalce-266	70	8	the	the	DET
globalce-266	70	9	matrix	matrix	NOUN
globalce-266	70	10	is	be	AUX
globalce-266	70	11	a	a	DET
globalce-266	70	12	6	6	NUM
globalce-266	70	13	×	×	NOUN
globalce-266	70	14	5	5	NUM
globalce-266	70	15	matrix	matrix	NOUN
globalce-266	70	16	where	where	SCONJ
globalce-266	70	17	5	5	NUM
globalce-266	70	18	is	be	AUX
globalce-266	70	19	the	the	DET
globalce-266	70	20	number	number	NOUN
globalce-266	70	21	of	of	ADP
globalce-266	70	22	links	link	NOUN
globalce-266	70	23	.	.	PUNCT
globalce-266	71	1	the	the	DET
globalce-266	71	2	angular	angular	ADJ
globalce-266	71	3	velocity	velocity	NOUN
globalce-266	71	4	of	of	ADP
globalce-266	71	5	the	the	DET
globalce-266	71	6	end	end	NOUN
globalce-266	71	7	-	-	PUNCT
globalce-266	71	8	effector	effector	NOUN
globalce-266	71	9	can	can	AUX
globalce-266	71	10	be	be	AUX
globalce-266	71	11	expressed	express	VERB
globalce-266	71	12	relative	relative	ADJ
globalce-266	71	13	to	to	ADP
globalce-266	71	14	the	the	DET
globalce-266	71	15	rotation	rotation	NOUN
globalce-266	71	16	matrix	matrix	NOUN
globalce-266	71	17	r	r	NOUN
globalce-266	71	18	as	as	SCONJ
globalce-266	71	19	follows	follow	VERB
globalce-266	71	20	:	:	PUNCT
globalce-266	71	21	through	through	ADP
globalce-266	71	22	the	the	DET
globalce-266	71	23	computations	computation	NOUN
globalce-266	71	24	described7	described7	PROPN
globalce-266	72	1	(	(	PUNCT
globalce-266	72	2	on	on	ADP
globalce-266	72	3	page	page	NOUN
globalce-266	72	4	108	108	NUM
globalce-266	72	5	and	and	CCONJ
globalce-266	72	6	111	111	NUM
globalce-266	72	7	)	)	PUNCT
globalce-266	72	8	it	it	PRON
globalce-266	72	9	is	be	AUX
globalce-266	72	10	retrieved	retrieve	VERB
globalce-266	72	11	that	that	SCONJ
globalce-266	72	12	the	the	DET
globalce-266	72	13	angular	angular	ADJ
globalce-266	72	14	velocities	velocity	NOUN
globalce-266	72	15	’	'	PUNCT
globalce-266	72	16	jacobian	jacobian	PROPN
globalce-266	72	17	jω	jω	PROPN
globalce-266	72	18	is	be	AUX
globalce-266	72	19	being	be	AUX
globalce-266	72	20	expressed	express	VERB
globalce-266	72	21	,	,	PUNCT
globalce-266	72	22	for	for	ADP
globalce-266	72	23	every	every	DET
globalce-266	72	24	i−th	i−th	PROPN
globalce-266	72	25	revolute	revolute	ADJ
globalce-266	72	26	joint	joint	NOUN
globalce-266	72	27	,	,	PUNCT
globalce-266	72	28	as	as	SCONJ
globalce-266	72	29	follows	follow	VERB
globalce-266	72	30	:	:	PUNCT
globalce-266	72	31	the	the	DET
globalce-266	72	32	total	total	NOUN
globalce-266	72	33	lower	low	ADJ
globalce-266	72	34	half	half	NOUN
globalce-266	72	35	of	of	ADP
globalce-266	72	36	the	the	DET
globalce-266	72	37	jacobian	jacobian	PROPN
globalce-266	72	38	is	be	AUX
globalce-266	72	39	thus	thus	ADV
globalce-266	72	40	given	give	VERB
globalce-266	72	41	as	as	ADP
globalce-266	72	42	:	:	PUNCT
globalce-266	72	43	on	on	ADP
globalce-266	72	44	the	the	DET
globalce-266	72	45	other	other	ADJ
globalce-266	72	46	hand	hand	NOUN
globalce-266	72	47	,	,	PUNCT
globalce-266	72	48	the	the	DET
globalce-266	72	49	linear	linear	ADJ
globalce-266	72	50	velocity	velocity	NOUN
globalce-266	72	51	of	of	ADP
globalce-266	72	52	the	the	DET
globalce-266	72	53	end	end	NOUN
globalce-266	72	54	-	-	PUNCT
globalce-266	72	55	effector	effector	NOUN
globalce-266	72	56	is	be	AUX
globalce-266	72	57	just	just	ADV
globalce-266	72	58	the	the	DET
globalce-266	72	59	derivative	derivative	NOUN
globalce-266	72	60	of	of	ADP
globalce-266	72	61	the	the	DET
globalce-266	72	62	position	position	NOUN
globalce-266	72	63	vector	vector	NOUN
globalce-266	72	64	and	and	CCONJ
globalce-266	72	65	by	by	ADP
globalce-266	72	66	the	the	DET
globalce-266	72	67	chain	chain	NOUN
globalce-266	72	68	rule	rule	NOUN
globalce-266	72	69	for	for	ADP
globalce-266	72	70	differentiation	differentiation	NOUN
globalce-266	72	71	:	:	PUNCT
globalce-266	72	72	again	again	ADV
globalce-266	72	73	,	,	PUNCT
globalce-266	72	74	following	follow	VERB
globalce-266	72	75	the	the	DET
globalce-266	72	76	computation	computation	NOUN
globalce-266	72	77	described7	described7	NOUN
globalce-266	73	1	(	(	PUNCT
globalce-266	73	2	on	on	ADP
globalce-266	73	3	page	page	NOUN
globalce-266	73	4	110	110	NUM
globalce-266	73	5	)	)	PUNCT
globalce-266	73	6	is	be	AUX
globalce-266	73	7	retrieved	retrieve	VERB
globalce-266	73	8	that	that	SCONJ
globalce-266	73	9	the	the	DET
globalce-266	73	10	linear	linear	PROPN
globalce-266	73	11	velocities	velocity	NOUN
globalce-266	73	12	’	'	PUNCT
globalce-266	73	13	jacobian	jacobian	PROPN
globalce-266	73	14	ju	ju	PROPN
globalce-266	73	15	is	be	AUX
globalce-266	73	16	being	be	AUX
globalce-266	73	17	expressed	express	VERB
globalce-266	73	18	,	,	PUNCT
globalce-266	73	19	for	for	ADP
globalce-266	73	20	every	every	DET
globalce-266	73	21	i−th	i−th	PROPN
globalce-266	73	22	revolute	revolute	ADJ
globalce-266	73	23	joint	joint	NOUN
globalce-266	73	24	,	,	PUNCT
globalce-266	73	25	as	as	SCONJ
globalce-266	73	26	it	it	PRON
globalce-266	73	27	follows	follow	VERB
globalce-266	73	28	:	:	PUNCT
globalce-266	73	29	the	the	DET
globalce-266	73	30	total	total	ADJ
globalce-266	73	31	upper	upper	ADJ
globalce-266	73	32	half	half	NOUN
globalce-266	73	33	of	of	ADP
globalce-266	73	34	the	the	DET
globalce-266	73	35	jacobian	jacobian	PROPN
globalce-266	73	36	is	be	AUX
globalce-266	73	37	thus	thus	ADV
globalce-266	73	38	given	give	VERB
globalce-266	73	39	as	as	ADP
globalce-266	73	40	:	:	PUNCT
globalce-266	73	41	combining	combine	VERB
globalce-266	73	42	the	the	DET
globalce-266	73	43	upper	upper	ADJ
globalce-266	73	44	and	and	CCONJ
globalce-266	73	45	lower	low	ADJ
globalce-266	73	46	halves	half	NOUN
globalce-266	73	47	of	of	ADP
globalce-266	73	48	the	the	DET
globalce-266	73	49	jacobian	jacobian	ADJ
globalce-266	73	50	,	,	PUNCT
globalce-266	73	51	we	we	PRON
globalce-266	73	52	can	can	AUX
globalce-266	73	53	deduce	deduce	VERB
globalce-266	73	54	that	that	SCONJ
globalce-266	73	55	the	the	DET
globalce-266	73	56	jacobian	jacobian	NOUN
globalce-266	73	57	of	of	ADP
globalce-266	73	58	the	the	DET
globalce-266	73	59	lower	low	ADJ
globalce-266	73	60	limb	limb	NOUN
globalce-266	73	61	model	model	NOUN
globalce-266	73	62	is	be	AUX
globalce-266	73	63	of	of	ADP
globalce-266	73	64	the	the	DET
globalce-266	73	65	form	form	NOUN
globalce-266	73	66	:	:	PUNCT
globalce-266	73	67	where	where	SCONJ
globalce-266	73	68	the	the	DET
globalce-266	73	69	i	i	PROPN
globalce-266	73	70	-	-	PUNCT
globalce-266	73	71	th	th	VERB
globalce-266	73	72	column	column	NOUN
globalce-266	73	73	is	be	AUX
globalce-266	73	74	given	give	VERB
globalce-266	73	75	by	by	ADP
globalce-266	73	76	:	:	PUNCT
globalce-266	73	77	the	the	DET
globalce-266	73	78	above	above	ADJ
globalce-266	73	79	procedure	procedure	NOUN
globalce-266	73	80	works	work	VERB
globalce-266	73	81	not	not	PART
globalce-266	73	82	only	only	ADV
globalce-266	73	83	for	for	ADP
globalce-266	73	84	computing	compute	VERB
globalce-266	73	85	the	the	DET
globalce-266	73	86	velocity	velocity	NOUN
globalce-266	73	87	of	of	ADP
globalce-266	73	88	the	the	DET
globalce-266	73	89	end	end	NOUN
globalce-266	73	90	-	-	PUNCT
globalce-266	73	91	effector	effector	NOUN
globalce-266	73	92	but	but	CCONJ
globalce-266	73	93	also	also	ADV
globalce-266	73	94	for	for	ADP
globalce-266	73	95	computing	compute	VERB
globalce-266	73	96	the	the	DET
globalce-266	73	97	velocity	velocity	NOUN
globalce-266	73	98	of	of	ADP
globalce-266	73	99	any	any	DET
globalce-266	73	100	frame	frame	NOUN
globalce-266	73	101	on	on	ADP
globalce-266	73	102	the	the	DET
globalce-266	73	103	model	model	NOUN
globalce-266	73	104	.	.	PUNCT
globalce-266	74	1	dynamic	dynamic	ADJ
globalce-266	74	2	analysis	analysis	NOUN
globalce-266	74	3	while	while	SCONJ
globalce-266	74	4	the	the	DET
globalce-266	74	5	kinematic	kinematic	ADJ
globalce-266	74	6	equations	equation	NOUN
globalce-266	74	7	outline	outline	VERB
globalce-266	74	8	the	the	DET
globalce-266	74	9	motion	motion	NOUN
globalce-266	74	10	of	of	ADP
globalce-266	74	11	the	the	DET
globalce-266	74	12	robot	robot	NOUN
globalce-266	74	13	without	without	ADP
globalce-266	74	14	considering	consider	VERB
globalce-266	74	15	the	the	DET
globalce-266	74	16	forces	force	NOUN
globalce-266	74	17	and	and	CCONJ
globalce-266	74	18	moments	moment	NOUN
globalce-266	74	19	causing	cause	VERB
globalce-266	74	20	the	the	DET
globalce-266	74	21	motion	motion	NOUN
globalce-266	74	22	,	,	PUNCT
globalce-266	74	23	the	the	DET
globalce-266	74	24	dynamic	dynamic	ADJ
globalce-266	74	25	equations	equation	NOUN
globalce-266	74	26	explicitly	explicitly	ADV
globalce-266	74	27	describe	describe	VERB
globalce-266	74	28	the	the	DET
globalce-266	74	29	relationship	relationship	NOUN
globalce-266	74	30	between	between	ADP
globalce-266	74	31	force	force	NOUN
globalce-266	74	32	and	and	CCONJ
globalce-266	74	33	motion	motion	NOUN
globalce-266	74	34	.	.	PUNCT
globalce-266	75	1	the	the	DET
globalce-266	75	2	dynamic	dynamic	ADJ
globalce-266	75	3	equations	equation	NOUN
globalce-266	75	4	of	of	ADP
globalce-266	75	5	motion	motion	NOUN
globalce-266	75	6	can	can	AUX
globalce-266	75	7	be	be	AUX
globalce-266	75	8	calculated	calculate	VERB
globalce-266	75	9	using	use	VERB
globalce-266	75	10	newtonian	newtonian	ADJ
globalce-266	75	11	,	,	PUNCT
globalce-266	75	12	lagrangian	lagrangian	ADJ
globalce-266	75	13	,	,	PUNCT
globalce-266	75	14	or	or	CCONJ
globalce-266	75	15	hamiltonian	hamiltonian	ADJ
globalce-266	75	16	mechanics	mechanic	NOUN
globalce-266	75	17	.	.	PUNCT
globalce-266	76	1	in	in	ADP
globalce-266	76	2	our	our	PRON
globalce-266	76	3	case	case	NOUN
globalce-266	76	4	,	,	PUNCT
globalce-266	76	5	the	the	DET
globalce-266	76	6	lagrangian	lagrangian	ADJ
globalce-266	76	7	approach	approach	NOUN
globalce-266	76	8	was	be	AUX
globalce-266	76	9	selected	select	VERB
globalce-266	76	10	mainly	mainly	ADV
globalce-266	76	11	because	because	SCONJ
globalce-266	76	12	is	be	AUX
globalce-266	76	13	based	base	VERB
globalce-266	76	14	on	on	ADP
globalce-266	76	15	the	the	DET
globalce-266	76	16	system	system	NOUN
globalce-266	76	17	’s	’s	PART
globalce-266	76	18	kinetic	kinetic	ADJ
globalce-266	76	19	and	and	CCONJ
globalce-266	76	20	dynamic	dynamic	ADJ
globalce-266	76	21	energy	energy	NOUN
globalce-266	76	22	,	,	PUNCT
globalce-266	76	23	rather	rather	ADV
globalce-266	76	24	than	than	ADP
globalce-266	76	25	forces	force	NOUN
globalce-266	76	26	.	.	PUNCT
globalce-266	77	1	this	this	PRON
globalce-266	77	2	can	can	AUX
globalce-266	77	3	simplify	simplify	VERB
globalce-266	77	4	the	the	DET
globalce-266	77	5	analysis	analysis	NOUN
globalce-266	77	6	of	of	ADP
globalce-266	77	7	complex	complex	ADJ
globalce-266	77	8	systems	system	NOUN
globalce-266	77	9	and	and	CCONJ
globalce-266	77	10	avoid	avoid	VERB
globalce-266	77	11	the	the	DET
globalce-266	77	12	need	need	NOUN
globalce-266	77	13	for	for	ADP
globalce-266	77	14	complex	complex	ADJ
globalce-266	77	15	force	force	NOUN
globalce-266	77	16	equations	equation	NOUN
globalce-266	77	17	.	.	PUNCT
globalce-266	78	1	assuring	assure	VERB
globalce-266	78	2	that	that	SCONJ
globalce-266	78	3	the	the	DET
globalce-266	78	4	constraint	constraint	NOUN
globalce-266	78	5	forces	force	NOUN
globalce-266	78	6	satisfy	satisfy	VERB
globalce-266	78	7	http://www.globalce.org	http://www.globalce.org	PUNCT
globalce-266	78	8	http://globalce.org	http://globalce.org	PROPN
globalce-266	78	9	http://globalce.org	http://globalce.org	PROPN
globalce-266	78	10	j	j	PROPN
globalce-266	78	11	global	global	ADJ
globalce-266	78	12	clinical	clinical	ADJ
globalce-266	78	13	engineering	engineering	PROPN
globalce-266	78	14	vol.6	vol.6	PROPN
globalce-266	78	15	special	special	ADJ
globalce-266	78	16	issue	issue	NOUN
globalce-266	78	17	6	6	NUM
globalce-266	78	18	:	:	SYM
globalce-266	78	19	2024	2024	NUM
globalce-266	78	20	66	66	NUM
globalce-266	78	21	the	the	DET
globalce-266	78	22	principle	principle	NOUN
globalce-266	78	23	of	of	ADP
globalce-266	78	24	virtual	virtual	ADJ
globalce-266	78	25	work	work	NOUN
globalce-266	78	26	we	we	PRON
globalce-266	78	27	can	can	AUX
globalce-266	78	28	introduce	introduce	VERB
globalce-266	78	29	the	the	DET
globalce-266	78	30	euler	euler	PROPN
globalce-266	78	31	lagrange	lagrange	PROPN
globalce-266	78	32	equations	equation	NOUN
globalce-266	78	33	of	of	ADP
globalce-266	78	34	motion	motion	NOUN
globalce-266	78	35	:	:	PUNCT
globalce-266	78	36	where	where	SCONJ
globalce-266	78	37	l	l	NOUN
globalce-266	78	38	=	=	PUNCT
globalce-266	79	1	k	k	PROPN
globalce-266	80	1	−	−	PROPN
globalce-266	80	2	p	p	PROPN
globalce-266	80	3	is	be	AUX
globalce-266	80	4	the	the	DET
globalce-266	80	5	lagrangian	lagrangian	ADJ
globalce-266	80	6	function	function	NOUN
globalce-266	80	7	,	,	PUNCT
globalce-266	80	8	k	k	PROPN
globalce-266	80	9	is	be	AUX
globalce-266	80	10	the	the	DET
globalce-266	80	11	kinetic	kinetic	ADJ
globalce-266	80	12	energy	energy	NOUN
globalce-266	80	13	,	,	PUNCT
globalce-266	80	14	p	p	NOUN
globalce-266	80	15	is	be	AUX
globalce-266	80	16	the	the	DET
globalce-266	80	17	dynamic	dynamic	ADJ
globalce-266	80	18	energy	energy	NOUN
globalce-266	80	19	,	,	PUNCT
globalce-266	80	20	and	and	CCONJ
globalce-266	80	21	forces	force	NOUN
globalce-266	80	22	τ	τ	PROPN
globalce-266	80	23	represent	represent	VERB
globalce-266	80	24	the	the	DET
globalce-266	80	25	generalized	generalized	ADJ
globalce-266	80	26	forces	force	NOUN
globalce-266	80	27	’	'	PUNCT
globalce-266	80	28	function	function	NOUN
globalce-266	80	29	.	.	PUNCT
globalce-266	81	1	as	as	SCONJ
globalce-266	81	2	shown	show	VERB
globalce-266	81	3	in	in	ADP
globalce-266	81	4	robot	robot	NOUN
globalce-266	81	5	modeling	modeling	NOUN
globalce-266	81	6	and	and	CCONJ
globalce-266	81	7	control7	control7	NOUN
globalce-266	81	8	(	(	PUNCT
globalce-266	81	9	on	on	ADP
globalce-266	81	10	page	page	NOUN
globalce-266	81	11	205	205	NUM
globalce-266	81	12	)	)	PUNCT
globalce-266	81	13	,	,	PUNCT
globalce-266	81	14	the	the	DET
globalce-266	81	15	kinetic	kinetic	ADJ
globalce-266	81	16	energy	energy	NOUN
globalce-266	81	17	of	of	ADP
globalce-266	81	18	the	the	DET
globalce-266	81	19	manipulator	manipulator	NOUN
globalce-266	81	20	can	can	AUX
globalce-266	81	21	be	be	AUX
globalce-266	81	22	computed	compute	VERB
globalce-266	81	23	using	use	VERB
globalce-266	81	24	the	the	DET
globalce-266	81	25	calculated	calculated	ADJ
globalce-266	81	26	jacobian	jacobian	ADJ
globalce-266	81	27	matrices	matrix	NOUN
globalce-266	81	28	.	.	PUNCT
globalce-266	82	1	the	the	DET
globalce-266	82	2	form	form	NOUN
globalce-266	82	3	of	of	ADP
globalce-266	82	4	it	it	PRON
globalce-266	82	5	equals	equal	VERB
globalce-266	82	6	:	:	PUNCT
globalce-266	82	7	similarly	similarly	ADV
globalce-266	82	8	,	,	PUNCT
globalce-266	82	9	can	can	AUX
globalce-266	82	10	be	be	AUX
globalce-266	82	11	expressed	express	VERB
globalce-266	82	12	as	as	ADP
globalce-266	82	13	:	:	PUNCT
globalce-266	82	14	where	where	SCONJ
globalce-266	82	15	d(q	d(q	NOUN
globalce-266	82	16	)	)	PUNCT
globalce-266	82	17	is	be	AUX
globalce-266	82	18	a	a	DET
globalce-266	82	19	symmetric	symmetric	ADJ
globalce-266	82	20	positive	positive	ADJ
globalce-266	82	21	definite	definite	ADJ
globalce-266	82	22	matrix	matrix	NOUN
globalce-266	82	23	that	that	PRON
globalce-266	82	24	is	be	AUX
globalce-266	82	25	called	call	VERB
globalce-266	82	26	an	an	DET
globalce-266	82	27	inertia	inertia	NOUN
globalce-266	82	28	matrix	matrix	NOUN
globalce-266	82	29	.	.	PUNCT
globalce-266	83	1	assuming	assume	VERB
globalce-266	83	2	that	that	SCONJ
globalce-266	83	3	the	the	DET
globalce-266	83	4	mass	mass	NOUN
globalce-266	83	5	of	of	ADP
globalce-266	83	6	every	every	DET
globalce-266	83	7	link	link	NOUN
globalce-266	83	8	is	be	AUX
globalce-266	83	9	concentrated	concentrate	VERB
globalce-266	83	10	at	at	ADP
globalce-266	83	11	its	its	PRON
globalce-266	83	12	center	center	NOUN
globalce-266	83	13	,	,	PUNCT
globalce-266	83	14	the	the	DET
globalce-266	83	15	potential	potential	ADJ
globalce-266	83	16	energy	energy	NOUN
globalce-266	83	17	of	of	ADP
globalce-266	83	18	the	the	DET
globalce-266	83	19	i−th	i−th	PROPN
globalce-266	83	20	link	link	NOUN
globalce-266	83	21	of	of	ADP
globalce-266	83	22	the	the	DET
globalce-266	83	23	lower	low	ADJ
globalce-266	83	24	body	body	NOUN
globalce-266	83	25	can	can	AUX
globalce-266	83	26	be	be	AUX
globalce-266	83	27	computed	compute	VERB
globalce-266	83	28	as	as	SCONJ
globalce-266	83	29	follows	follow	VERB
globalce-266	83	30	:	:	PUNCT
globalce-266	83	31	where	where	SCONJ
globalce-266	83	32	the	the	DET
globalce-266	83	33	vector	vector	NOUN
globalce-266	83	34	g	g	PROPN
globalce-266	83	35	represents	represent	VERB
globalce-266	83	36	the	the	DET
globalce-266	83	37	direction	direction	NOUN
globalce-266	83	38	of	of	ADP
globalce-266	83	39	gravity	gravity	NOUN
globalce-266	83	40	in	in	ADP
globalce-266	83	41	the	the	DET
globalce-266	83	42	inertial	inertial	ADJ
globalce-266	83	43	frame	frame	NOUN
globalce-266	83	44	and	and	CCONJ
globalce-266	83	45	the	the	DET
globalce-266	83	46	vector	vector	NOUN
globalce-266	83	47	rci	rci	PROPN
globalce-266	83	48	denotes	denote	VERB
globalce-266	83	49	the	the	DET
globalce-266	83	50	coordinates	coordinate	NOUN
globalce-266	83	51	of	of	ADP
globalce-266	83	52	the	the	DET
globalce-266	83	53	center	center	NOUN
globalce-266	83	54	of	of	ADP
globalce-266	83	55	mass	mass	NOUN
globalce-266	83	56	of	of	ADP
globalce-266	83	57	the	the	DET
globalce-266	83	58	i	i	PROPN
globalce-266	83	59	-	-	PUNCT
globalce-266	83	60	th	th	X
globalce-266	83	61	link	link	NOUN
globalce-266	83	62	.	.	PUNCT
globalce-266	84	1	the	the	DET
globalce-266	84	2	total	total	ADJ
globalce-266	84	3	potential	potential	ADJ
globalce-266	84	4	energy	energy	NOUN
globalce-266	84	5	of	of	ADP
globalce-266	84	6	our	our	PRON
globalce-266	84	7	model	model	NOUN
globalce-266	84	8	is	be	AUX
globalce-266	84	9	given	give	VERB
globalce-266	84	10	by	by	ADP
globalce-266	84	11	the	the	DET
globalce-266	84	12	sum	sum	NOUN
globalce-266	84	13	:	:	PUNCT
globalce-266	84	14	having	have	VERB
globalce-266	84	15	the	the	DET
globalce-266	84	16	kinetic	kinetic	ADJ
globalce-266	84	17	energy	energy	NOUN
globalce-266	84	18	in	in	ADP
globalce-266	84	19	the	the	DET
globalce-266	84	20	quadratic	quadratic	ADJ
globalce-266	84	21	form	form	NOUN
globalce-266	84	22	of	of	ADP
globalce-266	84	23	the	the	DET
globalce-266	84	24	vector	vector	NOUN
globalce-266	84	25	q̇	q̇	NOUN
globalce-266	84	26	and	and	CCONJ
globalce-266	84	27	assuming	assume	VERB
globalce-266	84	28	that	that	SCONJ
globalce-266	84	29	the	the	DET
globalce-266	84	30	potential	potential	ADJ
globalce-266	84	31	energy	energy	NOUN
globalce-266	84	32	of	of	ADP
globalce-266	84	33	every	every	DET
globalce-266	84	34	link	link	NOUN
globalce-266	84	35	of	of	ADP
globalce-266	84	36	the	the	DET
globalce-266	84	37	model	model	NOUN
globalce-266	84	38	is	be	AUX
globalce-266	84	39	independent	independent	ADJ
globalce-266	84	40	of	of	ADP
globalce-266	84	41	q̇	q̇	PROPN
globalce-266	84	42	the	the	DET
globalce-266	84	43	euler	euler	PROPN
globalce-266	84	44	-	-	PUNCT
globalce-266	84	45	lagrange	lagrange	NOUN
globalce-266	84	46	equations	equation	NOUN
globalce-266	84	47	of	of	ADP
globalce-266	84	48	motion	motion	NOUN
globalce-266	84	49	can	can	AUX
globalce-266	84	50	be	be	AUX
globalce-266	84	51	specialized	specialize	VERB
globalce-266	84	52	as	as	ADP
globalce-266	84	53	:	:	PUNCT
globalce-266	84	54	where	where	SCONJ
globalce-266	84	55	k	k	PROPN
globalce-266	84	56	=	=	SYM
globalce-266	84	57	1	1	NUM
globalce-266	84	58	,	,	PUNCT
globalce-266	84	59	...	...	PUNCT
globalce-266	84	60	,	,	PUNCT
globalce-266	84	61	5	5	X
globalce-266	84	62	.	.	X
globalce-266	84	63	implementation	implementation	NOUN
globalce-266	84	64	plan	plan	VERB
globalce-266	84	65	the	the	DET
globalce-266	84	66	goal	goal	NOUN
globalce-266	84	67	of	of	ADP
globalce-266	84	68	the	the	DET
globalce-266	84	69	wearable	wearable	ADJ
globalce-266	84	70	device	device	NOUN
globalce-266	84	71	is	be	AUX
globalce-266	84	72	to	to	PART
globalce-266	84	73	aid	aid	VERB
globalce-266	84	74	in	in	ADP
globalce-266	84	75	rehabilitation	rehabilitation	NOUN
globalce-266	84	76	exercises	exercise	NOUN
globalce-266	84	77	by	by	ADP
globalce-266	84	78	utilizing	utilize	VERB
globalce-266	84	79	electrostimulations	electrostimulation	NOUN
globalce-266	84	80	.	.	PUNCT
globalce-266	85	1	to	to	PART
globalce-266	85	2	control	control	VERB
globalce-266	85	3	the	the	DET
globalce-266	85	4	electrostimulator	electrostimulator	NOUN
globalce-266	85	5	(	(	PUNCT
globalce-266	85	6	ems	ems	PROPN
globalce-266	85	7	)	)	PUNCT
globalce-266	85	8	,	,	PUNCT
globalce-266	85	9	it	it	PRON
globalce-266	85	10	is	be	AUX
globalce-266	85	11	necessary	necessary	ADJ
globalce-266	85	12	to	to	PART
globalce-266	85	13	compute	compute	VERB
globalce-266	85	14	the	the	DET
globalce-266	85	15	error	error	NOUN
globalce-266	85	16	of	of	ADP
globalce-266	85	17	the	the	DET
globalce-266	85	18	person	person	NOUN
globalce-266	85	19	's	's	PART
globalce-266	85	20	motion	motion	NOUN
globalce-266	85	21	.	.	PUNCT
globalce-266	86	1	this	this	PRON
globalce-266	86	2	is	be	AUX
globalce-266	86	3	achieved	achieve	VERB
globalce-266	86	4	through	through	ADP
globalce-266	86	5	the	the	DET
globalce-266	86	6	analysis	analysis	NOUN
globalce-266	86	7	of	of	ADP
globalce-266	86	8	joints	joint	NOUN
globalce-266	86	9	’	'	PUNCT
globalce-266	86	10	angle	angle	NOUN
globalce-266	86	11	errors	error	NOUN
globalce-266	86	12	provided	provide	VERB
globalce-266	86	13	by	by	ADP
globalce-266	86	14	kinematic	kinematic	ADJ
globalce-266	86	15	analysis	analysis	NOUN
globalce-266	86	16	and	and	CCONJ
globalce-266	86	17	the	the	DET
globalce-266	86	18	forces	force	NOUN
globalce-266	86	19	and	and	CCONJ
globalce-266	86	20	torque	torque	NOUN
globalce-266	86	21	errors	error	NOUN
globalce-266	86	22	computed	compute	VERB
globalce-266	86	23	by	by	ADP
globalce-266	86	24	dynamic	dynamic	ADJ
globalce-266	86	25	analysis	analysis	NOUN
globalce-266	86	26	.	.	PUNCT
globalce-266	87	1	additionally	additionally	ADV
globalce-266	87	2	to	to	ADP
globalce-266	87	3	these	these	DET
globalce-266	87	4	errors	error	NOUN
globalce-266	87	5	,	,	PUNCT
globalce-266	87	6	emg	emg	NOUN
globalce-266	87	7	data	datum	NOUN
globalce-266	87	8	can	can	AUX
globalce-266	87	9	be	be	AUX
globalce-266	87	10	utilized	utilize	VERB
globalce-266	87	11	by	by	ADP
globalce-266	87	12	analyzing	analyze	VERB
globalce-266	87	13	them	they	PRON
globalce-266	87	14	using	use	VERB
globalce-266	87	15	the	the	DET
globalce-266	87	16	ceinms	ceinms	NOUN
globalce-266	87	17	software.10	software.10	NOUN
globalce-266	87	18	the	the	DET
globalce-266	87	19	real	real	ADJ
globalce-266	87	20	-	-	PUNCT
globalce-266	87	21	time	time	NOUN
globalce-266	87	22	kinematic	kinematic	ADJ
globalce-266	87	23	analysis	analysis	NOUN
globalce-266	87	24	will	will	AUX
globalce-266	87	25	be	be	AUX
globalce-266	87	26	implemented	implement	VERB
globalce-266	87	27	based	base	VERB
globalce-266	87	28	on	on	ADP
globalce-266	87	29	opensensert	opensensert	NOUN
globalce-266	87	30	(	(	PUNCT
globalce-266	87	31	as	as	SCONJ
globalce-266	87	32	shown	show	VERB
globalce-266	87	33	in	in	ADP
globalce-266	87	34	figure	figure	NOUN
globalce-266	87	35	2	2	NUM
globalce-266	87	36	)	)	PUNCT
globalce-266	87	37	,	,	PUNCT
globalce-266	87	38	an	an	DET
globalce-266	87	39	open	open	ADJ
globalce-266	87	40	-	-	PUNCT
globalce-266	87	41	source	source	NOUN
globalce-266	87	42	software	software	NOUN
globalce-266	87	43	and	and	CCONJ
globalce-266	87	44	hardware	hardware	NOUN
globalce-266	87	45	project	project	NOUN
globalce-266	87	46	that	that	PRON
globalce-266	87	47	utilizes	utilize	VERB
globalce-266	87	48	the	the	DET
globalce-266	87	49	imu	imu	ADJ
globalce-266	87	50	inverse	inverse	NOUN
globalce-266	87	51	kinematics	kinematic	NOUN
globalce-266	87	52	algorithm	algorithm	NOUN
globalce-266	87	53	from	from	ADP
globalce-266	87	54	opensim	opensim	PROPN
globalce-266	87	55	.	.	PUNCT
globalce-266	88	1	acknowledgements	acknowledgement	NOUN
globalce-266	88	2	this	this	DET
globalce-266	88	3	research	research	NOUN
globalce-266	88	4	project	project	NOUN
globalce-266	88	5	was	be	AUX
globalce-266	88	6	supported	support	VERB
globalce-266	88	7	by	by	ADP
globalce-266	88	8	the	the	DET
globalce-266	88	9	hellenic	hellenic	PROPN
globalce-266	88	10	foundation	foundation	NOUN
globalce-266	88	11	for	for	ADP
globalce-266	88	12	research	research	NOUN
globalce-266	88	13	and	and	CCONJ
globalce-266	88	14	innovation	innovation	NOUN
globalce-266	88	15	(	(	PUNCT
globalce-266	88	16	h.f.r.i	h.f.r.i	PROPN
globalce-266	88	17	.	.	PUNCT
globalce-266	88	18	)	)	PUNCT
globalce-266	89	1	https://	https://	PROPN
globalce-266	89	2	www.elidek.gr	www.elidek.gr	PROPN
globalce-266	89	3	under	under	ADP
globalce-266	89	4	the	the	DET
globalce-266	89	5	“	"	PUNCT
globalce-266	89	6	2nd	2nd	ADJ
globalce-266	89	7	call	call	NOUN
globalce-266	89	8	for	for	ADP
globalce-266	89	9	h.f.r.i	h.f.r.i	PROPN
globalce-266	89	10	.	.	PROPN
globalce-266	89	11	research	research	NOUN
globalce-266	89	12	projects	project	NOUN
globalce-266	89	13	to	to	PART
globalce-266	89	14	support	support	VERB
globalce-266	89	15	faculty	faculty	NOUN
globalce-266	89	16	members	member	NOUN
globalce-266	89	17	&	&	CCONJ
globalce-266	89	18	researchers	researcher	NOUN
globalce-266	89	19	”	"	PUNCT
globalce-266	89	20	(	(	PUNCT
globalce-266	89	21	project	project	NOUN
globalce-266	89	22	number	number	NOUN
globalce-266	89	23	:	:	PUNCT
globalce-266	89	24	4391	4391	NUM
globalce-266	89	25	)	)	PUNCT
globalce-266	89	26	.	.	PUNCT
globalce-266	90	1	references	reference	NOUN
globalce-266	90	2	1	1	NUM
globalce-266	90	3	.	.	PUNCT
globalce-266	90	4	slade	slade	PROPN
globalce-266	90	5	,	,	PUNCT
globalce-266	90	6	p.	p.	PROPN
globalce-266	90	7	,	,	PUNCT
globalce-266	90	8	ayman	ayman	PROPN
globalce-266	90	9	,	,	PUNCT
globalce-266	90	10	h.	h.	PROPN
globalce-266	90	11	,	,	PUNCT
globalce-266	90	12	jennifer	jennifer	PROPN
globalce-266	90	13	,	,	PUNCT
globalce-266	90	14	l.h	l.h	PROPN
globalce-266	90	15	.	.	PROPN
globalce-266	90	16	,	,	PUNCT
globalce-266	90	17	et	et	PROPN
globalce-266	90	18	al	al	PROPN
globalce-266	90	19	.	.	PUNCT
globalce-266	91	1	an	an	DET
globalce-266	91	2	opensource	opensource	NOUN
globalce-266	91	3	and	and	CCONJ
globalce-266	91	4	wearable	wearable	ADJ
globalce-266	91	5	system	system	NOUN
globalce-266	91	6	for	for	ADP
globalce-266	91	7	measuring	measure	VERB
globalce-266	91	8	3d	3d	NUM
globalce-266	91	9	human	human	ADJ
globalce-266	91	10	motion	motion	NOUN
globalce-266	91	11	in	in	ADP
globalce-266	91	12	real	real	ADJ
globalce-266	91	13	-	-	PUNCT
globalce-266	91	14	time	time	NOUN
globalce-266	91	15	.	.	PUNCT
globalce-266	92	1	ieee	ieee	PROPN
globalce-266	92	2	trans	trans	PROPN
globalce-266	92	3	biomed	biome	VERB
globalce-266	92	4	eng	eng	PROPN
globalce-266	92	5	.	.	PUNCT
globalce-266	93	1	2022;69(2):678–688	2022;69(2):678–688	X
globalce-266	93	2	.	.	PUNCT
globalce-266	94	1	https://doi.org/10.1109/	https://doi.org/10.1109/	PROPN
globalce-266	94	2	tbme.2021.3103201	tbme.2021.3103201	NUM
globalce-266	94	3	.	.	PUNCT
globalce-266	95	1	figure	figure	NOUN
globalce-266	95	2	2	2	NUM
globalce-266	95	3	.	.	PUNCT
globalce-266	95	4	block	block	NOUN
globalce-266	95	5	diagram	diagram	NOUN
globalce-266	95	6	of	of	ADP
globalce-266	95	7	the	the	DET
globalce-266	95	8	project	project	NOUN
globalce-266	95	9	’s	’s	PART
globalce-266	95	10	implementation	implementation	NOUN
globalce-266	95	11	.	.	PUNCT
globalce-266	95	12	http://www.globalce.org	http://www.globalce.org	PUNCT
globalce-266	96	1	http://globalce.org	http://globalce.org	X
globalce-266	96	2	http://globalce.org	http://globalce.org	PROPN
globalce-266	96	3	https://www.elidek.gr	https://www.elidek.gr	PROPN
globalce-266	96	4	https://www.elidek.gr	https://www.elidek.gr	NUM
globalce-266	96	5	https://doi.org/10.1109/tbme.2021.3103201	https://doi.org/10.1109/tbme.2021.3103201	PROPN
globalce-266	96	6	https://doi.org/10.1109/tbme.2021.3103201	https://doi.org/10.1109/tbme.2021.3103201	PROPN
globalce-266	96	7	67	67	NUM
globalce-266	96	8	j	j	PROPN
globalce-266	96	9	global	global	ADJ
globalce-266	96	10	clinical	clinical	ADJ
globalce-266	96	11	engineering	engineering	PROPN
globalce-266	96	12	vol.6	vol.6	PROPN
globalce-266	96	13	special	special	ADJ
globalce-266	96	14	issue	issue	NOUN
globalce-266	96	15	6	6	NUM
globalce-266	96	16	:	:	SYM
globalce-266	96	17	2024	2024	NUM
globalce-266	96	18	2	2	NUM
globalce-266	96	19	.	.	PUNCT
globalce-266	97	1	seth	seth	PROPN
globalce-266	97	2	,	,	PUNCT
globalce-266	97	3	a.	a.	PROPN
globalce-266	97	4	,	,	PUNCT
globalce-266	97	5	hicks	hicks	PROPN
globalce-266	97	6	,	,	PUNCT
globalce-266	97	7	j.l	j.l	PROPN
globalce-266	97	8	.	.	PROPN
globalce-266	97	9	,	,	PUNCT
globalce-266	97	10	uchida	uchida	PROPN
globalce-266	97	11	,	,	PUNCT
globalce-266	97	12	t.k	t.k	PROPN
globalce-266	97	13	.	.	PROPN
globalce-266	97	14	,	,	PUNCT
globalce-266	97	15	et	et	PROPN
globalce-266	97	16	al	al	PROPN
globalce-266	97	17	.	.	PUNCT
globalce-266	97	18	opensim	opensim	PROPN
globalce-266	97	19	:	:	PUNCT
globalce-266	97	20	simulating	simulate	VERB
globalce-266	97	21	musculoskeletal	musculoskeletal	ADJ
globalce-266	97	22	dynamics	dynamic	NOUN
globalce-266	97	23	and	and	CCONJ
globalce-266	97	24	neuromuscular	neuromuscular	ADJ
globalce-266	97	25	control	control	NOUN
globalce-266	97	26	to	to	PART
globalce-266	97	27	study	study	VERB
globalce-266	97	28	human	human	ADJ
globalce-266	97	29	and	and	CCONJ
globalce-266	97	30	animal	animal	NOUN
globalce-266	97	31	movement	movement	NOUN
globalce-266	97	32	.	.	PUNCT
globalce-266	98	1	plos	plos	PROPN
globalce-266	98	2	comput	comput	PROPN
globalce-266	98	3	biol	biol	PROPN
globalce-266	98	4	.	.	PUNCT
globalce-266	99	1	2018;14(7):e1006223	2018;14(7):e1006223	NUM
globalce-266	99	2	.	.	PUNCT
globalce-266	100	1	https://doi	https://doi	X
globalce-266	100	2	.	.	PUNCT
globalce-266	100	3	org/10.1371	org/10.1371	PROPN
globalce-266	100	4	/	/	SYM
globalce-266	100	5	journal.pcbi.1006223	journal.pcbi.1006223	PROPN
globalce-266	100	6	.	.	PUNCT
globalce-266	101	1	3	3	X
globalce-266	101	2	.	.	X
globalce-266	101	3	ziegler	ziegler	PROPN
globalce-266	101	4	,	,	PUNCT
globalce-266	101	5	j.	j.	PROPN
globalce-266	101	6	,	,	PUNCT
globalce-266	101	7	reiter	reiter	PROPN
globalce-266	101	8	,	,	PUNCT
globalce-266	101	9	a.	a.	NOUN
globalce-266	101	10	,	,	PUNCT
globalce-266	101	11	gattringer	gattringer	NOUN
globalce-266	101	12	,	,	PUNCT
globalce-266	101	13	h.	h.	PROPN
globalce-266	101	14	,	,	PUNCT
globalce-266	101	15	et	et	PROPN
globalce-266	101	16	al	al	PROPN
globalce-266	101	17	.	.	PUNCT
globalce-266	102	1	simultaneous	simultaneous	ADJ
globalce-266	102	2	identification	identification	NOUN
globalce-266	102	3	of	of	ADP
globalce-266	102	4	human	human	ADJ
globalce-266	102	5	body	body	NOUN
globalce-266	102	6	model	model	NOUN
globalce-266	102	7	parameters	parameter	NOUN
globalce-266	102	8	and	and	CCONJ
globalce-266	102	9	gait	gait	PROPN
globalce-266	102	10	trajectory	trajectory	NOUN
globalce-266	102	11	from	from	ADP
globalce-266	102	12	3d	3d	PROPN
globalce-266	102	13	motion	motion	NOUN
globalce-266	102	14	capture	capture	NOUN
globalce-266	102	15	data	datum	NOUN
globalce-266	102	16	.	.	PUNCT
globalce-266	103	1	med	med	PROPN
globalce-266	103	2	eng	eng	PROPN
globalce-266	103	3	phys	phys	PROPN
globalce-266	103	4	.	.	PUNCT
globalce-266	104	1	2020;84:193–202	2020;84:193–202	NOUN
globalce-266	104	2	.	.	PUNCT
globalce-266	105	1	https://doi.org/10.1016/j	https://doi.org/10.1016/j	NOUN
globalce-266	105	2	.	.	PUNCT
globalce-266	106	1	medengphy.2020.08.009	medengphy.2020.08.009	X
globalce-266	106	2	.	.	PROPN
globalce-266	106	3	4	4	NUM
globalce-266	106	4	.	.	X
globalce-266	106	5	range	range	NOUN
globalce-266	106	6	of	of	ADP
globalce-266	106	7	joint	joint	ADJ
globalce-266	106	8	motion	motion	NOUN
globalce-266	106	9	evaluation	evaluation	NOUN
globalce-266	106	10	chart	chart	NOUN
globalce-266	106	11	.	.	PUNCT
globalce-266	107	1	washington	washington	PROPN
globalce-266	107	2	state	state	PROPN
globalce-266	107	3	department	department	PROPN
globalce-266	107	4	of	of	ADP
globalce-266	107	5	social	social	ADJ
globalce-266	107	6	and	and	CCONJ
globalce-266	107	7	health	health	NOUN
globalce-266	107	8	services	service	NOUN
globalce-266	107	9	(	(	PUNCT
globalce-266	107	10	2014	2014	NUM
globalce-266	107	11	)	)	PUNCT
globalce-266	107	12	.	.	PUNCT
globalce-266	108	1	available	available	ADJ
globalce-266	108	2	online	online	ADV
globalce-266	108	3	:	:	PUNCT
globalce-266	108	4	https://www.dshs.wa.gov/sites/	https://www.dshs.wa.gov/sites/	PROPN
globalce-266	108	5	default	default	NOUN
globalce-266	108	6	/	/	SYM
globalce-266	108	7	files	file	NOUN
globalce-266	108	8	/	/	SYM
globalce-266	108	9	forms	form	NOUN
globalce-266	108	10	/	/	SYM
globalce-266	108	11	pdf/13	pdf/13	NOUN
globalce-266	108	12	-	-	PUNCT
globalce-266	108	13	585a.pdf	585a.pdf	NOUN
globalce-266	108	14	.	.	PUNCT
globalce-266	109	1	5	5	NUM
globalce-266	109	2	.	.	X
globalce-266	109	3	hamilton	hamilton	PROPN
globalce-266	109	4	,	,	PUNCT
globalce-266	109	5	n.	n.	PROPN
globalce-266	109	6	,	,	PUNCT
globalce-266	109	7	weimar	weimar	PROPN
globalce-266	109	8	,	,	PUNCT
globalce-266	109	9	w.	w.	PROPN
globalce-266	109	10	,	,	PUNCT
globalce-266	109	11	luttgens	luttgens	PROPN
globalce-266	109	12	,	,	PUNCT
globalce-266	110	1	k.	k.	PROPN
globalce-266	110	2	kinesiology	kinesiology	PROPN
globalce-266	110	3	:	:	PUNCT
globalce-266	110	4	scientific	scientific	ADJ
globalce-266	110	5	basis	basis	NOUN
globalce-266	110	6	of	of	ADP
globalce-266	110	7	human	human	ADJ
globalce-266	110	8	motion	motion	NOUN
globalce-266	110	9	(	(	PUNCT
globalce-266	110	10	b&b	b&b	PROPN
globalce-266	110	11	physical	physical	ADJ
globalce-266	110	12	education	education	NOUN
globalce-266	110	13	)	)	PUNCT
globalce-266	110	14	,	,	PUNCT
globalce-266	110	15	mcgraw	mcgraw	PROPN
globalce-266	110	16	-	-	PUNCT
globalce-266	110	17	hill	hill	NOUN
globalce-266	110	18	education	education	NOUN
globalce-266	110	19	:	:	PUNCT
globalce-266	110	20	new	new	PROPN
globalce-266	110	21	york	york	PROPN
globalce-266	110	22	,	,	PUNCT
globalce-266	110	23	usa	usa	PROPN
globalce-266	110	24	;	;	PUNCT
globalce-266	110	25	2011	2011	NUM
globalce-266	110	26	.	.	PUNCT
globalce-266	111	1	6	6	NUM
globalce-266	111	2	.	.	X
globalce-266	111	3	craig	craig	PROPN
globalce-266	111	4	,	,	PUNCT
globalce-266	111	5	j.j	j.j	PROPN
globalce-266	111	6	.	.	PROPN
globalce-266	111	7	introduction	introduction	NOUN
globalce-266	111	8	to	to	ADP
globalce-266	111	9	robotics	robotic	NOUN
globalce-266	111	10	:	:	PUNCT
globalce-266	111	11	mechanics	mechanic	NOUN
globalce-266	111	12	and	and	CCONJ
globalce-266	111	13	control	control	PROPN
globalce-266	111	14	.	.	PUNCT
globalce-266	112	1	addison	addison	PROPN
globalce-266	112	2	-	-	PUNCT
globalce-266	112	3	wesley	wesley	PROPN
globalce-266	112	4	publishing	publishing	PROPN
globalce-266	112	5	company	company	NOUN
globalce-266	112	6	;	;	PUNCT
globalce-266	112	7	2005	2005	NUM
globalce-266	112	8	;	;	PUNCT
globalce-266	112	9	pp	pp	X
globalce-266	112	10	.	.	PUNCT
globalce-266	113	1	303	303	NUM
globalce-266	113	2	.	.	X
globalce-266	114	1	7	7	X
globalce-266	114	2	.	.	X
globalce-266	114	3	spong	spong	PROPN
globalce-266	114	4	,	,	PUNCT
globalce-266	114	5	m.w	m.w	PROPN
globalce-266	114	6	.	.	PROPN
globalce-266	114	7	,	,	PUNCT
globalce-266	114	8	hutchinson	hutchinson	PROPN
globalce-266	114	9	,	,	PUNCT
globalce-266	114	10	s.	s.	PROPN
globalce-266	114	11	,	,	PUNCT
globalce-266	114	12	vidyasagar	vidyasagar	NOUN
globalce-266	114	13	,	,	PUNCT
globalce-266	114	14	m.	m.	NOUN
globalce-266	114	15	robot	robot	NOUN
globalce-266	114	16	modeling	modeling	NOUN
globalce-266	114	17	and	and	CCONJ
globalce-266	114	18	control	control	NOUN
globalce-266	114	19	,	,	PUNCT
globalce-266	114	20	2nd	2nd	ADJ
globalce-266	114	21	ed	ed	NOUN
globalce-266	114	22	.	.	PUNCT
globalce-266	115	1	john	john	PROPN
globalce-266	115	2	wiley	wiley	PROPN
globalce-266	115	3	&	&	CCONJ
globalce-266	115	4	sons	sons	PROPN
globalce-266	115	5	:	:	PUNCT
globalce-266	115	6	hoboken	hoboken	PROPN
globalce-266	115	7	,	,	PUNCT
globalce-266	115	8	nj	nj	PROPN
globalce-266	115	9	,	,	PUNCT
globalce-266	115	10	usa	usa	PROPN
globalce-266	115	11	;	;	PUNCT
globalce-266	115	12	2020	2020	NUM
globalce-266	115	13	;	;	PUNCT
globalce-266	115	14	pp	pp	X
globalce-266	115	15	.	.	PUNCT
globalce-266	116	1	107–205	107–205	NUM
globalce-266	116	2	.	.	NOUN
globalce-266	116	3	8	8	NUM
globalce-266	116	4	.	.	X
globalce-266	117	1	baluch	baluch	PROPN
globalce-266	117	2	,	,	PUNCT
globalce-266	117	3	t.h	t.h	PROPN
globalce-266	117	4	.	.	PROPN
globalce-266	117	5	,	,	PUNCT
globalce-266	117	6	masood	masood	PROPN
globalce-266	117	7	,	,	PUNCT
globalce-266	117	8	a.	a.	PROPN
globalce-266	117	9	,	,	PUNCT
globalce-266	117	10	iqbal	iqbal	PROPN
globalce-266	117	11	,	,	PUNCT
globalce-266	117	12	j.	j.	PROPN
globalce-266	117	13	,	,	PUNCT
globalce-266	117	14	et	et	PROPN
globalce-266	117	15	al	al	PROPN
globalce-266	117	16	.	.	PROPN
globalce-266	117	17	kinematic	kinematic	ADJ
globalce-266	117	18	and	and	CCONJ
globalce-266	117	19	dynamic	dynamic	ADJ
globalce-266	117	20	analysis	analysis	NOUN
globalce-266	117	21	of	of	ADP
globalce-266	117	22	a	a	DET
globalce-266	117	23	lower	low	ADJ
globalce-266	117	24	limb	limb	NOUN
globalce-266	117	25	exoskeleton	exoskeleton	PROPN
globalce-266	117	26	.	.	PUNCT
globalce-266	118	1	ijmme	ijmme	PROPN
globalce-266	118	2	.	.	PUNCT
globalce-266	119	1	2012;6(9):1945–1949	2012;6(9):1945–1949	X
globalce-266	119	2	.	.	PUNCT
globalce-266	120	1	https://doi.org/10.5281/	https://doi.org/10.5281/	PROPN
globalce-266	120	2	zenodo.1072880	zenodo.1072880	PROPN
globalce-266	120	3	.	.	PROPN
globalce-266	120	4	9	9	NUM
globalce-266	120	5	.	.	X
globalce-266	120	6	siciliano	siciliano	PROPN
globalce-266	120	7	,	,	PUNCT
globalce-266	120	8	b.	b.	PROPN
globalce-266	120	9	,	,	PUNCT
globalce-266	120	10	sciavicco	sciavicco	PROPN
globalce-266	120	11	,	,	PUNCT
globalce-266	120	12	l.	l.	PROPN
globalce-266	120	13	,	,	PUNCT
globalce-266	120	14	villani	villani	PROPN
globalce-266	120	15	,	,	PUNCT
globalce-266	120	16	l.	l.	PROPN
globalce-266	120	17	,	,	PUNCT
globalce-266	120	18	et	et	PROPN
globalce-266	120	19	al	al	PROPN
globalce-266	120	20	.	.	PUNCT
globalce-266	120	21	robotics	robotic	NOUN
globalce-266	120	22	:	:	PUNCT
globalce-266	120	23	modelling	modelling	NOUN
globalce-266	120	24	,	,	PUNCT
globalce-266	120	25	planning	planning	NOUN
globalce-266	120	26	and	and	CCONJ
globalce-266	120	27	control	control	NOUN
globalce-266	120	28	.	.	PUNCT
globalce-266	121	1	springer	springer	NOUN
globalce-266	121	2	science	science	PROPN
globalce-266	121	3	&	&	CCONJ
globalce-266	121	4	business	business	NOUN
globalce-266	121	5	media	medium	NOUN
globalce-266	121	6	:	:	PUNCT
globalce-266	121	7	berlin	berlin	PROPN
globalce-266	121	8	,	,	PUNCT
globalce-266	121	9	germany	germany	PROPN
globalce-266	121	10	;	;	PUNCT
globalce-266	121	11	2010	2010	NUM
globalce-266	121	12	.	.	PUNCT
globalce-266	122	1	10	10	NUM
globalce-266	122	2	.	.	X
globalce-266	123	1	pizzolato	pizzolato	PROPN
globalce-266	123	2	,	,	PUNCT
globalce-266	123	3	c.	c.	PROPN
globalce-266	123	4	,	,	PUNCT
globalce-266	123	5	lloyd	lloyd	PROPN
globalce-266	123	6	,	,	PUNCT
globalce-266	123	7	d.g	d.g	PROPN
globalce-266	123	8	.	.	PROPN
globalce-266	123	9	,	,	PUNCT
globalce-266	123	10	sartori	sartori	NOUN
globalce-266	123	11	,	,	PUNCT
globalce-266	123	12	m.	m.	NOUN
globalce-266	123	13	,	,	PUNCT
globalce-266	124	1	et	et	PROPN
globalce-266	124	2	al	al	PROPN
globalce-266	124	3	.	.	PROPN
globalce-266	124	4	ceinms	ceinms	PROPN
globalce-266	124	5	:	:	PUNCT
globalce-266	124	6	a	a	DET
globalce-266	124	7	toolbox	toolbox	NOUN
globalce-266	124	8	to	to	PART
globalce-266	124	9	investigate	investigate	VERB
globalce-266	124	10	the	the	DET
globalce-266	124	11	influence	influence	NOUN
globalce-266	124	12	of	of	ADP
globalce-266	124	13	different	different	ADJ
globalce-266	124	14	neural	neural	ADJ
globalce-266	124	15	control	control	NOUN
globalce-266	124	16	solutions	solution	NOUN
globalce-266	124	17	on	on	ADP
globalce-266	124	18	the	the	DET
globalce-266	124	19	prediction	prediction	NOUN
globalce-266	124	20	of	of	ADP
globalce-266	124	21	muscle	muscle	NOUN
globalce-266	124	22	excitation	excitation	NOUN
globalce-266	124	23	and	and	CCONJ
globalce-266	124	24	joint	joint	ADJ
globalce-266	124	25	moments	moment	NOUN
globalce-266	124	26	during	during	ADP
globalce-266	124	27	dynamic	dynamic	ADJ
globalce-266	124	28	motor	motor	NOUN
globalce-266	124	29	tasks	task	NOUN
globalce-266	124	30	.	.	PUNCT
globalce-266	125	1	j	j	PROPN
globalce-266	125	2	biomech	biomech	PROPN
globalce-266	125	3	.	.	PUNCT
globalce-266	126	1	2015;48(14):3929–3936	2015;48(14):3929–3936	X
globalce-266	126	2	.	.	PUNCT
globalce-266	127	1	https://	https://	PROPN
globalce-266	127	2	doi.org/10.1016/j.jbiomech.2015.09.021	doi.org/10.1016/j.jbiomech.2015.09.021	PROPN
globalce-266	127	3	.	.	PUNCT
globalce-266	127	4	http://www.globalce.org	http://www.globalce.org	PUNCT
globalce-266	128	1	http://globalce.org	http://globalce.org	X
globalce-266	128	2	http://globalce.org	http://globalce.org	PROPN
globalce-266	128	3	https://doi.org/10.1371/journal.pcbi.1006223	https://doi.org/10.1371/journal.pcbi.1006223	VERB
globalce-266	128	4	https://doi.org/10.1371/journal.pcbi.1006223	https://doi.org/10.1371/journal.pcbi.1006223	NOUN
globalce-266	128	5	https://doi.org/10.1016/j.medengphy.2020.08.009	https://doi.org/10.1016/j.medengphy.2020.08.009	NUM
globalce-266	128	6	https://doi.org/10.1016/j.medengphy.2020.08.009	https://doi.org/10.1016/j.medengphy.2020.08.009	NUM
globalce-266	128	7	https://www.dshs.wa.gov/sites/default/files/forms/pdf/13-585a.pdf	https://www.dshs.wa.gov/sites/default/files/forms/pdf/13-585a.pdf	NUM
globalce-266	128	8	https://www.dshs.wa.gov/sites/default/files/forms/pdf/13-585a.pdf	https://www.dshs.wa.gov/sites/default/files/forms/pdf/13-585a.pdf	NUM
globalce-266	128	9	https://doi.org/10.5281/zenodo.1072880	https://doi.org/10.5281/zenodo.1072880	VERB
globalce-266	128	10	https://doi.org/10.5281/zenodo.1072880	https://doi.org/10.5281/zenodo.1072880	ADJ
globalce-266	128	11	https://doi.org/10.1016/j.jbiomech.2015.09.021	https://doi.org/10.1016/j.jbiomech.2015.09.021	NUM
globalce-266	128	12	https://doi.org/10.1016/j.jbiomech.2015.09.021	https://doi.org/10.1016/j.jbiomech.2015.09.021	NUM
globalce-266	128	13	editor	editor	NOUN
globalce-266	128	14	’s	’s	PART
globalce-266	128	15	corner	corner	NOUN
globalce-266	128	16	biomedical	biomedical	ADJ
globalce-266	128	17	technology	technology	NOUN
globalce-266	128	18	and	and	CCONJ
globalce-266	128	19	clinical	clinical	ADJ
globalce-266	128	20	engineering	engineering	NOUN
globalce-266	128	21	in	in	ADP
globalce-266	128	22	greece	greece	PROPN
globalce-266	128	23	after	after	ADP
globalce-266	128	24	the	the	DET
globalce-266	128	25	pandemic	pandemic	NOUN
globalce-266	128	26	:	:	PUNCT
globalce-266	128	27	highlighted	highlight	VERB
globalce-266	128	28	works	work	NOUN
globalce-266	128	29	from	from	ADP
globalce-266	128	30	the	the	DET
globalce-266	128	31	panhellenic	panhellenic	ADJ
globalce-266	128	32	conference	conference	NOUN
globalce-266	128	33	of	of	ADP
globalce-266	128	34	biomedical	biomedical	ADJ
globalce-266	128	35	technology	technology	NOUN
globalce-266	128	36	aris	aris	PROPN
globalce-266	128	37	dermitzakis1,2	dermitzakis1,2	PROPN
globalce-266	128	38	,	,	PUNCT
globalce-266	128	39	*	*	ADJ
globalce-266	128	40	,	,	PUNCT
globalce-266	128	41	vasiliki	vasiliki	PROPN
globalce-266	128	42	zilidou1,3	zilidou1,3	PROPN
globalce-266	128	43	,	,	PUNCT
globalce-266	128	44	eleftheria	eleftheria	PROPN
globalce-266	128	45	vellidou1,4	vellidou1,4	PROPN
globalce-266	128	46	,	,	PUNCT
globalce-266	128	47	alkinoos	alkinoo	VERB
globalce-266	128	48	athanasiou1,3	athanasiou1,3	PROPN
globalce-266	128	49	digital	digital	ADJ
globalce-266	128	50	transformation	transformation	NOUN
globalce-266	128	51	management	management	NOUN
globalce-266	128	52	in	in	ADP
globalce-266	128	53	health	health	NOUN
globalce-266	128	54	services	service	NOUN
globalce-266	128	55	:	:	PUNCT
globalce-266	128	56	health	health	NOUN
globalce-266	128	57	professionals	professional	NOUN
globalce-266	128	58	perceptions	perception	NOUN
globalce-266	128	59	as	as	ADP
globalce-266	128	60	an	an	DET
globalce-266	128	61	implementation	implementation	NOUN
globalce-266	128	62	factor	factor	NOUN
globalce-266	128	63	theodoros	theodoros	PROPN
globalce-266	128	64	s.	s.	PROPN
globalce-266	128	65	tanis	tanis	PROPN
globalce-266	128	66	*	*	PROPN
globalce-266	128	67	,	,	PUNCT
globalce-266	128	68	chryssoula	chryssoula	PROPN
globalce-266	128	69	chatzigeorgiou	chatzigeorgiou	NOUN
globalce-266	128	70	,	,	PUNCT
globalce-266	128	71	ioanna	ioanna	NOUN
globalce-266	128	72	simeli	simeli	VERB
globalce-266	128	73	,	,	PUNCT
globalce-266	128	74	and	and	CCONJ
globalce-266	128	75	evangelia	evangelia	PROPN
globalce-266	128	76	stalika	stalika	PROPN
globalce-266	128	77	validating	validate	VERB
globalce-266	128	78	the	the	DET
globalce-266	128	79	id	id	NOUN
globalce-266	128	80	-	-	PUNCT
globalce-266	128	81	gaming	game	VERB
globalce-266	128	82	e	e	NOUN
globalce-266	128	83	-	-	NOUN
globalce-266	128	84	training	train	VERB
globalce-266	128	85	toolkit	toolkit	NOUN
globalce-266	128	86	for	for	ADP
globalce-266	128	87	people	people	NOUN
globalce-266	128	88	with	with	ADP
globalce-266	128	89	intellectual	intellectual	ADJ
globalce-266	128	90	disabilities	disability	NOUN
globalce-266	128	91	in	in	ADP
globalce-266	128	92	greece	greece	PROPN
globalce-266	128	93	niki	niki	PROPN
globalce-266	128	94	pandria	pandria	PROPN
globalce-266	128	95	*	*	PROPN
globalce-266	128	96	,	,	PUNCT
globalce-266	128	97	anastasia	anastasia	PROPN
globalce-266	128	98	barboudi	barboudi	PROPN
globalce-266	128	99	,	,	PUNCT
globalce-266	128	100	vasileia	vasileia	ADJ
globalce-266	128	101	petronikolou	petronikolou	ADJ
globalce-266	128	102	,	,	PUNCT
globalce-266	128	103	panagiotis	panagiotis	NOUN
globalce-266	128	104	antoniou	antoniou	NOUN
globalce-266	128	105	and	and	CCONJ
globalce-266	128	106	panagiotis	panagiotis	NOUN
globalce-266	128	107	d.	d.	PROPN
globalce-266	128	108	bamidis	bamidis	PROPN
globalce-266	128	109	novel	novel	ADJ
globalce-266	128	110	functional	functional	ADJ
globalce-266	128	111	electrical	electrical	ADJ
globalce-266	128	112	stimulation	stimulation	NOUN
globalce-266	128	113	parameter	parameter	NOUN
globalce-266	128	114	optimization	optimization	NOUN
globalce-266	128	115	for	for	ADP
globalce-266	128	116	neurorehabilitation	neurorehabilitation	NOUN
globalce-266	128	117	using	use	VERB
globalce-266	128	118	both	both	CCONJ
globalce-266	128	119	conventional	conventional	ADJ
globalce-266	128	120	and	and	CCONJ
globalce-266	128	121	ai	ai	VERB
globalce-266	128	122	techniques	technique	NOUN
globalce-266	128	123	arsenios	arsenio	NOUN
globalce-266	128	124	arsenidis1	arsenidis1	NOUN
globalce-266	128	125	,	,	PUNCT
globalce-266	128	126	alexandros	alexandros	PROPN
globalce-266	128	127	moraitopoulos2	moraitopoulos2	PROPN
globalce-266	128	128	,	,	PUNCT
globalce-266	128	129	alkinoos	alkinoo	VERB
globalce-266	128	130	athanasiou2	athanasiou2	PROPN
globalce-266	128	131	,	,	PUNCT
globalce-266	128	132	alexandros	alexandros	PROPN
globalce-266	128	133	vildiridis3	vildiridis3	PROPN
globalce-266	128	134	,	,	PUNCT
globalce-266	128	135	panagiotis	panagiotis	NOUN
globalce-266	128	136	bamidis2	bamidis2	NOUN
globalce-266	128	137	,	,	PUNCT
globalce-266	128	138	petros	petros	PROPN
globalce-266	128	139	stefaneas4	stefaneas4	PROPN
globalce-266	128	140	and	and	CCONJ
globalce-266	128	141	alexandros	alexandros	PROPN
globalce-266	128	142	astaras5	astaras5	NOUN
globalce-266	129	1	leveraging	leverage	VERB
globalce-266	129	2	web	web	NOUN
globalce-266	129	3	scraping	scraping	NOUN
globalce-266	129	4	and	and	CCONJ
globalce-266	129	5	api	api	NOUN
globalce-266	129	6	integration	integration	NOUN
globalce-266	129	7	for	for	ADP
globalce-266	129	8	efficient	efficient	ADJ
globalce-266	129	9	medical	medical	ADJ
globalce-266	129	10	device	device	NOUN
globalce-266	129	11	data	datum	NOUN
globalce-266	129	12	management	management	NOUN
globalce-266	129	13	agapi	agapi	PROPN
globalce-266	129	14	konstantina	konstantina	PROPN
globalce-266	129	15	liontou1	liontou1	PROPN
globalce-266	129	16	,	,	PUNCT
globalce-266	129	17	*	*	PUNCT
globalce-266	129	18	,	,	PUNCT
globalce-266	129	19	spilios	spilio	NOUN
globalce-266	129	20	zisimopoulos2	zisimopoulos2	X
globalce-266	129	21	and	and	CCONJ
globalce-266	129	22	aris	aris	PROPN
globalce-266	129	23	dermitzakis1	dermitzakis1	PROPN
globalce-266	129	24	human	human	ADJ
globalce-266	129	25	muscle	muscle	NOUN
globalce-266	129	26	state	state	NOUN
globalce-266	129	27	machine	machine	NOUN
globalce-266	129	28	using	use	VERB
globalce-266	129	29	electromyography	electromyography	NOUN
globalce-266	129	30	classification	classification	NOUN
globalce-266	129	31	with	with	ADP
globalce-266	129	32	machine	machine	NOUN
globalce-266	129	33	learning	learn	VERB
globalce-266	129	34	george	george	PROPN
globalce-266	129	35	lyssas1	lyssas1	PROPN
globalce-266	129	36	,	,	PUNCT
globalce-266	129	37	*	*	PROPN
globalce-266	129	38	,	,	PUNCT
globalce-266	129	39	konstantinos	konstantinos	PROPN
globalce-266	129	40	mitsopoulos1	mitsopoulos1	PROPN
globalce-266	129	41	,	,	PUNCT
globalce-266	129	42	dimitris	dimitris	PROPN
globalce-266	129	43	zantzas2	zantzas2	PROPN
globalce-266	129	44	,	,	PUNCT
globalce-266	129	45	anestis	anestis	PROPN
globalce-266	129	46	kalfas2	kalfas2	PROPN
globalce-266	129	47	,	,	PUNCT
globalce-266	129	48	panagiotis	panagiotis	PROPN
globalce-266	129	49	d.	d.	PROPN
globalce-266	129	50	bamidis1	bamidis1	PROPN
globalce-266	129	51	kinematic	kinematic	ADJ
globalce-266	129	52	and	and	CCONJ
globalce-266	129	53	dynamic	dynamic	ADJ
globalce-266	129	54	analysis	analysis	NOUN
globalce-266	129	55	of	of	ADP
globalce-266	129	56	lower	low	ADJ
globalce-266	129	57	limb	limb	NOUN
globalce-266	129	58	movement	movement	NOUN
globalce-266	129	59	:	:	PUNCT
globalce-266	129	60	towards	towards	ADP
globalce-266	129	61	the	the	DET
globalce-266	129	62	design	design	NOUN
globalce-266	129	63	of	of	ADP
globalce-266	129	64	a	a	DET
globalce-266	129	65	wearable	wearable	ADJ
globalce-266	129	66	rehabilitation	rehabilitation	NOUN
globalce-266	129	67	assistant	assistant	NOUN
globalce-266	129	68	device	device	NOUN
globalce-266	129	69	filippos	filippos	NOUN
globalce-266	129	70	margaritis1	margaritis1	PROPN
globalce-266	129	71	,	,	PUNCT
globalce-266	129	72	*	*	PROPN
globalce-266	129	73	,	,	PUNCT
globalce-266	129	74	konstantinos	konstantinos	PROPN
globalce-266	129	75	mitsopoulos1	mitsopoulos1	PROPN
globalce-266	129	76	,	,	PUNCT
globalce-266	129	77	kostas	kostas	PROPN
globalce-266	129	78	nizamis2	nizamis2	PROPN
globalce-266	129	79	,	,	PUNCT
globalce-266	129	80	alkinoos	alkinoo	VERB
globalce-266	129	81	athanasiou1	athanasiou1	NOUN
globalce-266	129	82	and	and	CCONJ
globalce-266	129	83	panagiotis	panagiotis	PROPN
globalce-266	129	84	d.	d.	PROPN
globalce-266	129	85	bamidis1	bamidis1	PROPN
globalce-266	129	86	a	a	DET
globalce-266	129	87	novel	novel	ADJ
globalce-266	129	88	dermatological	dermatological	ADJ
globalce-266	129	89	diagnosis	diagnosis	NOUN
globalce-266	129	90	support	support	NOUN
globalce-266	129	91	device	device	NOUN
globalce-266	129	92	based	base	VERB
globalce-266	129	93	on	on	ADP
globalce-266	129	94	electrical	electrical	ADJ
globalce-266	129	95	impedance	impedance	NOUN
globalce-266	129	96	spectroscopy	spectroscopy	NOUN
globalce-266	129	97	alexandros	alexandros	PROPN
globalce-266	129	98	moraitopoulos1	moraitopoulos1	PROPN
globalce-266	129	99	,	,	PUNCT
globalce-266	129	100	*	*	PROPN
globalce-266	129	101	,	,	PUNCT
globalce-266	129	102	konstantinos	konstantinos	PROPN
globalce-266	129	103	mitsopoulos1	mitsopoulos1	PROPN
globalce-266	129	104	,	,	PUNCT
globalce-266	129	105	christina	christina	PROPN
globalce-266	129	106	kemanetzi2	kemanetzi2	PROPN
globalce-266	129	107	,	,	PUNCT
globalce-266	129	108	panagiotis	panagiotis	NOUN
globalce-266	129	109	bamidis1	bamidis1	NOUN
globalce-266	129	110	and	and	CCONJ
globalce-266	129	111	alexandros	alexandros	PROPN
globalce-266	129	112	astaras3	astaras3	PROPN
globalce-266	129	113	software	software	NOUN
globalce-266	129	114	skills	skill	VERB
globalce-266	129	115	identification	identification	NOUN
globalce-266	129	116	:	:	PUNCT
globalce-266	129	117	a	a	DET
globalce-266	129	118	multi	multi	ADJ
globalce-266	129	119	-	-	ADJ
globalce-266	129	120	class	class	ADJ
globalce-266	129	121	classification	classification	NOUN
globalce-266	129	122	on	on	ADP
globalce-266	129	123	source	source	NOUN
globalce-266	129	124	code	code	NOUN
globalce-266	129	125	using	use	VERB
globalce-266	129	126	machine	machine	NOUN
globalce-266	129	127	learning	learning	PROPN
globalce-266	129	128	dimitris	dimitris	PROPN
globalce-266	129	129	bamidis	bamidis	PROPN
globalce-266	129	130	,	,	PUNCT
globalce-266	129	131	ilias	ilias	PROPN
globalce-266	129	132	kalouptsoglou	kalouptsoglou	PROPN
globalce-266	129	133	,	,	PUNCT
globalce-266	129	134	apostolos	apostolos	PROPN
globalce-266	129	135	ampatzoglou	ampatzoglou	PROPN
globalce-266	129	136	,	,	PUNCT
globalce-266	129	137	alexandros	alexandros	PROPN
globalce-266	129	138	chatzigeorgiou	chatzigeorgiou	PROPN
globalce-266	129	139	*	*	PROPN
globalce-266	129	140	improvement	improvement	NOUN
globalce-266	129	141	of	of	ADP
globalce-266	129	142	aortic	aortic	ADJ
globalce-266	129	143	valve	valve	NOUN
globalce-266	129	144	stenosis	stenosis	NOUN
globalce-266	129	145	classification	classification	NOUN
globalce-266	129	146	in	in	ADP
globalce-266	129	147	patients	patient	NOUN
globalce-266	129	148	through	through	ADP
globalce-266	129	149	computational	computational	ADJ
globalce-266	129	150	fluid	fluid	ADJ
globalce-266	129	151	dynamics	dynamic	NOUN
globalce-266	129	152	model	model	NOUN
globalce-266	129	153	ioannis	ioannis	PROPN
globalce-266	129	154	makropoulos	makropoulos	PROPN
globalce-266	129	155	,	,	PUNCT
globalce-266	129	156	dimitris	dimitris	PROPN
globalce-266	129	157	zantzas	zantzas	PROPN
globalce-266	129	158	,	,	PUNCT
globalce-266	129	159	vasilis	vasilis	PROPN
globalce-266	129	160	gkoutzamanis	gkoutzamanis	PROPN
globalce-266	129	161	,	,	PUNCT
globalce-266	129	162	anestis	anestis	ADP
globalce-266	129	163	kalfas	kalfas	PROPN
globalce-266	129	164	*	*	PUNCT
globalce-266	129	165	kinematic	kinematic	ADJ
globalce-266	129	166	and	and	CCONJ
globalce-266	129	167	dynamic	dynamic	ADJ
globalce-266	129	168	analysis	analysis	NOUN
globalce-266	129	169	of	of	ADP
globalce-266	129	170	the	the	DET
globalce-266	129	171	human	human	ADJ
globalce-266	129	172	hand	hand	NOUN
globalce-266	129	173	’s	’s	PART
globalce-266	129	174	articulation	articulation	NOUN
globalce-266	129	175	for	for	ADP
globalce-266	129	176	wearable	wearable	ADJ
globalce-266	129	177	soft	soft	ADJ
globalce-266	129	178	-	-	PUNCT
globalce-266	129	179	robotic	robotic	ADJ
globalce-266	129	180	device	device	NOUN
globalce-266	129	181	applications	application	NOUN
globalce-266	129	182	paschalina	paschalina	PROPN
globalce-266	129	183	-	-	PUNCT
globalce-266	129	184	danai	danai	VERB
globalce-266	129	185	sarra	sarra	PROPN
globalce-266	129	186	,	,	PUNCT
globalce-266	129	187	vasiliki	vasiliki	PROPN
globalce-266	129	188	fiska	fiska	NOUN
globalce-266	129	189	,	,	PUNCT
globalce-266	129	190	konstantinos	konstantinos	PROPN
globalce-266	129	191	mitsopoulos	mitsopoulos	PROPN
globalce-266	129	192	,	,	PUNCT
globalce-266	129	193	diamanto	diamanto	NOUN
globalce-266	129	194	mylopoulou	mylopoulou	NOUN
globalce-266	129	195	,	,	PUNCT
globalce-266	129	196	and	and	CCONJ
globalce-266	129	197	panagiotis	panagiotis	NOUN
globalce-266	129	198	d.	d.	PROPN
globalce-266	129	199	bamidis	bamidis	PROPN
globalce-266	129	200	*	*	PROPN
globalce-266	129	201	deep	deep	ADJ
globalce-266	129	202	learning	learn	VERB
globalce-266	129	203	classification	classification	NOUN
globalce-266	129	204	of	of	ADP
globalce-266	129	205	epileptic	epileptic	ADJ
globalce-266	129	206	magnetoencephalogram	magnetoencephalogram	PROPN
globalce-266	129	207	andreas	andreas	PROPN
globalce-266	129	208	stylianou1	stylianou1	PROPN
globalce-266	129	209	,	,	PUNCT
globalce-266	129	210	lefteris	lefteris	PROPN
globalce-266	129	211	koumakis2	koumakis2	PROPN
globalce-266	129	212	,	,	PUNCT
globalce-266	129	213	maria	maria	PROPN
globalce-266	129	214	hadjinicolaou3	hadjinicolaou3	PROPN
globalce-266	129	215	,	,	PUNCT
globalce-266	129	216	adam	adam	PROPN
globalce-266	129	217	adamopoulos1	adamopoulos1	PROPN
globalce-266	129	218	,	,	PUNCT
globalce-266	129	219	*	*	PUNCT
globalce-266	129	220	and	and	CCONJ
globalce-266	129	221	alkinoos	alkinoo	NOUN
globalce-266	129	222	athanasiou4	athanasiou4	VERB