id	sid	tid	token	lemma	pos
hjic-1151	1	1	hungarian	hungarian	ADJ
hjic-1151	1	2	journal	journal	NOUN
hjic-1151	1	3	of	of	ADP
hjic-1151	1	4	industry	industry	NOUN
hjic-1151	1	5	and	and	CCONJ
hjic-1151	1	6	chemistry	chemistry	NOUN
hjic-1151	1	7	vol	vol	NOUN
hjic-1151	1	8	.	.	PUNCT
hjic-1151	2	1	49(2	49(2	NUM
hjic-1151	2	2	)	)	PUNCT
hjic-1151	2	3	pp	pp	ADP
hjic-1151	2	4	.	.	PUNCT
hjic-1151	3	1	91–95	91–95	NUM
hjic-1151	3	2	(	(	PUNCT
hjic-1151	3	3	2021	2021	NUM
hjic-1151	3	4	)	)	PUNCT
hjic-1151	3	5	hjic.mk.uni-pannon.hu	hjic.mk.uni-pannon.hu	NOUN
hjic-1151	3	6	doi	doi	NOUN
hjic-1151	3	7	:	:	PUNCT
hjic-1151	3	8	10.33927	10.33927	NUM
hjic-1151	3	9	/	/	SYM
hjic-1151	3	10	hjic-2021	hjic-2021	NOUN
hjic-1151	3	11	-	-	PUNCT
hjic-1151	3	12	28	28	NUM
hjic-1151	3	13	gripper	gripper	NOUN
hjic-1151	3	14	finger	finger	NOUN
hjic-1151	3	15	design	design	NOUN
hjic-1151	3	16	for	for	ADP
hjic-1151	3	17	special	special	ADJ
hjic-1151	3	18	purpose	purpose	NOUN
hjic-1151	3	19	applications	application	NOUN
hjic-1151	3	20	miklós	miklós	PROPN
hjic-1151	3	21	boleraczki*1	boleraczki*1	PROPN
hjic-1151	3	22	,	,	PUNCT
hjic-1151	3	23	istván	istván	PROPN
hjic-1151	3	24	gábor	gábor	PROPN
hjic-1151	3	25	gyurika1	gyurika1	PROPN
hjic-1151	3	26	,	,	PUNCT
hjic-1151	3	27	and	and	CCONJ
hjic-1151	3	28	dénes	déne	NOUN
hjic-1151	3	29	fodor1	fodor1	VERB
hjic-1151	3	30	1research	1research	NUM
hjic-1151	3	31	centre	centre	NOUN
hjic-1151	3	32	for	for	ADP
hjic-1151	3	33	engineering	engineering	NOUN
hjic-1151	3	34	sciences	science	NOUN
hjic-1151	3	35	,	,	PUNCT
hjic-1151	3	36	university	university	NOUN
hjic-1151	3	37	of	of	ADP
hjic-1151	3	38	pannonia	pannonia	PROPN
hjic-1151	3	39	,	,	PUNCT
hjic-1151	3	40	egyetem	egyetem	NOUN
hjic-1151	3	41	u.	u.	PROPN
hjic-1151	3	42	10	10	NUM
hjic-1151	3	43	,	,	PUNCT
hjic-1151	3	44	veszprém	veszprém	NOUN
hjic-1151	3	45	,	,	PUNCT
hjic-1151	3	46	8200	8200	NUM
hjic-1151	3	47	,	,	PUNCT
hjic-1151	3	48	hungary	hungary	VERB
hjic-1151	3	49	the	the	DET
hjic-1151	3	50	trend	trend	NOUN
hjic-1151	3	51	towards	towards	ADP
hjic-1151	3	52	collaborative	collaborative	ADJ
hjic-1151	3	53	robots	robot	NOUN
hjic-1151	3	54	is	be	AUX
hjic-1151	3	55	resulting	result	VERB
hjic-1151	3	56	in	in	ADP
hjic-1151	3	57	these	these	DET
hjic-1151	3	58	"	"	PUNCT
hjic-1151	3	59	machine	machine	NOUN
hjic-1151	3	60	workers	worker	NOUN
hjic-1151	3	61	"	"	PUNCT
hjic-1151	3	62	working	work	VERB
hjic-1151	3	63	alongside	alongside	ADP
hjic-1151	3	64	humans	human	NOUN
hjic-1151	3	65	in	in	ADP
hjic-1151	3	66	many	many	ADJ
hjic-1151	3	67	workplaces	workplace	NOUN
hjic-1151	3	68	.	.	PUNCT
hjic-1151	4	1	they	they	PRON
hjic-1151	4	2	can	can	AUX
hjic-1151	4	3	be	be	AUX
hjic-1151	4	4	used	use	VERB
hjic-1151	4	5	for	for	ADP
hjic-1151	4	6	a	a	DET
hjic-1151	4	7	wide	wide	ADJ
hjic-1151	4	8	range	range	NOUN
hjic-1151	4	9	of	of	ADP
hjic-1151	4	10	tasks	task	NOUN
hjic-1151	4	11	and	and	CCONJ
hjic-1151	4	12	,	,	PUNCT
hjic-1151	4	13	most	most	ADV
hjic-1151	4	14	importantly	importantly	ADV
hjic-1151	4	15	,	,	PUNCT
hjic-1151	4	16	can	can	AUX
hjic-1151	4	17	rapidly	rapidly	ADV
hjic-1151	4	18	switch	switch	VERB
hjic-1151	4	19	between	between	ADP
hjic-1151	4	20	tasks	task	NOUN
hjic-1151	4	21	.	.	PUNCT
hjic-1151	5	1	when	when	SCONJ
hjic-1151	5	2	it	it	PRON
hjic-1151	5	3	is	be	AUX
hjic-1151	5	4	no	no	ADV
hjic-1151	5	5	longer	long	ADV
hjic-1151	5	6	necessary	necessary	ADJ
hjic-1151	5	7	for	for	SCONJ
hjic-1151	5	8	them	they	PRON
hjic-1151	5	9	to	to	PART
hjic-1151	5	10	work	work	VERB
hjic-1151	5	11	at	at	ADP
hjic-1151	5	12	one	one	NUM
hjic-1151	5	13	location	location	NOUN
hjic-1151	5	14	,	,	PUNCT
hjic-1151	5	15	they	they	PRON
hjic-1151	5	16	can	can	AUX
hjic-1151	5	17	simply	simply	ADV
hjic-1151	5	18	be	be	AUX
hjic-1151	5	19	transferred	transfer	VERB
hjic-1151	5	20	to	to	PART
hjic-1151	5	21	support	support	VERB
hjic-1151	5	22	another	another	DET
hjic-1151	5	23	production	production	NOUN
hjic-1151	5	24	process	process	NOUN
hjic-1151	5	25	.	.	PUNCT
hjic-1151	6	1	with	with	ADP
hjic-1151	6	2	their	their	PRON
hjic-1151	6	3	universal	universal	ADJ
hjic-1151	6	4	gripper	gripper	NOUN
hjic-1151	6	5	they	they	PRON
hjic-1151	6	6	can	can	AUX
hjic-1151	6	7	handle	handle	VERB
hjic-1151	6	8	a	a	DET
hjic-1151	6	9	wide	wide	ADJ
hjic-1151	6	10	range	range	NOUN
hjic-1151	6	11	of	of	ADP
hjic-1151	6	12	tasks	task	NOUN
hjic-1151	6	13	,	,	PUNCT
hjic-1151	6	14	however	however	ADV
hjic-1151	6	15	,	,	PUNCT
hjic-1151	6	16	custom	custom	NOUN
hjic-1151	6	17	accessories	accessory	NOUN
hjic-1151	6	18	may	may	AUX
hjic-1151	6	19	need	need	VERB
hjic-1151	6	20	to	to	PART
hjic-1151	6	21	be	be	AUX
hjic-1151	6	22	produced	produce	VERB
hjic-1151	6	23	in	in	ADP
hjic-1151	6	24	specific	specific	ADJ
hjic-1151	6	25	areas	area	NOUN
hjic-1151	6	26	.	.	PUNCT
hjic-1151	7	1	one	one	NUM
hjic-1151	7	2	such	such	ADJ
hjic-1151	7	3	accessory	accessory	NOUN
hjic-1151	7	4	could	could	AUX
hjic-1151	7	5	be	be	AUX
hjic-1151	7	6	sleeves	sleeve	NOUN
hjic-1151	7	7	that	that	PRON
hjic-1151	7	8	are	be	AUX
hjic-1151	7	9	mounted	mount	VERB
hjic-1151	7	10	on	on	ADP
hjic-1151	7	11	the	the	DET
hjic-1151	7	12	grippers	gripper	NOUN
hjic-1151	7	13	to	to	PART
hjic-1151	7	14	extend	extend	VERB
hjic-1151	7	15	the	the	DET
hjic-1151	7	16	use	use	NOUN
hjic-1151	7	17	of	of	ADP
hjic-1151	7	18	the	the	DET
hjic-1151	7	19	universal	universal	ADJ
hjic-1151	7	20	gripper	gripper	NOUN
hjic-1151	7	21	.	.	PUNCT
hjic-1151	8	1	this	this	DET
hjic-1151	8	2	paper	paper	NOUN
hjic-1151	8	3	aims	aim	VERB
hjic-1151	8	4	to	to	PART
hjic-1151	8	5	provide	provide	VERB
hjic-1151	8	6	assistance	assistance	NOUN
hjic-1151	8	7	on	on	ADP
hjic-1151	8	8	how	how	SCONJ
hjic-1151	8	9	to	to	PART
hjic-1151	8	10	design	design	VERB
hjic-1151	8	11	these	these	DET
hjic-1151	8	12	fingers	finger	NOUN
hjic-1151	8	13	.	.	PUNCT
hjic-1151	9	1	keywords	keyword	NOUN
hjic-1151	9	2	:	:	PUNCT
hjic-1151	9	3	collaborative	collaborative	ADJ
hjic-1151	9	4	robot	robot	NOUN
hjic-1151	9	5	,	,	PUNCT
hjic-1151	9	6	gripper	gripper	NOUN
hjic-1151	9	7	finger	finger	NOUN
hjic-1151	9	8	,	,	PUNCT
hjic-1151	9	9	3d	3d	NOUN
hjic-1151	9	10	-	-	PUNCT
hjic-1151	9	11	printed	print	VERB
hjic-1151	9	12	jaw	jaw	NOUN
hjic-1151	9	13	1	1	NUM
hjic-1151	9	14	.	.	PUNCT
hjic-1151	10	1	introduction	introduction	NOUN
hjic-1151	10	2	robotization	robotization	NOUN
hjic-1151	10	3	is	be	AUX
hjic-1151	10	4	a	a	DET
hjic-1151	10	5	common	common	ADJ
hjic-1151	10	6	solution	solution	NOUN
hjic-1151	10	7	in	in	ADP
hjic-1151	10	8	industrial	industrial	ADJ
hjic-1151	10	9	environments	environment	NOUN
hjic-1151	10	10	.	.	PUNCT
hjic-1151	11	1	despite	despite	SCONJ
hjic-1151	11	2	being	be	AUX
hjic-1151	11	3	very	very	ADV
hjic-1151	11	4	expensive	expensive	ADJ
hjic-1151	11	5	,	,	PUNCT
hjic-1151	11	6	it	it	PRON
hjic-1151	11	7	offers	offer	VERB
hjic-1151	11	8	a	a	DET
hjic-1151	11	9	relatively	relatively	ADV
hjic-1151	11	10	quick	quick	ADJ
hjic-1151	11	11	return	return	NOUN
hjic-1151	11	12	on	on	ADP
hjic-1151	11	13	investment	investment	NOUN
hjic-1151	11	14	.	.	PUNCT
hjic-1151	12	1	in	in	ADP
hjic-1151	12	2	addition	addition	NOUN
hjic-1151	12	3	to	to	ADP
hjic-1151	12	4	the	the	DET
hjic-1151	12	5	robot	robot	NOUN
hjic-1151	12	6	,	,	PUNCT
hjic-1151	12	7	the	the	DET
hjic-1151	12	8	cost	cost	NOUN
hjic-1151	12	9	of	of	ADP
hjic-1151	12	10	robotization	robotization	NOUN
hjic-1151	12	11	includes	include	VERB
hjic-1151	12	12	other	other	ADJ
hjic-1151	12	13	service	service	NOUN
hjic-1151	12	14	and	and	CCONJ
hjic-1151	12	15	auxiliary	auxiliary	ADJ
hjic-1151	12	16	units	unit	NOUN
hjic-1151	12	17	such	such	ADJ
hjic-1151	12	18	as	as	ADP
hjic-1151	12	19	effectors	effector	NOUN
hjic-1151	12	20	,	,	PUNCT
hjic-1151	12	21	feeders	feeder	NOUN
hjic-1151	12	22	,	,	PUNCT
hjic-1151	12	23	fixtures	fixture	NOUN
hjic-1151	12	24	and	and	CCONJ
hjic-1151	12	25	tooling	tooling	NOUN
hjic-1151	12	26	.	.	PUNCT
hjic-1151	13	1	how	how	SCONJ
hjic-1151	13	2	is	be	AUX
hjic-1151	13	3	a	a	DET
hjic-1151	13	4	robot	robot	NOUN
hjic-1151	13	5	gripper	gripper	NOUN
hjic-1151	13	6	chosen	choose	VERB
hjic-1151	13	7	?	?	PUNCT
hjic-1151	14	1	[	[	X
hjic-1151	14	2	1	1	X
hjic-1151	14	3	]	]	PUNCT
hjic-1151	14	4	for	for	ADP
hjic-1151	14	5	example	example	NOUN
hjic-1151	14	6	,	,	PUNCT
hjic-1151	14	7	on	on	ADP
hjic-1151	14	8	the	the	DET
hjic-1151	14	9	basis	basis	NOUN
hjic-1151	14	10	of	of	ADP
hjic-1151	14	11	dexterity	dexterity	NOUN
hjic-1151	14	12	,	,	PUNCT
hjic-1151	14	13	how	how	SCONJ
hjic-1151	14	14	much	much	ADJ
hjic-1151	14	15	it	it	PRON
hjic-1151	14	16	can	can	AUX
hjic-1151	14	17	grip	grip	VERB
hjic-1151	14	18	and	and	CCONJ
hjic-1151	14	19	how	how	SCONJ
hjic-1151	14	20	much	much	ADJ
hjic-1151	14	21	it	it	PRON
hjic-1151	14	22	can	can	AUX
hjic-1151	14	23	open	open	VERB
hjic-1151	14	24	.	.	PUNCT
hjic-1151	15	1	gripper	gripper	NOUN
hjic-1151	15	2	fingers	finger	NOUN
hjic-1151	15	3	are	be	AUX
hjic-1151	15	4	applied	apply	VERB
hjic-1151	15	5	less	less	ADJ
hjic-1151	15	6	than	than	ADP
hjic-1151	15	7	small	small	ADJ
hjic-1151	15	8	jaws	jaw	NOUN
hjic-1151	15	9	which	which	PRON
hjic-1151	15	10	are	be	AUX
hjic-1151	15	11	preferred	prefer	VERB
hjic-1151	15	12	because	because	SCONJ
hjic-1151	15	13	of	of	ADP
hjic-1151	15	14	their	their	PRON
hjic-1151	15	15	flexible	flexible	ADJ
hjic-1151	15	16	elements	element	NOUN
hjic-1151	15	17	.	.	PUNCT
hjic-1151	16	1	one	one	NUM
hjic-1151	16	2	of	of	ADP
hjic-1151	16	3	the	the	DET
hjic-1151	16	4	significant	significant	ADJ
hjic-1151	16	5	advantages	advantage	NOUN
hjic-1151	16	6	of	of	ADP
hjic-1151	16	7	collaborative	collaborative	ADJ
hjic-1151	16	8	robots	robot	NOUN
hjic-1151	16	9	,	,	PUNCT
hjic-1151	16	10	which	which	PRON
hjic-1151	16	11	are	be	AUX
hjic-1151	16	12	currently	currently	ADV
hjic-1151	16	13	emerging	emerge	VERB
hjic-1151	16	14	in	in	ADP
hjic-1151	16	15	industry	industry	NOUN
hjic-1151	16	16	,	,	PUNCT
hjic-1151	16	17	is	be	AUX
hjic-1151	16	18	that	that	SCONJ
hjic-1151	16	19	they	they	PRON
hjic-1151	16	20	can	can	AUX
hjic-1151	16	21	be	be	AUX
hjic-1151	16	22	used	use	VERB
hjic-1151	16	23	to	to	PART
hjic-1151	16	24	conduct	conduct	VERB
hjic-1151	16	25	multiple	multiple	ADJ
hjic-1151	16	26	tasks	task	NOUN
hjic-1151	16	27	with	with	ADP
hjic-1151	16	28	the	the	DET
hjic-1151	16	29	need	need	NOUN
hjic-1151	16	30	for	for	ADP
hjic-1151	16	31	minimal	minimal	ADJ
hjic-1151	16	32	modifications	modification	NOUN
hjic-1151	16	33	.	.	PUNCT
hjic-1151	17	1	in	in	ADP
hjic-1151	17	2	the	the	DET
hjic-1151	17	3	past	past	NOUN
hjic-1151	17	4	,	,	PUNCT
hjic-1151	17	5	installed	instal	VERB
hjic-1151	17	6	and	and	CCONJ
hjic-1151	17	7	enclosed	enclose	VERB
hjic-1151	17	8	industrial	industrial	ADJ
hjic-1151	17	9	robots	robot	NOUN
hjic-1151	17	10	were	be	AUX
hjic-1151	17	11	usually	usually	ADV
hjic-1151	17	12	purchased	purchase	VERB
hjic-1151	17	13	as	as	ADV
hjic-1151	17	14	well	well	ADV
hjic-1151	17	15	as	as	ADP
hjic-1151	17	16	prepared	prepare	VERB
hjic-1151	17	17	for	for	ADP
hjic-1151	17	18	a	a	DET
hjic-1151	17	19	single	single	ADJ
hjic-1151	17	20	purpose	purpose	NOUN
hjic-1151	17	21	,	,	PUNCT
hjic-1151	17	22	typically	typically	ADV
hjic-1151	17	23	to	to	PART
hjic-1151	17	24	be	be	AUX
hjic-1151	17	25	operated	operate	VERB
hjic-1151	17	26	in	in	ADP
hjic-1151	17	27	a	a	DET
hjic-1151	17	28	production	production	NOUN
hjic-1151	17	29	cell	cell	NOUN
hjic-1151	17	30	.	.	PUNCT
hjic-1151	18	1	currently	currently	ADV
hjic-1151	18	2	,	,	PUNCT
hjic-1151	18	3	collaborative	collaborative	ADJ
hjic-1151	18	4	robots	robot	NOUN
hjic-1151	18	5	often	often	ADV
hjic-1151	18	6	perform	perform	VERB
hjic-1151	18	7	a	a	DET
hjic-1151	18	8	range	range	NOUN
hjic-1151	18	9	of	of	ADP
hjic-1151	18	10	tasks	task	NOUN
hjic-1151	18	11	in	in	ADP
hjic-1151	18	12	collaboration	collaboration	NOUN
hjic-1151	18	13	with	with	ADP
hjic-1151	18	14	humans	human	NOUN
hjic-1151	18	15	[	[	X
hjic-1151	18	16	2	2	NUM
hjic-1151	18	17	]	]	PUNCT
hjic-1151	18	18	,	,	PUNCT
hjic-1151	18	19	partly	partly	ADV
hjic-1151	18	20	because	because	SCONJ
hjic-1151	18	21	if	if	SCONJ
hjic-1151	18	22	a	a	DET
hjic-1151	18	23	robot	robot	NOUN
hjic-1151	18	24	is	be	AUX
hjic-1151	18	25	no	no	ADV
hjic-1151	18	26	longer	long	ADV
hjic-1151	18	27	needed	need	VERB
hjic-1151	18	28	at	at	ADP
hjic-1151	18	29	one	one	NUM
hjic-1151	18	30	workstation	workstation	NOUN
hjic-1151	18	31	,	,	PUNCT
hjic-1151	18	32	it	it	PRON
hjic-1151	18	33	can	can	AUX
hjic-1151	18	34	be	be	AUX
hjic-1151	18	35	used	use	VERB
hjic-1151	18	36	on	on	ADP
hjic-1151	18	37	another	another	DET
hjic-1151	18	38	line	line	NOUN
hjic-1151	18	39	at	at	ADP
hjic-1151	18	40	another	another	DET
hjic-1151	18	41	workstation	workstation	NOUN
hjic-1151	18	42	.	.	PUNCT
hjic-1151	19	1	as	as	ADP
hjic-1151	19	2	a	a	DET
hjic-1151	19	3	result	result	NOUN
hjic-1151	19	4	,	,	PUNCT
hjic-1151	19	5	the	the	DET
hjic-1151	19	6	amount	amount	NOUN
hjic-1151	19	7	of	of	ADP
hjic-1151	19	8	reassembly	reassembly	ADJ
hjic-1151	19	9	and	and	CCONJ
hjic-1151	19	10	installation	installation	NOUN
hjic-1151	19	11	work	work	NOUN
hjic-1151	19	12	that	that	SCONJ
hjic-1151	19	13	maintenance	maintenance	NOUN
hjic-1151	19	14	and	and	CCONJ
hjic-1151	19	15	line	line	NOUN
hjic-1151	19	16	engineers	engineer	NOUN
hjic-1151	19	17	are	be	AUX
hjic-1151	19	18	required	require	VERB
hjic-1151	19	19	to	to	PART
hjic-1151	19	20	do	do	VERB
hjic-1151	19	21	is	be	AUX
hjic-1151	19	22	minimal	minimal	ADJ
hjic-1151	19	23	.	.	PUNCT
hjic-1151	20	1	2	2	X
hjic-1151	20	2	.	.	PUNCT
hjic-1151	20	3	gripper	gripper	NOUN
hjic-1151	20	4	selection	selection	NOUN
hjic-1151	20	5	it	it	PRON
hjic-1151	20	6	is	be	AUX
hjic-1151	20	7	recommended	recommend	VERB
hjic-1151	20	8	to	to	PART
hjic-1151	20	9	choose	choose	VERB
hjic-1151	20	10	a	a	DET
hjic-1151	20	11	solution	solution	NOUN
hjic-1151	20	12	for	for	ADP
hjic-1151	20	13	the	the	DET
hjic-1151	20	14	robot	robot	NOUN
hjic-1151	20	15	effector	effector	NOUN
hjic-1151	20	16	that	that	PRON
hjic-1151	20	17	is	be	AUX
hjic-1151	20	18	best	well	ADV
hjic-1151	20	19	suited	suited	ADJ
hjic-1151	20	20	to	to	ADP
hjic-1151	20	21	such	such	DET
hjic-1151	20	22	a	a	DET
hjic-1151	20	23	general	general	ADJ
hjic-1151	20	24	manufacturing	manufacturing	NOUN
hjic-1151	20	25	environment	environment	NOUN
hjic-1151	20	26	.	.	PUNCT
hjic-1151	21	1	although	although	SCONJ
hjic-1151	21	2	grippers	gripper	NOUN
hjic-1151	21	3	are	be	AUX
hjic-1151	21	4	available	available	ADJ
hjic-1151	21	5	in	in	ADP
hjic-1151	21	6	a	a	DET
hjic-1151	21	7	variety	variety	NOUN
hjic-1151	21	8	of	of	ADP
hjic-1151	21	9	sizes	size	NOUN
hjic-1151	21	10	,	,	PUNCT
hjic-1151	21	11	it	it	PRON
hjic-1151	21	12	is	be	AUX
hjic-1151	21	13	also	also	ADV
hjic-1151	21	14	worth	worth	ADJ
hjic-1151	21	15	considering	consider	VERB
hjic-1151	21	16	their	their	PRON
hjic-1151	21	17	cost	cost	NOUN
hjic-1151	21	18	.	.	PUNCT
hjic-1151	22	1	in	in	ADP
hjic-1151	22	2	general	general	ADJ
hjic-1151	22	3	,	,	PUNCT
hjic-1151	22	4	a	a	DET
hjic-1151	22	5	more	more	ADV
hjic-1151	22	6	expensive	expensive	ADJ
hjic-1151	22	7	gripper	gripper	NOUN
hjic-1151	22	8	can	can	AUX
hjic-1151	22	9	handle	handle	VERB
hjic-1151	22	10	multiple	multiple	ADJ
hjic-1151	22	11	tasks	task	NOUN
hjic-1151	22	12	,	,	PUNCT
hjic-1151	22	13	*	*	PUNCT
hjic-1151	22	14	correspondence	correspondence	NOUN
hjic-1151	22	15	:	:	PUNCT
hjic-1151	22	16	boleraczki.miklos@mk.uni-pannon.hu	boleraczki.miklos@mk.uni-pannon.hu	VERB
hjic-1151	22	17	while	while	SCONJ
hjic-1151	22	18	a	a	DET
hjic-1151	22	19	cheaper	cheap	ADJ
hjic-1151	22	20	version	version	NOUN
hjic-1151	22	21	may	may	AUX
hjic-1151	22	22	be	be	AUX
hjic-1151	22	23	less	less	ADV
hjic-1151	22	24	capable	capable	ADJ
hjic-1151	22	25	of	of	ADP
hjic-1151	22	26	adapting	adapt	VERB
hjic-1151	22	27	to	to	ADP
hjic-1151	22	28	the	the	DET
hjic-1151	22	29	task	task	NOUN
hjic-1151	22	30	at	at	ADP
hjic-1151	22	31	hand	hand	NOUN
hjic-1151	22	32	.	.	PUNCT
hjic-1151	23	1	the	the	DET
hjic-1151	23	2	gripper	gripper	NOUN
hjic-1151	23	3	is	be	AUX
hjic-1151	23	4	a	a	DET
hjic-1151	23	5	mechanical	mechanical	ADJ
hjic-1151	23	6	interface	interface	NOUN
hjic-1151	23	7	between	between	ADP
hjic-1151	23	8	the	the	DET
hjic-1151	23	9	robot	robot	NOUN
hjic-1151	23	10	and	and	CCONJ
hjic-1151	23	11	its	its	PRON
hjic-1151	23	12	environment	environment	NOUN
hjic-1151	23	13	[	[	X
hjic-1151	23	14	3	3	NUM
hjic-1151	23	15	]	]	PUNCT
hjic-1151	23	16	.	.	PUNCT
hjic-1151	24	1	without	without	ADP
hjic-1151	24	2	it	it	PRON
hjic-1151	24	3	,	,	PUNCT
hjic-1151	24	4	the	the	DET
hjic-1151	24	5	robot	robot	NOUN
hjic-1151	24	6	can	can	AUX
hjic-1151	24	7	not	not	PART
hjic-1151	24	8	perform	perform	VERB
hjic-1151	24	9	its	its	PRON
hjic-1151	24	10	task	task	NOUN
hjic-1151	24	11	,	,	PUNCT
hjic-1151	24	12	e.g.	e.g.	ADV
hjic-1151	24	13	packing	pack	VERB
hjic-1151	24	14	or	or	CCONJ
hjic-1151	24	15	assembling	assembling	NOUN
hjic-1151	24	16	.	.	PUNCT
hjic-1151	25	1	the	the	DET
hjic-1151	25	2	cited	cite	VERB
hjic-1151	25	3	article	article	NOUN
hjic-1151	25	4	introduces	introduce	VERB
hjic-1151	25	5	various	various	ADJ
hjic-1151	25	6	designs	design	NOUN
hjic-1151	25	7	of	of	ADP
hjic-1151	25	8	grippers	gripper	NOUN
hjic-1151	25	9	.	.	PUNCT
hjic-1151	26	1	the	the	DET
hjic-1151	26	2	first	first	ADJ
hjic-1151	26	3	group	group	NOUN
hjic-1151	26	4	of	of	ADP
hjic-1151	26	5	gripper	gripper	NOUN
hjic-1151	26	6	fingers	finger	NOUN
hjic-1151	26	7	include	include	VERB
hjic-1151	26	8	several	several	ADJ
hjic-1151	26	9	notches	notch	NOUN
hjic-1151	26	10	in	in	ADP
hjic-1151	26	11	the	the	DET
hjic-1151	26	12	gripping	grip	VERB
hjic-1151	26	13	surfaces	surface	NOUN
hjic-1151	26	14	,	,	PUNCT
hjic-1151	26	15	which	which	PRON
hjic-1151	26	16	make	make	VERB
hjic-1151	26	17	it	it	PRON
hjic-1151	26	18	possible	possible	ADJ
hjic-1151	26	19	to	to	PART
hjic-1151	26	20	grip	grip	VERB
hjic-1151	26	21	workpieces	workpiece	NOUN
hjic-1151	26	22	of	of	ADP
hjic-1151	26	23	different	different	ADJ
hjic-1151	26	24	shapes	shape	NOUN
hjic-1151	26	25	.	.	PUNCT
hjic-1151	27	1	this	this	PRON
hjic-1151	27	2	is	be	AUX
hjic-1151	27	3	usually	usually	ADV
hjic-1151	27	4	only	only	ADV
hjic-1151	27	5	suitable	suitable	ADJ
hjic-1151	27	6	for	for	ADP
hjic-1151	27	7	workpieces	workpiece	NOUN
hjic-1151	27	8	of	of	ADP
hjic-1151	27	9	a	a	DET
hjic-1151	27	10	similar	similar	ADJ
hjic-1151	27	11	size	size	NOUN
hjic-1151	27	12	and	and	CCONJ
hjic-1151	27	13	weight	weight	NOUN
hjic-1151	27	14	.	.	PUNCT
hjic-1151	28	1	even	even	ADV
hjic-1151	28	2	though	though	SCONJ
hjic-1151	28	3	they	they	PRON
hjic-1151	28	4	are	be	AUX
hjic-1151	28	5	simple	simple	ADJ
hjic-1151	28	6	to	to	PART
hjic-1151	28	7	make	make	VERB
hjic-1151	28	8	and	and	CCONJ
hjic-1151	28	9	low	low	ADJ
hjic-1151	28	10	-	-	PUNCT
hjic-1151	28	11	cost	cost	NOUN
hjic-1151	28	12	,	,	PUNCT
hjic-1151	28	13	the	the	DET
hjic-1151	28	14	number	number	NOUN
hjic-1151	28	15	of	of	ADP
hjic-1151	28	16	notches	notch	NOUN
hjic-1151	28	17	that	that	PRON
hjic-1151	28	18	can	can	AUX
hjic-1151	28	19	be	be	AUX
hjic-1151	28	20	cut	cut	VERB
hjic-1151	28	21	is	be	AUX
hjic-1151	28	22	limited	limited	ADJ
hjic-1151	28	23	.	.	PUNCT
hjic-1151	29	1	since	since	SCONJ
hjic-1151	29	2	the	the	DET
hjic-1151	29	3	number	number	NOUN
hjic-1151	29	4	of	of	ADP
hjic-1151	29	5	notches	notch	NOUN
hjic-1151	29	6	required	require	VERB
hjic-1151	29	7	for	for	ADP
hjic-1151	29	8	all	all	DET
hjic-1151	29	9	workpieces	workpiece	NOUN
hjic-1151	29	10	must	must	AUX
hjic-1151	29	11	be	be	AUX
hjic-1151	29	12	specified	specify	VERB
hjic-1151	29	13	,	,	PUNCT
hjic-1151	29	14	the	the	DET
hjic-1151	29	15	design	design	NOUN
hjic-1151	29	16	time	time	NOUN
hjic-1151	29	17	may	may	AUX
hjic-1151	29	18	be	be	AUX
hjic-1151	29	19	longer	long	ADJ
hjic-1151	29	20	.	.	PUNCT
hjic-1151	30	1	programming	program	VERB
hjic-1151	30	2	the	the	DET
hjic-1151	30	3	robot	robot	NOUN
hjic-1151	30	4	can	can	AUX
hjic-1151	30	5	also	also	ADV
hjic-1151	30	6	be	be	AUX
hjic-1151	30	7	a	a	DET
hjic-1151	30	8	lengthy	lengthy	ADJ
hjic-1151	30	9	process	process	NOUN
hjic-1151	30	10	because	because	SCONJ
hjic-1151	30	11	the	the	DET
hjic-1151	30	12	gripper	gripper	NOUN
hjic-1151	30	13	must	must	AUX
hjic-1151	30	14	be	be	AUX
hjic-1151	30	15	correctly	correctly	ADV
hjic-1151	30	16	oriented	orient	VERB
hjic-1151	30	17	to	to	ADP
hjic-1151	30	18	the	the	DET
hjic-1151	30	19	workpieces	workpiece	NOUN
hjic-1151	30	20	.	.	PUNCT
hjic-1151	31	1	another	another	DET
hjic-1151	31	2	method	method	NOUN
hjic-1151	31	3	is	be	AUX
hjic-1151	31	4	to	to	PART
hjic-1151	31	5	change	change	VERB
hjic-1151	31	6	the	the	DET
hjic-1151	31	7	fingers	finger	NOUN
hjic-1151	31	8	of	of	ADP
hjic-1151	31	9	the	the	DET
hjic-1151	31	10	gripper	gripper	NOUN
hjic-1151	31	11	so	so	SCONJ
hjic-1151	31	12	that	that	DET
hjic-1151	31	13	differently	differently	ADV
hjic-1151	31	14	shaped	shape	VERB
hjic-1151	31	15	workpieces	workpiece	NOUN
hjic-1151	31	16	can	can	AUX
hjic-1151	31	17	be	be	AUX
hjic-1151	31	18	handled	handle	VERB
hjic-1151	31	19	by	by	ADP
hjic-1151	31	20	changing	change	VERB
hjic-1151	31	21	the	the	DET
hjic-1151	31	22	gripper	gripper	NOUN
hjic-1151	31	23	fingers	finger	NOUN
hjic-1151	31	24	.	.	PUNCT
hjic-1151	32	1	the	the	DET
hjic-1151	32	2	fingers	finger	NOUN
hjic-1151	32	3	are	be	AUX
hjic-1151	32	4	stored	store	VERB
hjic-1151	32	5	on	on	ADP
hjic-1151	32	6	a	a	DET
hjic-1151	32	7	rack	rack	NOUN
hjic-1151	32	8	and	and	CCONJ
hjic-1151	32	9	the	the	DET
hjic-1151	32	10	robot	robot	NOUN
hjic-1151	32	11	knows	know	VERB
hjic-1151	32	12	the	the	DET
hjic-1151	32	13	exact	exact	ADJ
hjic-1151	32	14	position	position	NOUN
hjic-1151	32	15	of	of	ADP
hjic-1151	32	16	each	each	DET
hjic-1151	32	17	finger	finger	NOUN
hjic-1151	32	18	.	.	PUNCT
hjic-1151	33	1	a	a	DET
hjic-1151	33	2	reliable	reliable	ADJ
hjic-1151	33	3	mechanical	mechanical	ADJ
hjic-1151	33	4	device	device	NOUN
hjic-1151	33	5	to	to	PART
hjic-1151	33	6	accurately	accurately	ADV
hjic-1151	33	7	clamp	clamp	VERB
hjic-1151	33	8	and	and	CCONJ
hjic-1151	33	9	unclamp	unclamp	ADJ
hjic-1151	33	10	the	the	DET
hjic-1151	33	11	fingers	finger	NOUN
hjic-1151	33	12	is	be	AUX
hjic-1151	33	13	essential	essential	ADJ
hjic-1151	33	14	in	in	ADP
hjic-1151	33	15	this	this	DET
hjic-1151	33	16	case	case	NOUN
hjic-1151	33	17	,	,	PUNCT
hjic-1151	33	18	moreover	moreover	ADV
hjic-1151	33	19	,	,	PUNCT
hjic-1151	33	20	their	their	PRON
hjic-1151	33	21	replacement	replacement	NOUN
hjic-1151	33	22	time	time	NOUN
hjic-1151	33	23	should	should	AUX
hjic-1151	33	24	be	be	AUX
hjic-1151	33	25	minimized	minimize	VERB
hjic-1151	33	26	.	.	PUNCT
hjic-1151	34	1	therefore	therefore	ADV
hjic-1151	34	2	,	,	PUNCT
hjic-1151	34	3	the	the	DET
hjic-1151	34	4	gripper	gripper	NOUN
hjic-1151	34	5	and	and	CCONJ
hjic-1151	34	6	robot	robot	NOUN
hjic-1151	34	7	will	will	AUX
hjic-1151	34	8	be	be	AUX
hjic-1151	34	9	able	able	ADJ
hjic-1151	34	10	to	to	PART
hjic-1151	34	11	handle	handle	VERB
hjic-1151	34	12	a	a	DET
hjic-1151	34	13	wide	wide	ADJ
hjic-1151	34	14	range	range	NOUN
hjic-1151	34	15	of	of	ADP
hjic-1151	34	16	workpieces	workpiece	NOUN
hjic-1151	34	17	and	and	CCONJ
hjic-1151	34	18	easily	easily	ADV
hjic-1151	34	19	adapt	adapt	VERB
hjic-1151	34	20	to	to	ADP
hjic-1151	34	21	other	other	ADJ
hjic-1151	34	22	applications	application	NOUN
hjic-1151	34	23	.	.	PUNCT
hjic-1151	35	1	this	this	DET
hjic-1151	35	2	method	method	NOUN
hjic-1151	35	3	is	be	AUX
hjic-1151	35	4	more	more	ADV
hjic-1151	35	5	flexible	flexible	ADJ
hjic-1151	35	6	than	than	ADP
hjic-1151	35	7	the	the	DET
hjic-1151	35	8	previous	previous	ADJ
hjic-1151	35	9	one	one	NUM
hjic-1151	35	10	,	,	PUNCT
hjic-1151	35	11	which	which	PRON
hjic-1151	35	12	is	be	AUX
hjic-1151	35	13	more	more	ADJ
hjic-1151	35	14	application	application	NOUN
hjic-1151	35	15	-	-	PUNCT
hjic-1151	35	16	specific	specific	NOUN
hjic-1151	35	17	.	.	PUNCT
hjic-1151	36	1	the	the	DET
hjic-1151	36	2	third	third	ADJ
hjic-1151	36	3	technique	technique	NOUN
hjic-1151	36	4	is	be	AUX
hjic-1151	36	5	to	to	PART
hjic-1151	36	6	replace	replace	VERB
hjic-1151	36	7	grippers	gripper	NOUN
hjic-1151	36	8	.	.	PUNCT
hjic-1151	37	1	for	for	ADP
hjic-1151	37	2	this	this	DET
hjic-1151	37	3	purpose	purpose	NOUN
hjic-1151	37	4	,	,	PUNCT
hjic-1151	37	5	complete	complete	ADJ
hjic-1151	37	6	tool	tool	NOUN
hjic-1151	37	7	changer	changer	NOUN
hjic-1151	37	8	grippers	gripper	NOUN
hjic-1151	37	9	can	can	AUX
hjic-1151	37	10	be	be	AUX
hjic-1151	37	11	purchased	purchase	VERB
hjic-1151	37	12	,	,	PUNCT
hjic-1151	37	13	which	which	PRON
hjic-1151	37	14	are	be	AUX
hjic-1151	37	15	expensive	expensive	ADJ
hjic-1151	37	16	but	but	CCONJ
hjic-1151	37	17	precise	precise	ADJ
hjic-1151	37	18	and	and	CCONJ
hjic-1151	37	19	allow	allow	VERB
hjic-1151	37	20	grippers	gripper	NOUN
hjic-1151	37	21	to	to	PART
hjic-1151	37	22	be	be	AUX
hjic-1151	37	23	quickly	quickly	ADV
hjic-1151	37	24	replaced	replace	VERB
hjic-1151	37	25	.	.	PUNCT
hjic-1151	38	1	they	they	PRON
hjic-1151	38	2	are	be	AUX
hjic-1151	38	3	used	use	VERB
hjic-1151	38	4	when	when	SCONJ
hjic-1151	38	5	a	a	DET
hjic-1151	38	6	gripper	gripper	NOUN
hjic-1151	38	7	can	can	AUX
hjic-1151	38	8	not	not	PART
hjic-1151	38	9	handle	handle	VERB
hjic-1151	38	10	the	the	DET
hjic-1151	38	11	differences	difference	NOUN
hjic-1151	38	12	in	in	ADP
hjic-1151	38	13	size	size	NOUN
hjic-1151	38	14	,	,	PUNCT
hjic-1151	38	15	geometry	geometry	NOUN
hjic-1151	38	16	and	and	CCONJ
hjic-1151	38	17	weight	weight	NOUN
hjic-1151	38	18	between	between	ADP
hjic-1151	38	19	workpieces	workpiece	NOUN
hjic-1151	38	20	.	.	PUNCT
hjic-1151	39	1	therefore	therefore	ADV
hjic-1151	39	2	,	,	PUNCT
hjic-1151	39	3	several	several	ADJ
hjic-1151	39	4	griphttps://doi.org/10.33927/hjic-2021-28	griphttps://doi.org/10.33927/hjic-2021-28	PROPN
hjic-1151	39	5	mailto:boleraczki.miklos@mk.uni-pannon.hu	mailto:boleraczki.miklos@mk.uni-pannon.hu	NOUN
hjic-1151	39	6	92	92	NUM
hjic-1151	39	7	boleraczki	boleraczki	ADJ
hjic-1151	39	8	,	,	PUNCT
hjic-1151	39	9	gyurika	gyurika	NOUN
hjic-1151	39	10	,	,	PUNCT
hjic-1151	39	11	and	and	CCONJ
hjic-1151	39	12	fodor	fodor	NOUN
hjic-1151	39	13	pers	per	NOUN
hjic-1151	39	14	are	be	AUX
hjic-1151	39	15	needed	need	VERB
hjic-1151	39	16	to	to	PART
hjic-1151	39	17	cover	cover	VERB
hjic-1151	39	18	a	a	DET
hjic-1151	39	19	range	range	NOUN
hjic-1151	39	20	of	of	ADP
hjic-1151	39	21	workpieces	workpiece	NOUN
hjic-1151	39	22	.	.	PUNCT
hjic-1151	40	1	the	the	DET
hjic-1151	40	2	robot	robot	NOUN
hjic-1151	40	3	must	must	AUX
hjic-1151	40	4	be	be	AUX
hjic-1151	40	5	provided	provide	VERB
hjic-1151	40	6	with	with	ADP
hjic-1151	40	7	precise	precise	ADJ
hjic-1151	40	8	information	information	NOUN
hjic-1151	40	9	about	about	ADP
hjic-1151	40	10	each	each	DET
hjic-1151	40	11	gripper	gripper	NOUN
hjic-1151	40	12	and	and	CCONJ
hjic-1151	40	13	its	its	PRON
hjic-1151	40	14	position	position	NOUN
hjic-1151	40	15	,	,	PUNCT
hjic-1151	40	16	which	which	PRON
hjic-1151	40	17	usually	usually	ADV
hjic-1151	40	18	also	also	ADV
hjic-1151	40	19	requires	require	VERB
hjic-1151	40	20	a	a	DET
hjic-1151	40	21	power	power	NOUN
hjic-1151	40	22	supply	supply	NOUN
hjic-1151	40	23	and	and	CCONJ
hjic-1151	40	24	sensors	sensor	NOUN
hjic-1151	40	25	.	.	PUNCT
hjic-1151	41	1	in	in	ADP
hjic-1151	41	2	general	general	ADJ
hjic-1151	41	3	,	,	PUNCT
hjic-1151	41	4	this	this	DET
hjic-1151	41	5	gripper	gripper	NOUN
hjic-1151	41	6	changeover	changeover	NOUN
hjic-1151	41	7	can	can	AUX
hjic-1151	41	8	be	be	AUX
hjic-1151	41	9	used	use	VERB
hjic-1151	41	10	for	for	ADP
hjic-1151	41	11	different	different	ADJ
hjic-1151	41	12	types	type	NOUN
hjic-1151	41	13	of	of	ADP
hjic-1151	41	14	grippers	gripper	NOUN
hjic-1151	41	15	,	,	PUNCT
hjic-1151	41	16	e.g.	e.g.	ADV
hjic-1151	41	17	mechanical	mechanical	ADJ
hjic-1151	41	18	,	,	PUNCT
hjic-1151	41	19	vacuum	vacuum	PROPN
hjic-1151	41	20	,	,	PUNCT
hjic-1151	41	21	magnetic	magnetic	ADJ
hjic-1151	41	22	,	,	PUNCT
hjic-1151	41	23	etc	etc	X
hjic-1151	41	24	.	.	X
hjic-1151	41	25	as	as	SCONJ
hjic-1151	41	26	the	the	DET
hjic-1151	41	27	changeover	changeover	NOUN
hjic-1151	41	28	time	time	NOUN
hjic-1151	41	29	increases	increase	VERB
hjic-1151	41	30	the	the	DET
hjic-1151	41	31	downtime	downtime	NOUN
hjic-1151	41	32	,	,	PUNCT
hjic-1151	41	33	it	it	PRON
hjic-1151	41	34	should	should	AUX
hjic-1151	41	35	be	be	AUX
hjic-1151	41	36	kept	keep	VERB
hjic-1151	41	37	to	to	ADP
hjic-1151	41	38	a	a	DET
hjic-1151	41	39	minimum	minimum	NOUN
hjic-1151	41	40	.	.	PUNCT
hjic-1151	42	1	although	although	SCONJ
hjic-1151	42	2	modern	modern	ADJ
hjic-1151	42	3	tool	tool	NOUN
hjic-1151	42	4	changers	changer	NOUN
hjic-1151	42	5	are	be	AUX
hjic-1151	42	6	equipped	equip	VERB
hjic-1151	42	7	with	with	ADP
hjic-1151	42	8	a	a	DET
hjic-1151	42	9	number	number	NOUN
hjic-1151	42	10	of	of	ADP
hjic-1151	42	11	energy	energy	NOUN
hjic-1151	42	12	transfers	transfer	NOUN
hjic-1151	42	13	(	(	PUNCT
hjic-1151	42	14	air	air	NOUN
hjic-1151	42	15	and	and	CCONJ
hjic-1151	42	16	electrical	electrical	ADJ
hjic-1151	42	17	connections	connection	NOUN
hjic-1151	42	18	)	)	PUNCT
hjic-1151	42	19	,	,	PUNCT
hjic-1151	42	20	they	they	PRON
hjic-1151	42	21	are	be	AUX
hjic-1151	42	22	expensive	expensive	ADJ
hjic-1151	42	23	.	.	PUNCT
hjic-1151	43	1	a	a	DET
hjic-1151	43	2	fourth	fourth	ADJ
hjic-1151	43	3	solution	solution	NOUN
hjic-1151	43	4	is	be	AUX
hjic-1151	43	5	to	to	PART
hjic-1151	43	6	attach	attach	VERB
hjic-1151	43	7	several	several	ADJ
hjic-1151	43	8	grippers	gripper	NOUN
hjic-1151	43	9	to	to	ADP
hjic-1151	43	10	the	the	DET
hjic-1151	43	11	robot	robot	NOUN
hjic-1151	43	12	simultaneously	simultaneously	ADV
hjic-1151	43	13	in	in	ADP
hjic-1151	43	14	a	a	DET
hjic-1151	43	15	revolving	revolving	ADJ
hjic-1151	43	16	or	or	CCONJ
hjic-1151	43	17	linear	linear	ADJ
hjic-1151	43	18	arrangement	arrangement	NOUN
hjic-1151	43	19	.	.	PUNCT
hjic-1151	44	1	in	in	ADP
hjic-1151	44	2	the	the	DET
hjic-1151	44	3	simplest	simple	ADJ
hjic-1151	44	4	case	case	NOUN
hjic-1151	44	5	,	,	PUNCT
hjic-1151	44	6	two	two	NUM
hjic-1151	44	7	grippers	gripper	NOUN
hjic-1151	44	8	are	be	AUX
hjic-1151	44	9	mounted	mount	VERB
hjic-1151	44	10	for	for	ADP
hjic-1151	44	11	loading	loading	NOUN
hjic-1151	44	12	/	/	SYM
hjic-1151	44	13	unloading	unload	VERB
hjic-1151	44	14	operations	operation	NOUN
hjic-1151	44	15	,	,	PUNCT
hjic-1151	44	16	which	which	PRON
hjic-1151	44	17	significantly	significantly	ADV
hjic-1151	44	18	speeds	speed	VERB
hjic-1151	44	19	up	up	ADP
hjic-1151	44	20	the	the	DET
hjic-1151	44	21	service	service	NOUN
hjic-1151	44	22	time	time	NOUN
hjic-1151	44	23	of	of	ADP
hjic-1151	44	24	the	the	DET
hjic-1151	44	25	machine	machine	NOUN
hjic-1151	44	26	.	.	PUNCT
hjic-1151	45	1	the	the	DET
hjic-1151	45	2	fifth	fifth	ADJ
hjic-1151	45	3	option	option	NOUN
hjic-1151	45	4	presented	present	VERB
hjic-1151	45	5	in	in	ADP
hjic-1151	45	6	this	this	DET
hjic-1151	45	7	article	article	NOUN
hjic-1151	45	8	are	be	AUX
hjic-1151	45	9	active	active	ADJ
hjic-1151	45	10	and	and	CCONJ
hjic-1151	45	11	passive	passive	ADJ
hjic-1151	45	12	universal	universal	ADJ
hjic-1151	45	13	grippers	gripper	NOUN
hjic-1151	45	14	.	.	PUNCT
hjic-1151	46	1	grippers	gripper	NOUN
hjic-1151	46	2	that	that	PRON
hjic-1151	46	3	can	can	AUX
hjic-1151	46	4	adapt	adapt	VERB
hjic-1151	46	5	to	to	ADP
hjic-1151	46	6	the	the	DET
hjic-1151	46	7	workpiece	workpiece	NOUN
hjic-1151	46	8	,	,	PUNCT
hjic-1151	46	9	e.g.	e.g.	ADV
hjic-1151	46	10	in	in	ADP
hjic-1151	46	11	an	an	DET
hjic-1151	46	12	elastic	elastic	ADJ
hjic-1151	46	13	manner	manner	NOUN
hjic-1151	46	14	,	,	PUNCT
hjic-1151	46	15	with	with	ADP
hjic-1151	46	16	a	a	DET
hjic-1151	46	17	passive	passive	ADJ
hjic-1151	46	18	(	(	PUNCT
hjic-1151	46	19	non	non	ADJ
hjic-1151	46	20	-	-	ADJ
hjic-1151	46	21	actuated	actuated	ADJ
hjic-1151	46	22	)	)	PUNCT
hjic-1151	46	23	degree	degree	NOUN
hjic-1151	46	24	of	of	ADP
hjic-1151	46	25	freedom	freedom	NOUN
hjic-1151	46	26	can	can	AUX
hjic-1151	46	27	be	be	AUX
hjic-1151	46	28	considered	consider	VERB
hjic-1151	46	29	as	as	ADP
hjic-1151	46	30	passive	passive	ADJ
hjic-1151	46	31	universal	universal	ADJ
hjic-1151	46	32	grippers	gripper	NOUN
hjic-1151	46	33	.	.	PUNCT
hjic-1151	47	1	they	they	PRON
hjic-1151	47	2	are	be	AUX
hjic-1151	47	3	characterized	characterize	VERB
hjic-1151	47	4	by	by	ADP
hjic-1151	47	5	the	the	DET
hjic-1151	47	6	fact	fact	NOUN
hjic-1151	47	7	that	that	SCONJ
hjic-1151	47	8	they	they	PRON
hjic-1151	47	9	do	do	AUX
hjic-1151	47	10	not	not	PART
hjic-1151	47	11	provide	provide	VERB
hjic-1151	47	12	a	a	DET
hjic-1151	47	13	precise	precise	ADJ
hjic-1151	47	14	position	position	NOUN
hjic-1151	47	15	of	of	ADP
hjic-1151	47	16	the	the	DET
hjic-1151	47	17	workpiece	workpiece	NOUN
hjic-1151	47	18	in	in	ADP
hjic-1151	47	19	the	the	DET
hjic-1151	47	20	coordinate	coordinate	NOUN
hjic-1151	47	21	system	system	NOUN
hjic-1151	47	22	of	of	ADP
hjic-1151	47	23	the	the	DET
hjic-1151	47	24	robot	robot	NOUN
hjic-1151	47	25	.	.	PUNCT
hjic-1151	48	1	they	they	PRON
hjic-1151	48	2	are	be	AUX
hjic-1151	48	3	well	well	ADV
hjic-1151	48	4	-	-	PUNCT
hjic-1151	48	5	suited	suit	VERB
hjic-1151	48	6	for	for	ADP
hjic-1151	48	7	simple	simple	ADJ
hjic-1151	48	8	pick	pick	VERB
hjic-1151	48	9	-	-	PUNCT
hjic-1151	48	10	and	and	CCONJ
hjic-1151	48	11	-	-	PUNCT
hjic-1151	48	12	place	place	NOUN
hjic-1151	48	13	tasks	task	NOUN
hjic-1151	48	14	where	where	SCONJ
hjic-1151	48	15	a	a	DET
hjic-1151	48	16	high	high	ADJ
hjic-1151	48	17	degree	degree	NOUN
hjic-1151	48	18	of	of	ADP
hjic-1151	48	19	precision	precision	NOUN
hjic-1151	48	20	is	be	AUX
hjic-1151	48	21	not	not	PART
hjic-1151	48	22	required	require	VERB
hjic-1151	48	23	.	.	PUNCT
hjic-1151	49	1	active	active	ADJ
hjic-1151	49	2	universal	universal	ADJ
hjic-1151	49	3	grippers	gripper	NOUN
hjic-1151	49	4	mimic	mimic	VERB
hjic-1151	49	5	the	the	DET
hjic-1151	49	6	universal	universal	ADJ
hjic-1151	49	7	gripping	gripping	ADJ
hjic-1151	49	8	ability	ability	NOUN
hjic-1151	49	9	of	of	ADP
hjic-1151	49	10	human	human	ADJ
hjic-1151	49	11	hands	hand	NOUN
hjic-1151	49	12	.	.	PUNCT
hjic-1151	50	1	even	even	ADV
hjic-1151	50	2	though	though	SCONJ
hjic-1151	50	3	such	such	ADJ
hjic-1151	50	4	experiments	experiment	NOUN
hjic-1151	50	5	have	have	AUX
hjic-1151	50	6	been	be	AUX
hjic-1151	50	7	conducted	conduct	VERB
hjic-1151	50	8	in	in	ADP
hjic-1151	50	9	the	the	DET
hjic-1151	50	10	past	past	NOUN
hjic-1151	50	11	,	,	PUNCT
hjic-1151	50	12	nowadays	nowadays	ADV
hjic-1151	50	13	,	,	PUNCT
hjic-1151	50	14	with	with	ADP
hjic-1151	50	15	the	the	DET
hjic-1151	50	16	addition	addition	NOUN
hjic-1151	50	17	of	of	ADP
hjic-1151	50	18	3d	3d	NUM
hjic-1151	50	19	printing	printing	NOUN
hjic-1151	50	20	,	,	PUNCT
hjic-1151	50	21	some	some	DET
hjic-1151	50	22	open	open	ADJ
hjic-1151	50	23	source	source	NOUN
hjic-1151	50	24	projects	project	NOUN
hjic-1151	50	25	include	include	VERB
hjic-1151	50	26	such	such	ADJ
hjic-1151	50	27	active	active	ADJ
hjic-1151	50	28	universal	universal	ADJ
hjic-1151	50	29	robotic	robotic	ADJ
hjic-1151	50	30	hands	hand	NOUN
hjic-1151	50	31	.	.	PUNCT
hjic-1151	51	1	at	at	ADP
hjic-1151	51	2	the	the	DET
hjic-1151	51	3	time	time	NOUN
hjic-1151	51	4	of	of	ADP
hjic-1151	51	5	writing	write	VERB
hjic-1151	51	6	that	that	DET
hjic-1151	51	7	article	article	NOUN
hjic-1151	51	8	,	,	PUNCT
hjic-1151	51	9	these	these	DET
hjic-1151	51	10	robotic	robotic	ADJ
hjic-1151	51	11	hands	hand	NOUN
hjic-1151	51	12	were	be	AUX
hjic-1151	51	13	expensive	expensive	ADJ
hjic-1151	51	14	and	and	CCONJ
hjic-1151	51	15	unreliable	unreliable	ADJ
hjic-1151	51	16	so	so	ADV
hjic-1151	51	17	inapplicable	inapplicable	ADJ
hjic-1151	51	18	on	on	ADP
hjic-1151	51	19	an	an	DET
hjic-1151	51	20	industrial	industrial	ADJ
hjic-1151	51	21	scale	scale	NOUN
hjic-1151	51	22	,	,	PUNCT
hjic-1151	51	23	which	which	PRON
hjic-1151	51	24	is	be	AUX
hjic-1151	51	25	still	still	ADV
hjic-1151	51	26	true	true	ADJ
hjic-1151	51	27	today	today	NOUN
hjic-1151	51	28	.	.	PUNCT
hjic-1151	52	1	although	although	SCONJ
hjic-1151	52	2	they	they	PRON
hjic-1151	52	3	are	be	AUX
hjic-1151	52	4	constantly	constantly	ADV
hjic-1151	52	5	being	be	AUX
hjic-1151	52	6	improved	improve	VERB
hjic-1151	52	7	and	and	CCONJ
hjic-1151	52	8	better	well	ADJ
hjic-1151	52	9	products	product	NOUN
hjic-1151	52	10	are	be	AUX
hjic-1151	52	11	being	be	AUX
hjic-1151	52	12	developed	develop	VERB
hjic-1151	52	13	,	,	PUNCT
hjic-1151	52	14	their	their	PRON
hjic-1151	52	15	real	real	ADJ
hjic-1151	52	16	applications	application	NOUN
hjic-1151	52	17	are	be	AUX
hjic-1151	52	18	in	in	ADP
hjic-1151	52	19	the	the	DET
hjic-1151	52	20	service	service	NOUN
hjic-1151	52	21	robotics	robotic	NOUN
hjic-1151	52	22	market	market	NOUN
hjic-1151	52	23	rather	rather	ADV
hjic-1151	52	24	than	than	ADP
hjic-1151	52	25	in	in	ADP
hjic-1151	52	26	industrial	industrial	ADJ
hjic-1151	52	27	manufacturing	manufacturing	NOUN
hjic-1151	52	28	despite	despite	SCONJ
hjic-1151	52	29	research	research	NOUN
hjic-1151	52	30	being	be	AUX
hjic-1151	52	31	carried	carry	VERB
hjic-1151	52	32	out	out	ADP
hjic-1151	52	33	in	in	ADP
hjic-1151	52	34	this	this	DET
hjic-1151	52	35	field	field	NOUN
hjic-1151	52	36	as	as	ADV
hjic-1151	52	37	well	well	ADV
hjic-1151	52	38	[	[	X
hjic-1151	52	39	4	4	NUM
hjic-1151	52	40	]	]	PUNCT
hjic-1151	52	41	.	.	PUNCT
hjic-1151	53	1	zubair	zubair	PROPN
hjic-1151	53	2	et	et	PROPN
hjic-1151	53	3	al	al	PROPN
hjic-1151	53	4	.	.	PROPN
hjic-1151	53	5	have	have	AUX
hjic-1151	53	6	developed	develop	VERB
hjic-1151	53	7	[	[	PUNCT
hjic-1151	53	8	5	5	NUM
hjic-1151	53	9	]	]	PUNCT
hjic-1151	53	10	an	an	DET
hjic-1151	53	11	attachable	attachable	ADJ
hjic-1151	53	12	core	core	NOUN
hjic-1151	53	13	gripper	gripper	NOUN
hjic-1151	53	14	for	for	ADP
hjic-1151	53	15	a	a	DET
hjic-1151	53	16	collaborative	collaborative	ADJ
hjic-1151	53	17	robot	robot	NOUN
hjic-1151	53	18	that	that	PRON
hjic-1151	53	19	can	can	AUX
hjic-1151	53	20	be	be	AUX
hjic-1151	53	21	operated	operate	VERB
hjic-1151	53	22	without	without	ADP
hjic-1151	53	23	the	the	DET
hjic-1151	53	24	robot	robot	NOUN
hjic-1151	53	25	using	use	VERB
hjic-1151	53	26	its	its	PRON
hjic-1151	53	27	own	own	ADJ
hjic-1151	53	28	power	power	NOUN
hjic-1151	53	29	source	source	NOUN
hjic-1151	53	30	,	,	PUNCT
hjic-1151	53	31	which	which	PRON
hjic-1151	53	32	is	be	AUX
hjic-1151	53	33	an	an	DET
hjic-1151	53	34	uncommon	uncommon	ADJ
hjic-1151	53	35	solution	solution	NOUN
hjic-1151	53	36	in	in	ADP
hjic-1151	53	37	the	the	DET
hjic-1151	53	38	market	market	NOUN
hjic-1151	53	39	.	.	PUNCT
hjic-1151	54	1	detachable	detachable	ADJ
hjic-1151	54	2	robotic	robotic	ADJ
hjic-1151	54	3	grippers	gripper	NOUN
hjic-1151	54	4	not	not	PART
hjic-1151	54	5	only	only	ADV
hjic-1151	54	6	work	work	VERB
hjic-1151	54	7	as	as	ADP
hjic-1151	54	8	a	a	DET
hjic-1151	54	9	fully	fully	ADV
hjic-1151	54	10	functional	functional	ADJ
hjic-1151	54	11	gripper	gripper	NOUN
hjic-1151	54	12	when	when	SCONJ
hjic-1151	54	13	attached	attach	VERB
hjic-1151	54	14	to	to	ADP
hjic-1151	54	15	the	the	DET
hjic-1151	54	16	robot	robot	NOUN
hjic-1151	54	17	but	but	CCONJ
hjic-1151	54	18	also	also	ADV
hjic-1151	54	19	once	once	ADV
hjic-1151	54	20	detached	detach	VERB
hjic-1151	54	21	.	.	PUNCT
hjic-1151	55	1	in	in	ADP
hjic-1151	55	2	terms	term	NOUN
hjic-1151	55	3	of	of	ADP
hjic-1151	55	4	their	their	PRON
hjic-1151	55	5	physical	physical	ADJ
hjic-1151	55	6	design	design	NOUN
hjic-1151	55	7	,	,	PUNCT
hjic-1151	55	8	4	4	NUM
hjic-1151	55	9	electromagnets	electromagnet	NOUN
hjic-1151	55	10	are	be	AUX
hjic-1151	55	11	located	locate	VERB
hjic-1151	55	12	on	on	ADP
hjic-1151	55	13	the	the	DET
hjic-1151	55	14	side	side	NOUN
hjic-1151	55	15	which	which	PRON
hjic-1151	55	16	is	be	AUX
hjic-1151	55	17	attached	attach	VERB
hjic-1151	55	18	to	to	ADP
hjic-1151	55	19	the	the	DET
hjic-1151	55	20	robot	robot	NOUN
hjic-1151	55	21	,	,	PUNCT
hjic-1151	55	22	while	while	SCONJ
hjic-1151	55	23	on	on	ADP
hjic-1151	55	24	the	the	DET
hjic-1151	55	25	other	other	ADJ
hjic-1151	55	26	side	side	NOUN
hjic-1151	55	27	,	,	PUNCT
hjic-1151	55	28	4	4	NUM
hjic-1151	55	29	fingers	finger	NOUN
hjic-1151	55	30	grasp	grasp	VERB
hjic-1151	55	31	objects	object	NOUN
hjic-1151	55	32	.	.	PUNCT
hjic-1151	56	1	the	the	DET
hjic-1151	56	2	whole	whole	ADJ
hjic-1151	56	3	device	device	NOUN
hjic-1151	56	4	is	be	AUX
hjic-1151	56	5	located	locate	VERB
hjic-1151	56	6	in	in	ADP
hjic-1151	56	7	a	a	DET
hjic-1151	56	8	3d	3d	NUM
hjic-1151	56	9	-	-	PUNCT
hjic-1151	56	10	printed	print	VERB
hjic-1151	56	11	housing	housing	NOUN
hjic-1151	56	12	.	.	PUNCT
hjic-1151	57	1	the	the	DET
hjic-1151	57	2	usability	usability	NOUN
hjic-1151	57	3	of	of	ADP
hjic-1151	57	4	their	their	PRON
hjic-1151	57	5	gripper	gripper	NOUN
hjic-1151	57	6	has	have	AUX
hjic-1151	57	7	also	also	ADV
hjic-1151	57	8	been	be	AUX
hjic-1151	57	9	tested	test	VERB
hjic-1151	57	10	by	by	ADP
hjic-1151	57	11	12	12	NUM
hjic-1151	57	12	participants	participant	NOUN
hjic-1151	57	13	.	.	PUNCT
hjic-1151	58	1	the	the	DET
hjic-1151	58	2	development	development	NOUN
hjic-1151	58	3	solution	solution	NOUN
hjic-1151	58	4	is	be	AUX
hjic-1151	58	5	predominantly	predominantly	ADV
hjic-1151	58	6	intended	intend	VERB
hjic-1151	58	7	to	to	PART
hjic-1151	58	8	be	be	AUX
hjic-1151	58	9	used	use	VERB
hjic-1151	58	10	in	in	ADP
hjic-1151	58	11	a	a	DET
hjic-1151	58	12	nonindustrial	nonindustrial	ADJ
hjic-1151	58	13	environment	environment	NOUN
hjic-1151	58	14	.	.	PUNCT
hjic-1151	59	1	long	long	ADV
hjic-1151	59	2	et	et	PROPN
hjic-1151	59	3	al	al	PROPN
hjic-1151	59	4	.	.	PROPN
hjic-1151	59	5	designed	design	VERB
hjic-1151	59	6	a	a	DET
hjic-1151	59	7	multifunctional	multifunctional	ADJ
hjic-1151	59	8	gripper	gripper	NOUN
hjic-1151	59	9	for	for	ADP
hjic-1151	59	10	grasping	grasp	VERB
hjic-1151	59	11	general	general	ADJ
hjic-1151	59	12	objects	object	NOUN
hjic-1151	59	13	[	[	X
hjic-1151	59	14	6	6	NUM
hjic-1151	59	15	]	]	PUNCT
hjic-1151	59	16	because	because	SCONJ
hjic-1151	59	17	many	many	ADJ
hjic-1151	59	18	places	place	NOUN
hjic-1151	59	19	,	,	PUNCT
hjic-1151	59	20	e.g.	e.g.	ADV
hjic-1151	59	21	warehouses	warehouse	NOUN
hjic-1151	59	22	,	,	PUNCT
hjic-1151	59	23	require	require	VERB
hjic-1151	59	24	simple	simple	ADJ
hjic-1151	59	25	pick	pick	VERB
hjic-1151	59	26	-	-	PUNCT
hjic-1151	59	27	and	and	CCONJ
hjic-1151	59	28	-	-	PUNCT
hjic-1151	59	29	place	place	NOUN
hjic-1151	59	30	tasks	task	NOUN
hjic-1151	59	31	and	and	CCONJ
hjic-1151	59	32	the	the	DET
hjic-1151	59	33	level	level	NOUN
hjic-1151	59	34	of	of	ADP
hjic-1151	59	35	automation	automation	NOUN
hjic-1151	59	36	is	be	AUX
hjic-1151	59	37	increasing	increase	VERB
hjic-1151	59	38	due	due	ADJ
hjic-1151	59	39	to	to	ADP
hjic-1151	59	40	rising	rise	VERB
hjic-1151	59	41	costs	cost	NOUN
hjic-1151	59	42	of	of	ADP
hjic-1151	59	43	manpower	manpower	NOUN
hjic-1151	59	44	.	.	PUNCT
hjic-1151	60	1	underactuated	underactuated	ADJ
hjic-1151	60	2	grippers	gripper	NOUN
hjic-1151	60	3	consist	consist	VERB
hjic-1151	60	4	of	of	ADP
hjic-1151	60	5	two	two	NUM
hjic-1151	60	6	fingers	finger	NOUN
hjic-1151	60	7	,	,	PUNCT
hjic-1151	60	8	each	each	PRON
hjic-1151	60	9	of	of	ADP
hjic-1151	60	10	which	which	PRON
hjic-1151	60	11	has	have	VERB
hjic-1151	60	12	three	three	NUM
hjic-1151	60	13	degrees	degree	NOUN
hjic-1151	60	14	of	of	ADP
hjic-1151	60	15	freedom	freedom	NOUN
hjic-1151	60	16	with	with	ADP
hjic-1151	60	17	a	a	DET
hjic-1151	60	18	fivebar	fivebar	NOUN
hjic-1151	60	19	mechanism	mechanism	NOUN
hjic-1151	60	20	actuated	actuate	VERB
hjic-1151	60	21	by	by	ADP
hjic-1151	60	22	two	two	NUM
hjic-1151	60	23	motors	motor	NOUN
hjic-1151	60	24	.	.	PUNCT
hjic-1151	61	1	experience	experience	NOUN
hjic-1151	61	2	has	have	AUX
hjic-1151	61	3	shown	show	VERB
hjic-1151	61	4	that	that	SCONJ
hjic-1151	61	5	the	the	DET
hjic-1151	61	6	gripper	gripper	NOUN
hjic-1151	61	7	,	,	PUNCT
hjic-1151	61	8	which	which	PRON
hjic-1151	61	9	combines	combine	VERB
hjic-1151	61	10	two	two	NUM
hjic-1151	61	11	types	type	NOUN
hjic-1151	61	12	,	,	PUNCT
hjic-1151	61	13	is	be	AUX
hjic-1151	61	14	versatile	versatile	ADJ
hjic-1151	61	15	and	and	CCONJ
hjic-1151	61	16	reliable	reliable	ADJ
hjic-1151	61	17	for	for	ADP
hjic-1151	61	18	the	the	DET
hjic-1151	61	19	purpose	purpose	NOUN
hjic-1151	61	20	of	of	ADP
hjic-1151	61	21	manipulating	manipulate	VERB
hjic-1151	61	22	a	a	DET
hjic-1151	61	23	wide	wide	ADJ
hjic-1151	61	24	range	range	NOUN
hjic-1151	61	25	of	of	ADP
hjic-1151	61	26	objects	object	NOUN
hjic-1151	61	27	.	.	PUNCT
hjic-1151	62	1	in	in	ADP
hjic-1151	62	2	terms	term	NOUN
hjic-1151	62	3	of	of	ADP
hjic-1151	62	4	workpieces	workpiece	NOUN
hjic-1151	62	5	,	,	PUNCT
hjic-1151	62	6	it	it	PRON
hjic-1151	62	7	is	be	AUX
hjic-1151	62	8	easiest	easy	ADJ
hjic-1151	62	9	to	to	PART
hjic-1151	62	10	categorize	categorize	VERB
hjic-1151	62	11	the	the	DET
hjic-1151	62	12	many	many	ADJ
hjic-1151	62	13	different	different	ADJ
hjic-1151	62	14	products	product	NOUN
hjic-1151	62	15	into	into	ADP
hjic-1151	62	16	families	family	NOUN
hjic-1151	62	17	,	,	PUNCT
hjic-1151	62	18	thereby	thereby	ADV
hjic-1151	62	19	simplifying	simplify	VERB
hjic-1151	62	20	and	and	CCONJ
hjic-1151	62	21	economizing	economize	VERB
hjic-1151	62	22	the	the	DET
hjic-1151	62	23	process	process	NOUN
hjic-1151	62	24	required	require	VERB
hjic-1151	62	25	to	to	PART
hjic-1151	62	26	select	select	VERB
hjic-1151	62	27	grippers	gripper	NOUN
hjic-1151	62	28	.	.	PUNCT
hjic-1151	63	1	according	accord	VERB
hjic-1151	63	2	to	to	ADP
hjic-1151	63	3	a	a	DET
hjic-1151	63	4	survey	survey	NOUN
hjic-1151	63	5	of	of	ADP
hjic-1151	63	6	1,000	1,000	NUM
hjic-1151	63	7	workpieces	workpiece	NOUN
hjic-1151	63	8	,	,	PUNCT
hjic-1151	63	9	the	the	DET
hjic-1151	63	10	most	most	ADV
hjic-1151	63	11	necessary	necessary	ADJ
hjic-1151	63	12	requirements	requirement	NOUN
hjic-1151	63	13	for	for	ADP
hjic-1151	63	14	a	a	DET
hjic-1151	63	15	gripper	gripper	NOUN
hjic-1151	63	16	are	be	AUX
hjic-1151	63	17	an	an	DET
hjic-1151	63	18	inexpensive	inexpensive	ADJ
hjic-1151	63	19	rugged	rugged	ADJ
hjic-1151	63	20	type	type	NOUN
hjic-1151	63	21	of	of	ADP
hjic-1151	63	22	jaw	jaw	NOUN
hjic-1151	63	23	with	with	ADP
hjic-1151	63	24	a	a	DET
hjic-1151	63	25	stroke	stroke	NOUN
hjic-1151	63	26	of	of	ADP
hjic-1151	63	27	50	50	NUM
hjic-1151	63	28	mm	mm	NOUN
hjic-1151	63	29	and	and	CCONJ
hjic-1151	63	30	a	a	DET
hjic-1151	63	31	clamping	clamp	VERB
hjic-1151	63	32	force	force	NOUN
hjic-1151	63	33	of	of	ADP
hjic-1151	63	34	less	less	ADJ
hjic-1151	63	35	than	than	ADP
hjic-1151	63	36	100	100	NUM
hjic-1151	63	37	n.	n.	NOUN
hjic-1151	63	38	3	3	NUM
hjic-1151	63	39	.	.	PUNCT
hjic-1151	63	40	promising	promise	VERB
hjic-1151	63	41	attempts	attempt	NOUN
hjic-1151	63	42	current	current	ADJ
hjic-1151	63	43	conventional	conventional	ADJ
hjic-1151	63	44	robotic	robotic	ADJ
hjic-1151	63	45	grippers	gripper	NOUN
hjic-1151	63	46	have	have	VERB
hjic-1151	63	47	a	a	DET
hjic-1151	63	48	number	number	NOUN
hjic-1151	63	49	of	of	ADP
hjic-1151	63	50	drawbacks	drawback	NOUN
hjic-1151	63	51	,	,	PUNCT
hjic-1151	63	52	namely	namely	ADV
hjic-1151	63	53	their	their	PRON
hjic-1151	63	54	large	large	ADJ
hjic-1151	63	55	volume	volume	NOUN
hjic-1151	63	56	,	,	PUNCT
hjic-1151	63	57	high	high	ADJ
hjic-1151	63	58	weight	weight	NOUN
hjic-1151	63	59	as	as	ADV
hjic-1151	63	60	well	well	ADV
hjic-1151	63	61	as	as	ADP
hjic-1151	63	62	energy	energy	NOUN
hjic-1151	63	63	consumption	consumption	NOUN
hjic-1151	63	64	and	and	CCONJ
hjic-1151	63	65	significant	significant	ADJ
hjic-1151	63	66	cost	cost	NOUN
hjic-1151	63	67	.	.	PUNCT
hjic-1151	64	1	a	a	DET
hjic-1151	64	2	promising	promising	ADJ
hjic-1151	64	3	trend	trend	NOUN
hjic-1151	64	4	is	be	AUX
hjic-1151	64	5	the	the	DET
hjic-1151	64	6	exploration	exploration	NOUN
hjic-1151	64	7	of	of	ADP
hjic-1151	64	8	shape	shape	NOUN
hjic-1151	64	9	memory	memory	NOUN
hjic-1151	64	10	alloy	alloy	NOUN
hjic-1151	64	11	-	-	PUNCT
hjic-1151	64	12	actuated	actuate	VERB
hjic-1151	64	13	grippers	gripper	NOUN
hjic-1151	64	14	.	.	PUNCT
hjic-1151	65	1	shape	shape	NOUN
hjic-1151	65	2	memory	memory	NOUN
hjic-1151	65	3	alloys	alloy	NOUN
hjic-1151	65	4	(	(	PUNCT
hjic-1151	65	5	smas	sma	NOUN
hjic-1151	65	6	)	)	PUNCT
hjic-1151	65	7	can	can	AUX
hjic-1151	65	8	change	change	VERB
hjic-1151	65	9	their	their	PRON
hjic-1151	65	10	shape	shape	NOUN
hjic-1151	65	11	under	under	ADP
hjic-1151	65	12	stress	stress	NOUN
hjic-1151	65	13	[	[	X
hjic-1151	65	14	7	7	NUM
hjic-1151	65	15	]	]	PUNCT
hjic-1151	65	16	.	.	PUNCT
hjic-1151	66	1	the	the	DET
hjic-1151	66	2	gripper	gripper	NOUN
hjic-1151	66	3	presented	present	VERB
hjic-1151	66	4	in	in	ADP
hjic-1151	66	5	this	this	DET
hjic-1151	66	6	research	research	NOUN
hjic-1151	66	7	is	be	AUX
hjic-1151	66	8	powered	power	VERB
hjic-1151	66	9	by	by	ADP
hjic-1151	66	10	9	9	NUM
hjic-1151	66	11	100	100	NUM
hjic-1151	66	12	mm	mm	ADJ
hjic-1151	66	13	-	-	PUNCT
hjic-1151	66	14	long	long	ADJ
hjic-1151	66	15	sma	sma	NOUN
hjic-1151	66	16	wires	wire	NOUN
hjic-1151	66	17	with	with	ADP
hjic-1151	66	18	a	a	DET
hjic-1151	66	19	diameter	diameter	NOUN
hjic-1151	66	20	of	of	ADP
hjic-1151	66	21	0.4	0.4	NUM
hjic-1151	66	22	mm	mm	NOUN
hjic-1151	66	23	.	.	PUNCT
hjic-1151	67	1	the	the	DET
hjic-1151	67	2	wires	wire	NOUN
hjic-1151	67	3	are	be	AUX
hjic-1151	67	4	tied	tie	VERB
hjic-1151	67	5	together	together	ADV
hjic-1151	67	6	sequentially	sequentially	ADV
hjic-1151	67	7	so	so	SCONJ
hjic-1151	67	8	that	that	SCONJ
hjic-1151	67	9	their	their	PRON
hjic-1151	67	10	displacement	displacement	NOUN
hjic-1151	67	11	is	be	AUX
hjic-1151	67	12	added	add	VERB
hjic-1151	67	13	and	and	CCONJ
hjic-1151	67	14	the	the	DET
hjic-1151	67	15	opening	opening	NOUN
hjic-1151	67	16	of	of	ADP
hjic-1151	67	17	the	the	DET
hjic-1151	67	18	stroke	stroke	NOUN
hjic-1151	67	19	gripper	gripper	NOUN
hjic-1151	67	20	is	be	AUX
hjic-1151	67	21	long	long	ADJ
hjic-1151	67	22	.	.	PUNCT
hjic-1151	68	1	conventional	conventional	ADJ
hjic-1151	68	2	grippers	gripper	NOUN
hjic-1151	68	3	have	have	VERB
hjic-1151	68	4	servo	servo	NOUN
hjic-1151	68	5	or	or	CCONJ
hjic-1151	68	6	stepper	stepper	NOUN
hjic-1151	68	7	motors	motor	NOUN
hjic-1151	68	8	and	and	CCONJ
hjic-1151	68	9	pneumatic	pneumatic	ADJ
hjic-1151	68	10	or	or	CCONJ
hjic-1151	68	11	hydraulic	hydraulic	ADJ
hjic-1151	68	12	actuators	actuator	NOUN
hjic-1151	68	13	,	,	PUNCT
hjic-1151	68	14	rendering	render	VERB
hjic-1151	68	15	the	the	DET
hjic-1151	68	16	gripper	gripper	NOUN
hjic-1151	68	17	heavy	heavy	ADJ
hjic-1151	68	18	and	and	CCONJ
hjic-1151	68	19	expensive	expensive	ADJ
hjic-1151	68	20	as	as	ADV
hjic-1151	68	21	well	well	ADV
hjic-1151	68	22	as	as	ADP
hjic-1151	68	23	requiring	require	VERB
hjic-1151	68	24	a	a	DET
hjic-1151	68	25	high	high	ADJ
hjic-1151	68	26	power	power	NOUN
hjic-1151	68	27	consumption	consumption	NOUN
hjic-1151	68	28	.	.	PUNCT
hjic-1151	69	1	in	in	ADP
hjic-1151	69	2	contrast	contrast	NOUN
hjic-1151	69	3	,	,	PUNCT
hjic-1151	69	4	smas	sma	NOUN
hjic-1151	69	5	as	as	SCONJ
hjic-1151	69	6	actuators	actuator	NOUN
hjic-1151	69	7	are	be	AUX
hjic-1151	69	8	characterized	characterize	VERB
hjic-1151	69	9	by	by	ADP
hjic-1151	69	10	their	their	PRON
hjic-1151	69	11	high	high	ADJ
hjic-1151	69	12	energy	energy	NOUN
hjic-1151	69	13	density	density	NOUN
hjic-1151	69	14	,	,	PUNCT
hjic-1151	69	15	low	low	ADJ
hjic-1151	69	16	energy	energy	NOUN
hjic-1151	69	17	consumption	consumption	NOUN
hjic-1151	69	18	,	,	PUNCT
hjic-1151	69	19	quick	quick	ADJ
hjic-1151	69	20	response	response	NOUN
hjic-1151	69	21	and	and	CCONJ
hjic-1151	69	22	repetitive	repetitive	ADJ
hjic-1151	69	23	actuation	actuation	NOUN
hjic-1151	69	24	.	.	PUNCT
hjic-1151	70	1	another	another	DET
hjic-1151	70	2	special	special	ADJ
hjic-1151	70	3	feature	feature	NOUN
hjic-1151	70	4	of	of	ADP
hjic-1151	70	5	the	the	DET
hjic-1151	70	6	gripper	gripper	NOUN
hjic-1151	70	7	presented	present	VERB
hjic-1151	70	8	in	in	ADP
hjic-1151	70	9	this	this	DET
hjic-1151	70	10	article	article	NOUN
hjic-1151	70	11	is	be	AUX
hjic-1151	70	12	that	that	SCONJ
hjic-1151	70	13	it	it	PRON
hjic-1151	70	14	has	have	VERB
hjic-1151	70	15	four	four	NUM
hjic-1151	70	16	parallel	parallel	ADJ
hjic-1151	70	17	jaws	jaw	NOUN
hjic-1151	70	18	on	on	ADP
hjic-1151	70	19	one	one	NUM
hjic-1151	70	20	finger	finger	NOUN
hjic-1151	70	21	.	.	PUNCT
hjic-1151	71	1	the	the	DET
hjic-1151	71	2	outer	outer	ADJ
hjic-1151	71	3	two	two	NUM
hjic-1151	71	4	are	be	AUX
hjic-1151	71	5	rigid	rigid	ADJ
hjic-1151	71	6	,	,	PUNCT
hjic-1151	71	7	while	while	SCONJ
hjic-1151	71	8	the	the	DET
hjic-1151	71	9	inner	inner	ADJ
hjic-1151	71	10	two	two	NUM
hjic-1151	71	11	are	be	AUX
hjic-1151	71	12	flexible	flexible	ADJ
hjic-1151	71	13	.	.	PUNCT
hjic-1151	72	1	at	at	ADP
hjic-1151	72	2	the	the	DET
hjic-1151	72	3	time	time	NOUN
hjic-1151	72	4	of	of	ADP
hjic-1151	72	5	writing	writing	NOUN
hjic-1151	72	6	,	,	PUNCT
hjic-1151	72	7	the	the	DET
hjic-1151	72	8	gripper	gripper	NOUN
hjic-1151	72	9	also	also	ADV
hjic-1151	72	10	has	have	VERB
hjic-1151	72	11	some	some	DET
hjic-1151	72	12	defects	defect	NOUN
hjic-1151	72	13	,	,	PUNCT
hjic-1151	72	14	the	the	DET
hjic-1151	72	15	most	most	ADV
hjic-1151	72	16	critical	critical	ADJ
hjic-1151	72	17	of	of	ADP
hjic-1151	72	18	which	which	PRON
hjic-1151	72	19	is	be	AUX
hjic-1151	72	20	that	that	SCONJ
hjic-1151	72	21	since	since	SCONJ
hjic-1151	72	22	the	the	DET
hjic-1151	72	23	sma	sma	NOUN
hjic-1151	72	24	wire	wire	NOUN
hjic-1151	72	25	is	be	AUX
hjic-1151	72	26	cooled	cool	VERB
hjic-1151	72	27	naturally	naturally	ADV
hjic-1151	72	28	,	,	PUNCT
hjic-1151	72	29	the	the	DET
hjic-1151	72	30	time	time	NOUN
hjic-1151	72	31	required	require	VERB
hjic-1151	72	32	for	for	SCONJ
hjic-1151	72	33	the	the	DET
hjic-1151	72	34	finger	finger	NOUN
hjic-1151	72	35	to	to	PART
hjic-1151	72	36	close	close	VERB
hjic-1151	72	37	is	be	AUX
hjic-1151	72	38	more	more	ADJ
hjic-1151	72	39	than	than	ADP
hjic-1151	72	40	5	5	NUM
hjic-1151	72	41	seconds	second	NOUN
hjic-1151	72	42	.	.	PUNCT
hjic-1151	73	1	horacio	horacio	PROPN
hjic-1151	73	2	leon	leon	PROPN
hjic-1151	73	3	et	et	PROPN
hjic-1151	73	4	al	al	PROPN
hjic-1151	73	5	.	.	PROPN
hjic-1151	73	6	are	be	AUX
hjic-1151	73	7	developing	develop	VERB
hjic-1151	73	8	a	a	DET
hjic-1151	73	9	robotic	robotic	ADJ
hjic-1151	73	10	hand	hand	NOUN
hjic-1151	73	11	that	that	PRON
hjic-1151	73	12	consists	consist	VERB
hjic-1151	73	13	of	of	ADP
hjic-1151	73	14	5	5	NUM
hjic-1151	73	15	fingers	finger	NOUN
hjic-1151	73	16	,	,	PUNCT
hjic-1151	73	17	with	with	ADP
hjic-1151	73	18	an	an	DET
hjic-1151	73	19	extra	extra	ADJ
hjic-1151	73	20	thumb	thumb	NOUN
hjic-1151	73	21	instead	instead	ADV
hjic-1151	73	22	of	of	ADP
hjic-1151	73	23	a	a	DET
hjic-1151	73	24	little	little	ADJ
hjic-1151	73	25	finger	finger	NOUN
hjic-1151	73	26	[	[	X
hjic-1151	73	27	8	8	NUM
hjic-1151	73	28	]	]	PUNCT
hjic-1151	73	29	.	.	PUNCT
hjic-1151	74	1	the	the	DET
hjic-1151	74	2	thumb	thumb	NOUN
hjic-1151	74	3	is	be	AUX
hjic-1151	74	4	important	important	ADJ
hjic-1151	74	5	for	for	ADP
hjic-1151	74	6	two	two	NUM
hjic-1151	74	7	reasons	reason	NOUN
hjic-1151	74	8	,	,	PUNCT
hjic-1151	74	9	namely	namely	ADV
hjic-1151	74	10	for	for	ADP
hjic-1151	74	11	precision	precision	NOUN
hjic-1151	74	12	grip	grip	NOUN
hjic-1151	74	13	and	and	CCONJ
hjic-1151	74	14	power	power	NOUN
hjic-1151	74	15	grip	grip	NOUN
hjic-1151	74	16	.	.	PUNCT
hjic-1151	75	1	the	the	DET
hjic-1151	75	2	thumb	thumb	NOUN
hjic-1151	75	3	is	be	AUX
hjic-1151	75	4	particularly	particularly	ADV
hjic-1151	75	5	critical	critical	ADJ
hjic-1151	75	6	because	because	SCONJ
hjic-1151	75	7	it	it	PRON
hjic-1151	75	8	increases	increase	VERB
hjic-1151	75	9	the	the	DET
hjic-1151	75	10	functionality	functionality	NOUN
hjic-1151	75	11	of	of	ADP
hjic-1151	75	12	the	the	DET
hjic-1151	75	13	hand	hand	NOUN
hjic-1151	75	14	by	by	ADP
hjic-1151	75	15	60	60	NUM
hjic-1151	75	16	%	%	NOUN
hjic-1151	75	17	.	.	PUNCT
hjic-1151	76	1	in	in	ADP
hjic-1151	76	2	the	the	DET
hjic-1151	76	3	article	article	NOUN
hjic-1151	76	4	,	,	PUNCT
hjic-1151	76	5	the	the	DET
hjic-1151	76	6	concept	concept	NOUN
hjic-1151	76	7	dfam	dfam	NOUN
hjic-1151	76	8	(	(	PUNCT
hjic-1151	76	9	design	design	NOUN
hjic-1151	76	10	for	for	ADP
hjic-1151	76	11	additive	additive	ADJ
hjic-1151	76	12	manufacturing	manufacturing	NOUN
hjic-1151	76	13	)	)	PUNCT
hjic-1151	76	14	was	be	AUX
hjic-1151	76	15	used	use	VERB
hjic-1151	76	16	to	to	PART
hjic-1151	76	17	develop	develop	VERB
hjic-1151	76	18	the	the	DET
hjic-1151	76	19	object	object	NOUN
hjic-1151	76	20	quickly	quickly	ADV
hjic-1151	76	21	and	and	CCONJ
hjic-1151	76	22	cheaply	cheaply	ADV
hjic-1151	76	23	by	by	ADP
hjic-1151	76	24	building	build	VERB
hjic-1151	76	25	it	it	PRON
hjic-1151	76	26	layer	layer	NOUN
hjic-1151	76	27	by	by	ADP
hjic-1151	76	28	layer	layer	NOUN
hjic-1151	76	29	using	use	VERB
hjic-1151	76	30	a	a	DET
hjic-1151	76	31	variety	variety	NOUN
hjic-1151	76	32	of	of	ADP
hjic-1151	76	33	materials	material	NOUN
hjic-1151	76	34	,	,	PUNCT
hjic-1151	76	35	that	that	ADV
hjic-1151	76	36	is	is	ADV
hjic-1151	76	37	,	,	PUNCT
hjic-1151	76	38	plastic	plastic	ADJ
hjic-1151	76	39	,	,	PUNCT
hjic-1151	76	40	ceramic	ceramic	ADJ
hjic-1151	76	41	,	,	PUNCT
hjic-1151	76	42	metal	metal	NOUN
hjic-1151	76	43	or	or	CCONJ
hjic-1151	76	44	even	even	ADV
hjic-1151	76	45	concrete	concrete	ADJ
hjic-1151	76	46	and	and	CCONJ
hjic-1151	76	47	glass	glass	NOUN
hjic-1151	76	48	.	.	PUNCT
hjic-1151	77	1	the	the	DET
hjic-1151	77	2	method	method	NOUN
hjic-1151	77	3	is	be	AUX
hjic-1151	77	4	based	base	VERB
hjic-1151	77	5	on	on	ADP
hjic-1151	77	6	reducing	reduce	VERB
hjic-1151	77	7	the	the	DET
hjic-1151	77	8	amount	amount	NOUN
hjic-1151	77	9	of	of	ADP
hjic-1151	77	10	resources	resource	NOUN
hjic-1151	77	11	,	,	PUNCT
hjic-1151	77	12	print	print	NOUN
hjic-1151	77	13	time	time	NOUN
hjic-1151	77	14	,	,	PUNCT
hjic-1151	77	15	weight	weight	NOUN
hjic-1151	77	16	and	and	CCONJ
hjic-1151	77	17	cost	cost	NOUN
hjic-1151	77	18	.	.	PUNCT
hjic-1151	78	1	it	it	PRON
hjic-1151	78	2	also	also	ADV
hjic-1151	78	3	brings	bring	VERB
hjic-1151	78	4	about	about	ADP
hjic-1151	78	5	quality	quality	NOUN
hjic-1151	78	6	enhancement	enhancement	NOUN
hjic-1151	78	7	like	like	ADP
hjic-1151	78	8	strength	strength	NOUN
hjic-1151	78	9	and	and	CCONJ
hjic-1151	78	10	functionality	functionality	NOUN
hjic-1151	78	11	.	.	PUNCT
hjic-1151	79	1	a	a	DET
hjic-1151	79	2	common	common	ADJ
hjic-1151	79	3	practice	practice	NOUN
hjic-1151	79	4	is	be	AUX
hjic-1151	79	5	referred	refer	VERB
hjic-1151	79	6	to	to	ADP
hjic-1151	79	7	as	as	SCONJ
hjic-1151	79	8	“	"	PUNCT
hjic-1151	79	9	remixing,”that	remixing,”that	PROPN
hjic-1151	79	10	is	be	AUX
hjic-1151	79	11	,	,	PUNCT
hjic-1151	79	12	a	a	DET
hjic-1151	79	13	3	3	NUM
hjic-1151	79	14	-	-	PUNCT
hjic-1151	79	15	dimensional	dimensional	ADJ
hjic-1151	79	16	design	design	NOUN
hjic-1151	79	17	refers	refer	VERB
hjic-1151	79	18	to	to	ADP
hjic-1151	79	19	other	other	ADJ
hjic-1151	79	20	designs	design	NOUN
hjic-1151	79	21	that	that	PRON
hjic-1151	79	22	are	be	AUX
hjic-1151	79	23	used	use	VERB
hjic-1151	79	24	.	.	PUNCT
hjic-1151	80	1	eight	eight	NUM
hjic-1151	80	2	different	different	ADJ
hjic-1151	80	3	versions	version	NOUN
hjic-1151	80	4	of	of	ADP
hjic-1151	80	5	remixing	remixing	NOUN
hjic-1151	80	6	have	have	AUX
hjic-1151	80	7	been	be	AUX
hjic-1151	80	8	created	create	VERB
hjic-1151	80	9	,	,	PUNCT
hjic-1151	80	10	the	the	DET
hjic-1151	80	11	first	first	ADJ
hjic-1151	80	12	of	of	ADP
hjic-1151	80	13	which	which	PRON
hjic-1151	80	14	is	be	AUX
hjic-1151	80	15	the	the	DET
hjic-1151	80	16	open	open	ADJ
hjic-1151	80	17	inmoov	inmoov	NOUN
hjic-1151	80	18	robotic	robotic	ADJ
hjic-1151	80	19	hand	hand	NOUN
hjic-1151	80	20	,	,	PUNCT
hjic-1151	80	21	which	which	PRON
hjic-1151	80	22	consists	consist	VERB
hjic-1151	80	23	of	of	ADP
hjic-1151	80	24	36	36	NUM
hjic-1151	80	25	parts	part	NOUN
hjic-1151	80	26	and	and	CCONJ
hjic-1151	80	27	17	17	NUM
hjic-1151	80	28	degrees	degree	NOUN
hjic-1151	80	29	of	of	ADP
hjic-1151	80	30	freedom	freedom	NOUN
hjic-1151	80	31	,	,	PUNCT
hjic-1151	80	32	namely	namely	ADV
hjic-1151	80	33	its	its	PRON
hjic-1151	80	34	parameters	parameter	NOUN
hjic-1151	80	35	are	be	AUX
hjic-1151	80	36	identicalto	identicalto	NOUN
hjic-1151	80	37	those	those	PRON
hjic-1151	80	38	of	of	ADP
hjic-1151	80	39	the	the	DET
hjic-1151	80	40	human	human	ADJ
hjic-1151	80	41	hand	hand	NOUN
hjic-1151	80	42	.	.	PUNCT
hjic-1151	81	1	the	the	DET
hjic-1151	81	2	first	first	ADJ
hjic-1151	81	3	remix	remix	NOUN
hjic-1151	81	4	version	version	NOUN
hjic-1151	81	5	,	,	PUNCT
hjic-1151	81	6	“	"	PUNCT
hjic-1151	81	7	parloma	parloma	ADJ
hjic-1151	81	8	hand	hand	NOUN
hjic-1151	81	9	,	,	PUNCT
hjic-1151	81	10	”	"	PUNCT
hjic-1151	81	11	has	have	VERB
hjic-1151	81	12	22	22	NUM
hjic-1151	81	13	degrees	degree	NOUN
hjic-1151	81	14	of	of	ADP
hjic-1151	81	15	freedom	freedom	NOUN
hjic-1151	81	16	.	.	PUNCT
hjic-1151	82	1	the	the	DET
hjic-1151	82	2	article	article	NOUN
hjic-1151	82	3	also	also	ADV
hjic-1151	82	4	gives	give	VERB
hjic-1151	82	5	an	an	DET
hjic-1151	82	6	important	important	ADJ
hjic-1151	82	7	account	account	NOUN
hjic-1151	82	8	of	of	ADP
hjic-1151	82	9	the	the	DET
hjic-1151	82	10	methodology	methodology	NOUN
hjic-1151	82	11	,	,	PUNCT
hjic-1151	82	12	which	which	PRON
hjic-1151	82	13	consists	consist	VERB
hjic-1151	82	14	of	of	ADP
hjic-1151	82	15	three	three	NUM
hjic-1151	82	16	main	main	ADJ
hjic-1151	82	17	parts	part	NOUN
hjic-1151	82	18	:	:	PUNCT
hjic-1151	82	19	inspiration	inspiration	NOUN
hjic-1151	82	20	,	,	PUNCT
hjic-1151	82	21	ideation	ideation	NOUN
hjic-1151	82	22	and	and	CCONJ
hjic-1151	82	23	implementation	implementation	NOUN
hjic-1151	82	24	.	.	PUNCT
hjic-1151	83	1	by	by	ADP
hjic-1151	83	2	its	its	PRON
hjic-1151	83	3	very	very	ADJ
hjic-1151	83	4	nature	nature	NOUN
hjic-1151	83	5	,	,	PUNCT
hjic-1151	83	6	remixing	remixing	NOUN
hjic-1151	83	7	is	be	AUX
hjic-1151	83	8	an	an	DET
hjic-1151	83	9	iterative	iterative	NOUN
hjic-1151	83	10	process	process	NOUN
hjic-1151	83	11	,	,	PUNCT
hjic-1151	83	12	which	which	PRON
hjic-1151	83	13	is	be	AUX
hjic-1151	83	14	also	also	ADV
hjic-1151	83	15	reflected	reflect	VERB
hjic-1151	83	16	in	in	ADP
hjic-1151	83	17	the	the	DET
hjic-1151	83	18	methodology	methodology	NOUN
hjic-1151	83	19	.	.	PUNCT
hjic-1151	84	1	finally	finally	ADV
hjic-1151	84	2	,	,	PUNCT
hjic-1151	84	3	a	a	DET
hjic-1151	84	4	gripper	gripper	NOUN
hjic-1151	84	5	was	be	AUX
hjic-1151	84	6	developed	develop	VERB
hjic-1151	84	7	that	that	PRON
hjic-1151	84	8	has	have	VERB
hjic-1151	84	9	two	two	NUM
hjic-1151	84	10	thumbs	thumb	NOUN
hjic-1151	84	11	,	,	PUNCT
hjic-1151	84	12	one	one	NUM
hjic-1151	84	13	hungarian	hungarian	ADJ
hjic-1151	84	14	journal	journal	NOUN
hjic-1151	84	15	of	of	ADP
hjic-1151	84	16	industry	industry	NOUN
hjic-1151	84	17	and	and	CCONJ
hjic-1151	84	18	chemistry	chemistry	NOUN
hjic-1151	84	19	gripper	gripper	NOUN
hjic-1151	84	20	finger	finger	NOUN
hjic-1151	84	21	design	design	NOUN
hjic-1151	84	22	for	for	ADP
hjic-1151	84	23	special	special	ADJ
hjic-1151	84	24	purpose	purpose	NOUN
hjic-1151	84	25	applications	application	NOUN
hjic-1151	84	26	93	93	NUM
hjic-1151	84	27	on	on	ADP
hjic-1151	84	28	both	both	CCONJ
hjic-1151	84	29	the	the	DET
hjic-1151	84	30	right	right	NOUN
hjic-1151	84	31	and	and	CCONJ
hjic-1151	84	32	left	leave	VERB
hjic-1151	84	33	side	side	NOUN
hjic-1151	84	34	of	of	ADP
hjic-1151	84	35	the	the	DET
hjic-1151	84	36	hand	hand	NOUN
hjic-1151	84	37	,	,	PUNCT
hjic-1151	84	38	with	with	ADP
hjic-1151	84	39	three	three	NUM
hjic-1151	84	40	fingers	finger	NOUN
hjic-1151	84	41	in	in	ADP
hjic-1151	84	42	between	between	ADP
hjic-1151	84	43	them	they	PRON
hjic-1151	84	44	.	.	PUNCT
hjic-1151	85	1	the	the	DET
hjic-1151	85	2	hand	hand	NOUN
hjic-1151	85	3	called	call	VERB
hjic-1151	85	4	“	"	PUNCT
hjic-1151	85	5	kool	kool	NOUN
hjic-1151	85	6	”	"	PUNCT
hjic-1151	85	7	is	be	AUX
hjic-1151	85	8	composed	compose	VERB
hjic-1151	85	9	of	of	ADP
hjic-1151	85	10	33	33	NUM
hjic-1151	85	11	components	component	NOUN
hjic-1151	85	12	and	and	CCONJ
hjic-1151	85	13	has	have	VERB
hjic-1151	85	14	19	19	NUM
hjic-1151	85	15	degrees	degree	NOUN
hjic-1151	85	16	of	of	ADP
hjic-1151	85	17	freedom	freedom	NOUN
hjic-1151	85	18	,	,	PUNCT
hjic-1151	85	19	moreover	moreover	ADV
hjic-1151	85	20	,	,	PUNCT
hjic-1151	85	21	its	its	PRON
hjic-1151	85	22	weight	weight	NOUN
hjic-1151	85	23	,	,	PUNCT
hjic-1151	85	24	cost	cost	NOUN
hjic-1151	85	25	and	and	CCONJ
hjic-1151	85	26	printing	printing	NOUN
hjic-1151	85	27	time	time	NOUN
hjic-1151	85	28	has	have	AUX
hjic-1151	85	29	been	be	AUX
hjic-1151	85	30	reduced	reduce	VERB
hjic-1151	85	31	compared	compare	VERB
hjic-1151	85	32	to	to	ADP
hjic-1151	85	33	the	the	DET
hjic-1151	85	34	original	original	ADJ
hjic-1151	85	35	hand	hand	NOUN
hjic-1151	85	36	.	.	PUNCT
hjic-1151	86	1	since	since	SCONJ
hjic-1151	86	2	the	the	DET
hjic-1151	86	3	thumb	thumb	NOUN
hjic-1151	86	4	can	can	AUX
hjic-1151	86	5	also	also	ADV
hjic-1151	86	6	grip	grip	VERB
hjic-1151	86	7	more	more	ADV
hjic-1151	86	8	firmly	firmly	ADV
hjic-1151	86	9	,	,	PUNCT
hjic-1151	86	10	it	it	PRON
hjic-1151	86	11	is	be	AUX
hjic-1151	86	12	also	also	ADV
hjic-1151	86	13	more	more	ADV
hjic-1151	86	14	secure	secure	ADJ
hjic-1151	86	15	and	and	CCONJ
hjic-1151	86	16	,	,	PUNCT
hjic-1151	86	17	therefore	therefore	ADV
hjic-1151	86	18	,	,	PUNCT
hjic-1151	86	19	more	more	ADV
hjic-1151	86	20	functional	functional	ADJ
hjic-1151	86	21	.	.	PUNCT
hjic-1151	87	1	based	base	VERB
hjic-1151	87	2	on	on	ADP
hjic-1151	87	3	the	the	DET
hjic-1151	87	4	aforementioned	aforementioned	ADJ
hjic-1151	87	5	classification	classification	NOUN
hjic-1151	87	6	,	,	PUNCT
hjic-1151	87	7	the	the	DET
hjic-1151	87	8	types	type	NOUN
hjic-1151	87	9	of	of	ADP
hjic-1151	87	10	grippers	gripper	NOUN
hjic-1151	87	11	created	create	VERB
hjic-1151	87	12	in	in	ADP
hjic-1151	87	13	the	the	DET
hjic-1151	87	14	context	context	NOUN
hjic-1151	87	15	of	of	ADP
hjic-1151	87	16	soft	soft	ADJ
hjic-1151	87	17	robotics	robotic	NOUN
hjic-1151	87	18	can	can	AUX
hjic-1151	87	19	be	be	AUX
hjic-1151	87	20	considered	consider	VERB
hjic-1151	87	21	as	as	SCONJ
hjic-1151	87	22	active	active	ADJ
hjic-1151	87	23	universal	universal	ADJ
hjic-1151	87	24	grippers	gripper	NOUN
hjic-1151	87	25	,	,	PUNCT
hjic-1151	87	26	which	which	PRON
hjic-1151	87	27	do	do	AUX
hjic-1151	87	28	not	not	PART
hjic-1151	87	29	essentially	essentially	ADV
hjic-1151	87	30	have	have	VERB
hjic-1151	87	31	rigid	rigid	ADJ
hjic-1151	87	32	articulated	articulated	ADJ
hjic-1151	87	33	links	link	NOUN
hjic-1151	87	34	but	but	CCONJ
hjic-1151	87	35	can	can	AUX
hjic-1151	87	36	be	be	AUX
hjic-1151	87	37	described	describe	VERB
hjic-1151	87	38	by	by	ADP
hjic-1151	87	39	continuous	continuous	ADJ
hjic-1151	87	40	kinematics	kinematic	NOUN
hjic-1151	87	41	.	.	PUNCT
hjic-1151	88	1	developers	developer	NOUN
hjic-1151	88	2	expect	expect	VERB
hjic-1151	88	3	these	these	PRON
hjic-1151	88	4	to	to	PART
hjic-1151	88	5	be	be	AUX
hjic-1151	88	6	more	more	ADV
hjic-1151	88	7	effective	effective	ADJ
hjic-1151	88	8	in	in	ADP
hjic-1151	88	9	everyday	everyday	ADJ
hjic-1151	88	10	life	life	NOUN
hjic-1151	88	11	because	because	SCONJ
hjic-1151	88	12	they	they	PRON
hjic-1151	88	13	better	well	ADV
hjic-1151	88	14	replicate	replicate	VERB
hjic-1151	88	15	the	the	DET
hjic-1151	88	16	structure	structure	NOUN
hjic-1151	88	17	of	of	ADP
hjic-1151	88	18	living	live	VERB
hjic-1151	88	19	beings	being	NOUN
hjic-1151	88	20	,	,	PUNCT
hjic-1151	88	21	i.e.	i.e.	X
hjic-1151	88	22	given	give	VERB
hjic-1151	88	23	that	that	SCONJ
hjic-1151	88	24	most	most	ADJ
hjic-1151	88	25	of	of	ADP
hjic-1151	88	26	them	they	PRON
hjic-1151	88	27	are	be	AUX
hjic-1151	88	28	made	make	VERB
hjic-1151	88	29	of	of	ADP
hjic-1151	88	30	soft	soft	ADJ
hjic-1151	88	31	materials	material	NOUN
hjic-1151	88	32	rather	rather	ADV
hjic-1151	88	33	than	than	ADP
hjic-1151	88	34	rigid	rigid	ADJ
hjic-1151	88	35	ones	one	NOUN
hjic-1151	88	36	,	,	PUNCT
hjic-1151	88	37	they	they	PRON
hjic-1151	88	38	are	be	AUX
hjic-1151	88	39	more	more	ADV
hjic-1151	88	40	adaptable	adaptable	ADJ
hjic-1151	88	41	to	to	ADP
hjic-1151	88	42	changes	change	NOUN
hjic-1151	88	43	in	in	ADP
hjic-1151	88	44	the	the	DET
hjic-1151	88	45	environment	environment	NOUN
hjic-1151	88	46	.	.	PUNCT
hjic-1151	89	1	although	although	SCONJ
hjic-1151	89	2	some	some	PRON
hjic-1151	89	3	connect	connect	VERB
hjic-1151	89	4	rigid	rigid	ADJ
hjic-1151	89	5	members	member	NOUN
hjic-1151	89	6	with	with	ADP
hjic-1151	89	7	hinges	hinge	NOUN
hjic-1151	89	8	,	,	PUNCT
hjic-1151	89	9	other	other	ADJ
hjic-1151	89	10	studies	study	NOUN
hjic-1151	89	11	have	have	AUX
hjic-1151	89	12	experimented	experiment	VERB
hjic-1151	89	13	with	with	ADP
hjic-1151	89	14	grippers	gripper	NOUN
hjic-1151	89	15	made	make	VERB
hjic-1151	89	16	of	of	ADP
hjic-1151	89	17	a	a	DET
hjic-1151	89	18	material	material	NOUN
hjic-1151	89	19	that	that	PRON
hjic-1151	89	20	is	be	AUX
hjic-1151	89	21	truly	truly	ADV
hjic-1151	89	22	continuously	continuously	ADV
hjic-1151	89	23	soft	soft	ADJ
hjic-1151	89	24	.	.	PUNCT
hjic-1151	90	1	an	an	DET
hjic-1151	90	2	example	example	NOUN
hjic-1151	90	3	of	of	ADP
hjic-1151	90	4	this	this	PRON
hjic-1151	90	5	is	be	AUX
hjic-1151	90	6	the	the	DET
hjic-1151	90	7	printed	print	VERB
hjic-1151	90	8	soft	soft	ADJ
hjic-1151	90	9	gripper	gripper	NOUN
hjic-1151	90	10	[	[	X
hjic-1151	90	11	9	9	NUM
hjic-1151	90	12	]	]	PUNCT
hjic-1151	90	13	presented	present	VERB
hjic-1151	90	14	in	in	ADP
hjic-1151	90	15	the	the	DET
hjic-1151	90	16	article	article	NOUN
hjic-1151	90	17	by	by	ADP
hjic-1151	90	18	slesarenko	slesarenko	PROPN
hjic-1151	90	19	et	et	PROPN
hjic-1151	90	20	al	al	PROPN
hjic-1151	90	21	.	.	PUNCT
hjic-1151	91	1	their	their	PRON
hjic-1151	91	2	method	method	NOUN
hjic-1151	91	3	involved	involve	VERB
hjic-1151	91	4	inserting	insert	VERB
hjic-1151	91	5	wires	wire	NOUN
hjic-1151	91	6	and	and	CCONJ
hjic-1151	91	7	inserts	insert	NOUN
hjic-1151	91	8	into	into	ADP
hjic-1151	91	9	a	a	DET
hjic-1151	91	10	polymer	polymer	NOUN
hjic-1151	91	11	gel	gel	NOUN
hjic-1151	91	12	in	in	ADP
hjic-1151	91	13	various	various	ADJ
hjic-1151	91	14	ways	way	NOUN
hjic-1151	91	15	to	to	PART
hjic-1151	91	16	create	create	VERB
hjic-1151	91	17	a	a	DET
hjic-1151	91	18	more	more	ADV
hjic-1151	91	19	controllable	controllable	ADJ
hjic-1151	91	20	as	as	ADV
hjic-1151	91	21	well	well	ADV
hjic-1151	91	22	as	as	ADP
hjic-1151	91	23	deformable	deformable	ADJ
hjic-1151	91	24	shape	shape	NOUN
hjic-1151	91	25	and	and	CCONJ
hjic-1151	91	26	even	even	ADV
hjic-1151	91	27	reduce	reduce	VERB
hjic-1151	91	28	the	the	DET
hjic-1151	91	29	actuating	actuate	VERB
hjic-1151	91	30	force	force	NOUN
hjic-1151	91	31	required	require	VERB
hjic-1151	91	32	.	.	PUNCT
hjic-1151	92	1	the	the	DET
hjic-1151	92	2	basic	basic	ADJ
hjic-1151	92	3	principle	principle	NOUN
hjic-1151	92	4	of	of	ADP
hjic-1151	92	5	a	a	DET
hjic-1151	92	6	hollow	hollow	ADJ
hjic-1151	92	7	polymeric	polymeric	ADJ
hjic-1151	92	8	fuselage	fuselage	NOUN
hjic-1151	92	9	thread	thread	NOUN
hjic-1151	92	10	was	be	AUX
hjic-1151	92	11	used	use	VERB
hjic-1151	92	12	and	and	CCONJ
hjic-1151	92	13	the	the	DET
hjic-1151	92	14	shape	shape	NOUN
hjic-1151	92	15	as	as	ADV
hjic-1151	92	16	well	well	ADV
hjic-1151	92	17	as	as	ADP
hjic-1151	92	18	internal	internal	ADJ
hjic-1151	92	19	design	design	NOUN
hjic-1151	92	20	of	of	ADP
hjic-1151	92	21	the	the	DET
hjic-1151	92	22	fuselage	fuselage	NOUN
hjic-1151	92	23	varied	vary	VERB
hjic-1151	92	24	by	by	ADP
hjic-1151	92	25	sectioning	section	VERB
hjic-1151	92	26	it	it	PRON
hjic-1151	92	27	,	,	PUNCT
hjic-1151	92	28	stiffening	stiffen	VERB
hjic-1151	92	29	it	it	PRON
hjic-1151	92	30	in	in	ADP
hjic-1151	92	31	certain	certain	ADJ
hjic-1151	92	32	places	place	NOUN
hjic-1151	92	33	and	and	CCONJ
hjic-1151	92	34	weaking	weake	VERB
hjic-1151	92	35	it	it	PRON
hjic-1151	92	36	in	in	ADP
hjic-1151	92	37	others	other	NOUN
hjic-1151	92	38	.	.	PUNCT
hjic-1151	93	1	the	the	DET
hjic-1151	93	2	resulting	result	VERB
hjic-1151	93	3	gripper	gripper	NOUN
hjic-1151	93	4	is	be	AUX
hjic-1151	93	5	suitable	suitable	ADJ
hjic-1151	93	6	for	for	ADP
hjic-1151	93	7	manipulating	manipulate	VERB
hjic-1151	93	8	small	small	ADJ
hjic-1151	93	9	objects	object	NOUN
hjic-1151	93	10	.	.	PUNCT
hjic-1151	94	1	the	the	DET
hjic-1151	94	2	recommended	recommend	VERB
hjic-1151	94	3	strategy	strategy	NOUN
hjic-1151	94	4	can	can	AUX
hjic-1151	94	5	be	be	AUX
hjic-1151	94	6	applied	apply	VERB
hjic-1151	94	7	to	to	ADP
hjic-1151	94	8	other	other	ADJ
hjic-1151	94	9	types	type	NOUN
hjic-1151	94	10	of	of	ADP
hjic-1151	94	11	soft	soft	ADJ
hjic-1151	94	12	actuators	actuator	NOUN
hjic-1151	94	13	.	.	PUNCT
hjic-1151	95	1	based	base	VERB
hjic-1151	95	2	on	on	ADP
hjic-1151	95	3	the	the	DET
hjic-1151	95	4	presented	present	VERB
hjic-1151	95	5	gripper	gripper	NOUN
hjic-1151	95	6	,	,	PUNCT
hjic-1151	95	7	it	it	PRON
hjic-1151	95	8	would	would	AUX
hjic-1151	95	9	be	be	AUX
hjic-1151	95	10	worthwhile	worthwhile	ADJ
hjic-1151	95	11	to	to	PART
hjic-1151	95	12	investigate	investigate	VERB
hjic-1151	95	13	how	how	SCONJ
hjic-1151	95	14	these	these	DET
hjic-1151	95	15	grippers	gripper	NOUN
hjic-1151	95	16	can	can	AUX
hjic-1151	95	17	be	be	AUX
hjic-1151	95	18	combined	combine	VERB
hjic-1151	95	19	with	with	ADP
hjic-1151	95	20	conventional	conventional	ADJ
hjic-1151	95	21	ones	one	NOUN
hjic-1151	95	22	.	.	PUNCT
hjic-1151	96	1	nowadays	nowadays	ADV
hjic-1151	96	2	,	,	PUNCT
hjic-1151	96	3	the	the	DET
hjic-1151	96	4	greatest	great	ADJ
hjic-1151	96	5	need	need	NOUN
hjic-1151	96	6	is	be	AUX
hjic-1151	96	7	for	for	ADP
hjic-1151	96	8	a	a	DET
hjic-1151	96	9	gripping	gripping	ADJ
hjic-1151	96	10	system	system	NOUN
hjic-1151	96	11	that	that	PRON
hjic-1151	96	12	can	can	AUX
hjic-1151	96	13	quickly	quickly	ADV
hjic-1151	96	14	adapt	adapt	VERB
hjic-1151	96	15	to	to	ADP
hjic-1151	96	16	the	the	DET
hjic-1151	96	17	task	task	NOUN
hjic-1151	96	18	.	.	PUNCT
hjic-1151	97	1	robotic	robotic	ADJ
hjic-1151	97	2	head	head	NOUN
hjic-1151	97	3	exchange	exchange	NOUN
hjic-1151	97	4	systems	system	NOUN
hjic-1151	97	5	are	be	AUX
hjic-1151	97	6	available	available	ADJ
hjic-1151	97	7	that	that	SCONJ
hjic-1151	97	8	typically	typically	ADV
hjic-1151	97	9	consist	consist	VERB
hjic-1151	97	10	of	of	ADP
hjic-1151	97	11	two	two	NUM
hjic-1151	97	12	parts	part	NOUN
hjic-1151	97	13	,	,	PUNCT
hjic-1151	97	14	one	one	NUM
hjic-1151	97	15	to	to	PART
hjic-1151	97	16	be	be	AUX
hjic-1151	97	17	placed	place	VERB
hjic-1151	97	18	on	on	ADP
hjic-1151	97	19	the	the	DET
hjic-1151	97	20	robot	robot	NOUN
hjic-1151	97	21	and	and	CCONJ
hjic-1151	97	22	the	the	DET
hjic-1151	97	23	other	other	ADJ
hjic-1151	97	24	on	on	ADP
hjic-1151	97	25	the	the	DET
hjic-1151	97	26	gripper	gripper	NOUN
hjic-1151	97	27	,	,	PUNCT
hjic-1151	97	28	which	which	PRON
hjic-1151	97	29	can	can	AUX
hjic-1151	97	30	then	then	ADV
hjic-1151	97	31	be	be	AUX
hjic-1151	97	32	connected	connect	VERB
hjic-1151	97	33	together	together	ADV
hjic-1151	97	34	.	.	PUNCT
hjic-1151	98	1	more	more	ADJ
hjic-1151	98	2	than	than	ADP
hjic-1151	98	3	one	one	NUM
hjic-1151	98	4	gripper	gripper	NOUN
hjic-1151	98	5	can	can	AUX
hjic-1151	98	6	be	be	AUX
hjic-1151	98	7	used	use	VERB
hjic-1151	98	8	to	to	PART
hjic-1151	98	9	adapt	adapt	VERB
hjic-1151	98	10	the	the	DET
hjic-1151	98	11	robot	robot	NOUN
hjic-1151	98	12	to	to	PART
hjic-1151	98	13	suit	suit	VERB
hjic-1151	98	14	different	different	ADJ
hjic-1151	98	15	tasks	task	NOUN
hjic-1151	98	16	.	.	PUNCT
hjic-1151	99	1	this	this	DET
hjic-1151	99	2	system	system	NOUN
hjic-1151	99	3	requires	require	VERB
hjic-1151	99	4	several	several	ADJ
hjic-1151	99	5	grippers	gripper	NOUN
hjic-1151	99	6	and	and	CCONJ
hjic-1151	99	7	the	the	DET
hjic-1151	99	8	tool	tool	NOUN
hjic-1151	99	9	changer	changer	NOUN
hjic-1151	99	10	must	must	AUX
hjic-1151	99	11	be	be	AUX
hjic-1151	99	12	purchased	purchase	VERB
hjic-1151	99	13	as	as	ADV
hjic-1151	99	14	well	well	ADV
hjic-1151	99	15	as	as	ADP
hjic-1151	99	16	integrated	integrate	VERB
hjic-1151	99	17	.	.	PUNCT
hjic-1151	100	1	another	another	DET
hjic-1151	100	2	problem	problem	NOUN
hjic-1151	100	3	is	be	AUX
hjic-1151	100	4	the	the	DET
hjic-1151	100	5	weight	weight	NOUN
hjic-1151	100	6	of	of	ADP
hjic-1151	100	7	the	the	DET
hjic-1151	100	8	head	head	NOUN
hjic-1151	100	9	exchanger	exchanger	NOUN
hjic-1151	100	10	,	,	PUNCT
hjic-1151	100	11	which	which	PRON
hjic-1151	100	12	is	be	AUX
hjic-1151	100	13	grooved	groove	VERB
hjic-1151	100	14	according	accord	VERB
hjic-1151	100	15	to	to	ADP
hjic-1151	100	16	the	the	DET
hjic-1151	100	17	payload	payload	NOUN
hjic-1151	100	18	of	of	ADP
hjic-1151	100	19	the	the	DET
hjic-1151	100	20	robot	robot	NOUN
hjic-1151	100	21	.	.	PUNCT
hjic-1151	101	1	typically	typically	ADV
hjic-1151	101	2	,	,	PUNCT
hjic-1151	101	3	this	this	PRON
hjic-1151	101	4	is	be	AUX
hjic-1151	101	5	undesirable	undesirable	ADJ
hjic-1151	101	6	for	for	ADP
hjic-1151	101	7	companies	company	NOUN
hjic-1151	101	8	wishing	wish	VERB
hjic-1151	101	9	to	to	PART
hjic-1151	101	10	use	use	VERB
hjic-1151	101	11	collaborative	collaborative	ADJ
hjic-1151	101	12	robots	robot	NOUN
hjic-1151	101	13	for	for	ADP
hjic-1151	101	14	multiple	multiple	ADJ
hjic-1151	101	15	tasks	task	NOUN
hjic-1151	101	16	.	.	PUNCT
hjic-1151	102	1	a	a	DET
hjic-1151	102	2	better	well	ADJ
hjic-1151	102	3	solution	solution	NOUN
hjic-1151	102	4	might	might	AUX
hjic-1151	102	5	be	be	AUX
hjic-1151	102	6	to	to	PART
hjic-1151	102	7	attempt	attempt	VERB
hjic-1151	102	8	to	to	PART
hjic-1151	102	9	use	use	VERB
hjic-1151	102	10	the	the	DET
hjic-1151	102	11	gripper	gripper	NOUN
hjic-1151	102	12	for	for	ADP
hjic-1151	102	13	each	each	DET
hjic-1151	102	14	significantly	significantly	ADV
hjic-1151	102	15	different	different	ADJ
hjic-1151	102	16	task	task	NOUN
hjic-1151	102	17	by	by	ADP
hjic-1151	102	18	changing	change	VERB
hjic-1151	102	19	the	the	DET
hjic-1151	102	20	finger	finger	NOUN
hjic-1151	102	21	itself	itself	PRON
hjic-1151	102	22	.	.	PUNCT
hjic-1151	103	1	these	these	DET
hjic-1151	103	2	fingers	finger	NOUN
hjic-1151	103	3	can	can	AUX
hjic-1151	103	4	be	be	AUX
hjic-1151	103	5	precisely	precisely	ADV
hjic-1151	103	6	fitted	fit	VERB
hjic-1151	103	7	to	to	ADP
hjic-1151	103	8	the	the	DET
hjic-1151	103	9	gripper	gripper	NOUN
hjic-1151	103	10	,	,	PUNCT
hjic-1151	103	11	moreover	moreover	ADV
hjic-1151	103	12	,	,	PUNCT
hjic-1151	103	13	are	be	AUX
hjic-1151	103	14	relatively	relatively	ADV
hjic-1151	103	15	simple	simple	ADJ
hjic-1151	103	16	to	to	PART
hjic-1151	103	17	manufacture	manufacture	VERB
hjic-1151	103	18	and	and	CCONJ
hjic-1151	103	19	replace	replace	VERB
hjic-1151	103	20	.	.	PUNCT
hjic-1151	104	1	additive	additive	ADJ
hjic-1151	104	2	manufacturing	manufacturing	NOUN
hjic-1151	104	3	can	can	AUX
hjic-1151	104	4	be	be	AUX
hjic-1151	104	5	used	use	VERB
hjic-1151	104	6	to	to	PART
hjic-1151	104	7	reduce	reduce	VERB
hjic-1151	104	8	production	production	NOUN
hjic-1151	104	9	time	time	NOUN
hjic-1151	104	10	and	and	CCONJ
hjic-1151	104	11	costs	cost	NOUN
hjic-1151	104	12	.	.	PUNCT
hjic-1151	105	1	4	4	X
hjic-1151	105	2	.	.	X
hjic-1151	105	3	methods	method	NOUN
hjic-1151	105	4	to	to	PART
hjic-1151	105	5	design	design	VERB
hjic-1151	105	6	fingers	finger	NOUN
hjic-1151	105	7	of	of	ADP
hjic-1151	105	8	the	the	DET
hjic-1151	105	9	gripper	gripper	NOUN
hjic-1151	105	10	according	accord	VERB
hjic-1151	105	11	to	to	ADP
hjic-1151	105	12	the	the	DET
hjic-1151	105	13	design	design	NOUN
hjic-1151	105	14	methodologies	methodology	NOUN
hjic-1151	105	15	,	,	PUNCT
hjic-1151	105	16	the	the	DET
hjic-1151	105	17	easiest	easy	ADJ
hjic-1151	105	18	solution	solution	NOUN
hjic-1151	105	19	would	would	AUX
hjic-1151	105	20	be	be	AUX
hjic-1151	105	21	to	to	PART
hjic-1151	105	22	use	use	VERB
hjic-1151	105	23	a	a	DET
hjic-1151	105	24	given	give	VERB
hjic-1151	105	25	template	template	NOUN
hjic-1151	105	26	.	.	PUNCT
hjic-1151	106	1	by	by	ADP
hjic-1151	106	2	following	follow	VERB
hjic-1151	106	3	a	a	DET
hjic-1151	106	4	series	series	NOUN
hjic-1151	106	5	of	of	ADP
hjic-1151	106	6	well	well	ADV
hjic-1151	106	7	-	-	PUNCT
hjic-1151	106	8	established	establish	VERB
hjic-1151	106	9	steps	step	NOUN
hjic-1151	106	10	,	,	PUNCT
hjic-1151	106	11	a	a	DET
hjic-1151	106	12	finger	finger	NOUN
hjic-1151	106	13	can	can	AUX
hjic-1151	106	14	be	be	AUX
hjic-1151	106	15	obtained	obtain	VERB
hjic-1151	106	16	that	that	PRON
hjic-1151	106	17	is	be	AUX
hjic-1151	106	18	suitable	suitable	ADJ
hjic-1151	106	19	for	for	ADP
hjic-1151	106	20	the	the	DET
hjic-1151	106	21	current	current	ADJ
hjic-1151	106	22	gripper	gripper	NOUN
hjic-1151	106	23	and	and	CCONJ
hjic-1151	106	24	task	task	NOUN
hjic-1151	106	25	.	.	PUNCT
hjic-1151	107	1	by	by	ADP
hjic-1151	107	2	following	follow	VERB
hjic-1151	107	3	these	these	DET
hjic-1151	107	4	steps	step	NOUN
hjic-1151	107	5	,	,	PUNCT
hjic-1151	107	6	the	the	DET
hjic-1151	107	7	design	design	NOUN
hjic-1151	107	8	time	time	NOUN
hjic-1151	107	9	is	be	AUX
hjic-1151	107	10	also	also	ADV
hjic-1151	107	11	significantly	significantly	ADV
hjic-1151	107	12	reduced	reduce	VERB
hjic-1151	107	13	because	because	SCONJ
hjic-1151	107	14	it	it	PRON
hjic-1151	107	15	is	be	AUX
hjic-1151	107	16	unnecessary	unnecessary	ADJ
hjic-1151	107	17	to	to	PART
hjic-1151	107	18	intuitively	intuitively	ADV
hjic-1151	107	19	guess	guess	VERB
hjic-1151	107	20	a	a	DET
hjic-1151	107	21	solution	solution	NOUN
hjic-1151	107	22	,	,	PUNCT
hjic-1151	107	23	which	which	PRON
hjic-1151	107	24	can	can	AUX
hjic-1151	107	25	take	take	VERB
hjic-1151	107	26	an	an	DET
hjic-1151	107	27	uncertain	uncertain	ADJ
hjic-1151	107	28	amount	amount	NOUN
hjic-1151	107	29	of	of	ADP
hjic-1151	107	30	time	time	NOUN
hjic-1151	107	31	.	.	PUNCT
hjic-1151	108	1	the	the	DET
hjic-1151	108	2	easiest	easy	ADJ
hjic-1151	108	3	way	way	NOUN
hjic-1151	108	4	to	to	PART
hjic-1151	108	5	proceed	proceed	VERB
hjic-1151	108	6	is	be	AUX
hjic-1151	108	7	to	to	PART
hjic-1151	108	8	create	create	VERB
hjic-1151	108	9	a	a	DET
hjic-1151	108	10	spreadsheet	spreadsheet	NOUN
hjic-1151	108	11	or	or	CCONJ
hjic-1151	108	12	flowchart	flowchart	NOUN
hjic-1151	108	13	in	in	ADP
hjic-1151	108	14	which	which	PRON
hjic-1151	108	15	the	the	DET
hjic-1151	108	16	following	follow	VERB
hjic-1151	108	17	questions	question	NOUN
hjic-1151	108	18	can	can	AUX
hjic-1151	108	19	be	be	AUX
hjic-1151	108	20	answered	answer	VERB
hjic-1151	108	21	to	to	PART
hjic-1151	108	22	achieve	achieve	VERB
hjic-1151	108	23	the	the	DET
hjic-1151	108	24	required	required	ADJ
hjic-1151	108	25	outcome	outcome	NOUN
hjic-1151	108	26	:	:	PUNCT
hjic-1151	108	27	1	1	X
hjic-1151	108	28	.	.	X
hjic-1151	108	29	what	what	DET
hjic-1151	108	30	type	type	NOUN
hjic-1151	108	31	of	of	ADP
hjic-1151	108	32	gripper	gripper	NOUN
hjic-1151	108	33	is	be	AUX
hjic-1151	108	34	used	use	VERB
hjic-1151	108	35	?	?	PUNCT
hjic-1151	109	1	2	2	X
hjic-1151	109	2	.	.	X
hjic-1151	109	3	what	what	PRON
hjic-1151	109	4	product	product	NOUN
hjic-1151	109	5	is	be	AUX
hjic-1151	109	6	to	to	PART
hjic-1151	109	7	be	be	AUX
hjic-1151	109	8	gripped	grip	VERB
hjic-1151	109	9	?	?	PUNCT
hjic-1151	110	1	3	3	X
hjic-1151	110	2	.	.	X
hjic-1151	110	3	how	how	SCONJ
hjic-1151	110	4	accurate	accurate	ADJ
hjic-1151	110	5	is	be	AUX
hjic-1151	110	6	our	our	PRON
hjic-1151	110	7	robot	robot	NOUN
hjic-1151	110	8	?	?	PUNCT
hjic-1151	111	1	4	4	X
hjic-1151	111	2	.	.	X
hjic-1151	112	1	what	what	PRON
hjic-1151	112	2	material	material	NOUN
hjic-1151	112	3	are	be	AUX
hjic-1151	112	4	the	the	DET
hjic-1151	112	5	gripper	gripper	NOUN
hjic-1151	112	6	fingers	finger	NOUN
hjic-1151	112	7	composed	compose	VERB
hjic-1151	112	8	of	of	ADP
hjic-1151	112	9	?	?	PUNCT
hjic-1151	113	1	the	the	DET
hjic-1151	113	2	proposed	propose	VERB
hjic-1151	113	3	methodology	methodology	NOUN
hjic-1151	113	4	shown	show	VERB
hjic-1151	113	5	in	in	ADP
hjic-1151	113	6	fig	fig	NOUN
hjic-1151	113	7	.	.	PUNCT
hjic-1151	114	1	1	1	NUM
hjic-1151	114	2	builds	build	VERB
hjic-1151	114	3	on	on	ADP
hjic-1151	114	4	the	the	DET
hjic-1151	114	5	main	main	ADJ
hjic-1151	114	6	elements	element	NOUN
hjic-1151	114	7	outlined	outline	VERB
hjic-1151	114	8	above	above	ADV
hjic-1151	114	9	with	with	ADP
hjic-1151	114	10	a	a	DET
hjic-1151	114	11	more	more	ADV
hjic-1151	114	12	detailed	detailed	ADJ
hjic-1151	114	13	description	description	NOUN
hjic-1151	114	14	as	as	SCONJ
hjic-1151	114	15	follows	follow	VERB
hjic-1151	114	16	.	.	PUNCT
hjic-1151	115	1	firstly	firstly	ADV
hjic-1151	115	2	,	,	PUNCT
hjic-1151	115	3	which	which	DET
hjic-1151	115	4	component	component	NOUN
hjic-1151	115	5	(	(	PUNCT
hjic-1151	115	6	or	or	CCONJ
hjic-1151	115	7	families	family	NOUN
hjic-1151	115	8	of	of	ADP
hjic-1151	115	9	components	component	NOUN
hjic-1151	115	10	)	)	PUNCT
hjic-1151	115	11	are	be	AUX
hjic-1151	115	12	to	to	PART
hjic-1151	115	13	be	be	AUX
hjic-1151	115	14	manipulated	manipulate	VERB
hjic-1151	115	15	needs	need	NOUN
hjic-1151	115	16	to	to	PART
hjic-1151	115	17	be	be	AUX
hjic-1151	115	18	determined	determine	VERB
hjic-1151	115	19	.	.	PUNCT
hjic-1151	116	1	its	its	PRON
hjic-1151	116	2	size	size	NOUN
hjic-1151	116	3	,	,	PUNCT
hjic-1151	116	4	weight	weight	NOUN
hjic-1151	116	5	,	,	PUNCT
hjic-1151	116	6	geometry	geometry	NOUN
hjic-1151	116	7	,	,	PUNCT
hjic-1151	116	8	surface	surface	NOUN
hjic-1151	116	9	quality	quality	NOUN
hjic-1151	116	10	and	and	CCONJ
hjic-1151	116	11	material	material	NOUN
hjic-1151	116	12	need	need	VERB
hjic-1151	116	13	to	to	PART
hjic-1151	116	14	be	be	AUX
hjic-1151	116	15	taken	take	VERB
hjic-1151	116	16	into	into	ADP
hjic-1151	116	17	consideration	consideration	NOUN
hjic-1151	116	18	.	.	PUNCT
hjic-1151	117	1	furthermore	furthermore	ADV
hjic-1151	117	2	,	,	PUNCT
hjic-1151	117	3	the	the	DET
hjic-1151	117	4	robot	robot	NOUN
hjic-1151	117	5	gripper	gripper	NOUN
hjic-1151	117	6	must	must	AUX
hjic-1151	117	7	be	be	AUX
hjic-1151	117	8	analyzed	analyze	VERB
hjic-1151	117	9	to	to	PART
hjic-1151	117	10	determine	determine	VERB
hjic-1151	117	11	the	the	DET
hjic-1151	117	12	type	type	NOUN
hjic-1151	117	13	and	and	CCONJ
hjic-1151	117	14	size	size	NOUN
hjic-1151	117	15	of	of	ADP
hjic-1151	117	16	its	its	PRON
hjic-1151	117	17	opening	opening	NOUN
hjic-1151	117	18	as	as	ADV
hjic-1151	117	19	well	well	ADV
hjic-1151	117	20	as	as	ADP
hjic-1151	117	21	how	how	SCONJ
hjic-1151	117	22	the	the	DET
hjic-1151	117	23	gripper	gripper	NOUN
hjic-1151	117	24	fingers	finger	NOUN
hjic-1151	117	25	can	can	AUX
hjic-1151	117	26	be	be	AUX
hjic-1151	117	27	connected	connect	VERB
hjic-1151	117	28	to	to	ADP
hjic-1151	117	29	it	it	PRON
hjic-1151	117	30	.	.	PUNCT
hjic-1151	118	1	the	the	DET
hjic-1151	118	2	next	next	ADJ
hjic-1151	118	3	step	step	NOUN
hjic-1151	118	4	is	be	AUX
hjic-1151	118	5	to	to	PART
hjic-1151	118	6	start	start	VERB
hjic-1151	118	7	the	the	DET
hjic-1151	118	8	design	design	NOUN
hjic-1151	118	9	process	process	NOUN
hjic-1151	118	10	,	,	PUNCT
hjic-1151	118	11	which	which	PRON
hjic-1151	118	12	requires	require	VERB
hjic-1151	118	13	knowledge	knowledge	NOUN
hjic-1151	118	14	of	of	ADP
hjic-1151	118	15	the	the	DET
hjic-1151	118	16	manufacturing	manufacturing	NOUN
hjic-1151	118	17	technologies	technology	NOUN
hjic-1151	118	18	available	available	ADJ
hjic-1151	118	19	in	in	ADP
hjic-1151	118	20	the	the	DET
hjic-1151	118	21	factory	factory	NOUN
hjic-1151	118	22	,	,	PUNCT
hjic-1151	118	23	namely	namely	ADV
hjic-1151	118	24	the	the	DET
hjic-1151	118	25	3d	3d	NUM
hjic-1151	118	26	printing	printing	NOUN
hjic-1151	118	27	machines	machine	NOUN
hjic-1151	118	28	themselves	themselves	PRON
hjic-1151	118	29	,	,	PUNCT
hjic-1151	118	30	their	their	PRON
hjic-1151	118	31	characteristics	characteristic	NOUN
hjic-1151	118	32	and	and	CCONJ
hjic-1151	118	33	the	the	DET
hjic-1151	118	34	type	type	NOUN
hjic-1151	118	35	of	of	ADP
hjic-1151	118	36	materials	material	NOUN
hjic-1151	118	37	used	use	VERB
hjic-1151	118	38	.	.	PUNCT
hjic-1151	119	1	the	the	DET
hjic-1151	119	2	design	design	NOUN
hjic-1151	119	3	process	process	NOUN
hjic-1151	119	4	should	should	AUX
hjic-1151	119	5	be	be	AUX
hjic-1151	119	6	carried	carry	VERB
hjic-1151	119	7	out	out	ADP
hjic-1151	119	8	by	by	ADP
hjic-1151	119	9	bearing	bear	VERB
hjic-1151	119	10	in	in	ADP
hjic-1151	119	11	mind	mind	NOUN
hjic-1151	119	12	the	the	DET
hjic-1151	119	13	aspects	aspect	NOUN
hjic-1151	119	14	discussed	discuss	VERB
hjic-1151	119	15	above	above	ADV
hjic-1151	119	16	with	with	ADP
hjic-1151	119	17	a	a	DET
hjic-1151	119	18	focus	focus	NOUN
hjic-1151	119	19	on	on	ADP
hjic-1151	119	20	good	good	ADJ
hjic-1151	119	21	printability	printability	NOUN
hjic-1151	119	22	.	.	PUNCT
hjic-1151	120	1	finally	finally	ADV
hjic-1151	120	2	,	,	PUNCT
hjic-1151	120	3	based	base	VERB
hjic-1151	120	4	on	on	ADP
hjic-1151	120	5	the	the	DET
hjic-1151	120	6	design	design	NOUN
hjic-1151	120	7	,	,	PUNCT
hjic-1151	120	8	the	the	DET
hjic-1151	120	9	3d	3d	NOUN
hjic-1151	120	10	printing	printing	NOUN
hjic-1151	120	11	of	of	ADP
hjic-1151	120	12	the	the	DET
hjic-1151	120	13	fingers	finger	NOUN
hjic-1151	120	14	results	result	VERB
hjic-1151	120	15	in	in	ADP
hjic-1151	120	16	physical	physical	ADJ
hjic-1151	120	17	parts	part	NOUN
hjic-1151	120	18	.	.	PUNCT
hjic-1151	121	1	the	the	DET
hjic-1151	121	2	solution	solution	NOUN
hjic-1151	121	3	to	to	ADP
hjic-1151	121	4	the	the	DET
hjic-1151	121	5	problem	problem	NOUN
hjic-1151	121	6	is	be	AUX
hjic-1151	121	7	then	then	ADV
hjic-1151	121	8	tested	test	VERB
hjic-1151	121	9	by	by	ADP
hjic-1151	121	10	mounting	mount	VERB
hjic-1151	121	11	the	the	DET
hjic-1151	121	12	gripper	gripper	NOUN
hjic-1151	121	13	fingers	finger	NOUN
hjic-1151	121	14	on	on	ADP
hjic-1151	121	15	the	the	DET
hjic-1151	121	16	robot	robot	NOUN
hjic-1151	121	17	.	.	PUNCT
hjic-1151	122	1	replicating	replicate	VERB
hjic-1151	122	2	the	the	DET
hjic-1151	122	3	grip	grip	NOUN
hjic-1151	122	4	and	and	CCONJ
hjic-1151	122	5	timing	timing	NOUN
hjic-1151	122	6	of	of	ADP
hjic-1151	122	7	the	the	DET
hjic-1151	122	8	fingers	finger	NOUN
hjic-1151	122	9	is	be	AUX
hjic-1151	122	10	sought	seek	VERB
hjic-1151	122	11	.	.	PUNCT
hjic-1151	123	1	for	for	ADP
hjic-1151	123	2	this	this	DET
hjic-1151	123	3	purpose	purpose	NOUN
hjic-1151	123	4	,	,	PUNCT
hjic-1151	123	5	the	the	DET
hjic-1151	123	6	quickest	quick	ADJ
hjic-1151	123	7	and	and	CCONJ
hjic-1151	123	8	most	most	ADV
hjic-1151	123	9	efficient	efficient	ADJ
hjic-1151	123	10	manufacturing	manufacturing	NOUN
hjic-1151	123	11	solution	solution	NOUN
hjic-1151	123	12	is	be	AUX
hjic-1151	123	13	3d	3d	NUM
hjic-1151	123	14	printing	printing	NOUN
hjic-1151	123	15	.	.	PUNCT
hjic-1151	124	1	since	since	SCONJ
hjic-1151	124	2	numerous	numerous	ADJ
hjic-1151	124	3	excellent	excellent	ADJ
hjic-1151	124	4	review	review	NOUN
hjic-1151	124	5	articles	article	NOUN
hjic-1151	124	6	on	on	ADP
hjic-1151	124	7	3d	3d	NUM
hjic-1151	124	8	printing	printing	NOUN
hjic-1151	124	9	have	have	AUX
hjic-1151	124	10	been	be	AUX
hjic-1151	124	11	published	publish	VERB
hjic-1151	124	12	,	,	PUNCT
hjic-1151	124	13	researchers	researcher	NOUN
hjic-1151	124	14	are	be	AUX
hjic-1151	124	15	easily	easily	ADV
hjic-1151	124	16	provided	provide	VERB
hjic-1151	124	17	with	with	ADP
hjic-1151	124	18	an	an	DET
hjic-1151	124	19	up	up	ADP
hjic-1151	124	20	-	-	PUNCT
hjic-1151	124	21	to	to	ADP
hjic-1151	124	22	-	-	PUNCT
hjic-1151	124	23	date	date	NOUN
hjic-1151	124	24	overview	overview	NOUN
hjic-1151	124	25	of	of	ADP
hjic-1151	124	26	the	the	DET
hjic-1151	124	27	technology	technology	NOUN
hjic-1151	124	28	[	[	X
hjic-1151	124	29	10	10	NUM
hjic-1151	124	30	]	]	PUNCT
hjic-1151	124	31	.	.	PUNCT
hjic-1151	125	1	the	the	DET
hjic-1151	125	2	article	article	NOUN
hjic-1151	125	3	presents	present	VERB
hjic-1151	125	4	a	a	DET
hjic-1151	125	5	comparative	comparative	ADJ
hjic-1151	125	6	analysis	analysis	NOUN
hjic-1151	125	7	of	of	ADP
hjic-1151	125	8	the	the	DET
hjic-1151	125	9	available	available	ADJ
hjic-1151	125	10	technologies	technology	NOUN
hjic-1151	125	11	and	and	CCONJ
hjic-1151	125	12	materials	material	NOUN
hjic-1151	125	13	.	.	PUNCT
hjic-1151	126	1	as	as	SCONJ
hjic-1151	126	2	various	various	ADJ
hjic-1151	126	3	additive	additive	ADJ
hjic-1151	126	4	manufacturing	manufacturing	NOUN
hjic-1151	126	5	machines	machine	NOUN
hjic-1151	126	6	are	be	AUX
hjic-1151	126	7	becoming	become	VERB
hjic-1151	126	8	available	available	ADJ
hjic-1151	126	9	in	in	ADP
hjic-1151	126	10	more	more	ADJ
hjic-1151	126	11	and	and	CCONJ
hjic-1151	126	12	more	more	ADJ
hjic-1151	126	13	factories	factory	NOUN
hjic-1151	126	14	,	,	PUNCT
hjic-1151	126	15	it	it	PRON
hjic-1151	126	16	is	be	AUX
hjic-1151	126	17	important	important	ADJ
hjic-1151	126	18	to	to	PART
hjic-1151	126	19	understand	understand	VERB
hjic-1151	126	20	the	the	DET
hjic-1151	126	21	manufacturing	manufacturing	NOUN
hjic-1151	126	22	requirements	requirement	NOUN
hjic-1151	126	23	that	that	PRON
hjic-1151	126	24	need	need	VERB
hjic-1151	126	25	to	to	PART
hjic-1151	126	26	be	be	AUX
hjic-1151	126	27	met	meet	VERB
hjic-1151	126	28	in	in	ADP
hjic-1151	126	29	the	the	DET
hjic-1151	126	30	design	design	NOUN
hjic-1151	126	31	[	[	X
hjic-1151	126	32	11	11	NUM
hjic-1151	126	33	]	]	PUNCT
hjic-1151	126	34	.	.	PUNCT
hjic-1151	127	1	by	by	ADP
hjic-1151	127	2	taking	take	VERB
hjic-1151	127	3	into	into	ADP
hjic-1151	127	4	consideration	consideration	NOUN
hjic-1151	127	5	the	the	DET
hjic-1151	127	6	most	most	ADV
hjic-1151	127	7	common	common	ADJ
hjic-1151	127	8	fdm	fdm	NOUN
hjic-1151	127	9	(	(	PUNCT
hjic-1151	127	10	fused	fuse	VERB
hjic-1151	127	11	deposition	deposition	NOUN
hjic-1151	127	12	modeling	modeling	NOUN
hjic-1151	127	13	)	)	PUNCT
hjic-1151	127	14	machines	machine	NOUN
hjic-1151	127	15	,	,	PUNCT
hjic-1151	127	16	it	it	PRON
hjic-1151	127	17	is	be	AUX
hjic-1151	127	18	recommended	recommend	VERB
hjic-1151	127	19	that	that	SCONJ
hjic-1151	127	20	the	the	DET
hjic-1151	127	21	printed	print	VERB
hjic-1151	127	22	finger	finger	NOUN
hjic-1151	127	23	has	have	VERB
hjic-1151	127	24	a	a	DET
hjic-1151	127	25	flat	flat	ADJ
hjic-1151	127	26	surface	surface	NOUN
hjic-1151	127	27	which	which	PRON
hjic-1151	127	28	can	can	AUX
hjic-1151	127	29	be	be	AUX
hjic-1151	127	30	placed	place	VERB
hjic-1151	127	31	on	on	ADP
hjic-1151	127	32	the	the	DET
hjic-1151	127	33	print	print	NOUN
hjic-1151	127	34	bed	bed	NOUN
hjic-1151	127	35	.	.	PUNCT
hjic-1151	128	1	by	by	ADP
hjic-1151	128	2	maintaining	maintain	VERB
hjic-1151	128	3	an	an	DET
hjic-1151	128	4	angle	angle	NOUN
hjic-1151	128	5	of	of	ADP
hjic-1151	128	6	45	45	NUM
hjic-1151	128	7	◦	◦	NOUN
hjic-1151	128	8	when	when	SCONJ
hjic-1151	128	9	designing	design	VERB
hjic-1151	128	10	upwardly	upwardly	NOUN
hjic-1151	128	11	extending	extend	VERB
hjic-1151	128	12	gripper	gripper	NOUN
hjic-1151	128	13	fingers	finger	NOUN
hjic-1151	128	14	,	,	PUNCT
hjic-1151	128	15	the	the	DET
hjic-1151	128	16	finger	finger	NOUN
hjic-1151	128	17	can	can	AUX
hjic-1151	128	18	extend	extend	VERB
hjic-1151	128	19	the	the	DET
hjic-1151	128	20	gripper	gripper	NOUN
hjic-1151	128	21	’s	’s	PART
hjic-1151	128	22	field	field	NOUN
hjic-1151	128	23	of	of	ADP
hjic-1151	128	24	application	application	NOUN
hjic-1151	128	25	by	by	ADP
hjic-1151	128	26	increasing	increase	VERB
hjic-1151	128	27	its	its	PRON
hjic-1151	128	28	maximum	maximum	ADJ
hjic-1151	128	29	opening	opening	NOUN
hjic-1151	128	30	width	width	NOUN
hjic-1151	128	31	.	.	PUNCT
hjic-1151	129	1	it	it	PRON
hjic-1151	129	2	can	can	AUX
hjic-1151	129	3	also	also	ADV
hjic-1151	129	4	be	be	AUX
hjic-1151	129	5	adapted	adapt	VERB
hjic-1151	129	6	to	to	PART
hjic-1151	129	7	suit	suit	VERB
hjic-1151	129	8	more	more	ADV
hjic-1151	129	9	precise	precise	ADJ
hjic-1151	129	10	gripping	gripping	ADJ
hjic-1151	129	11	tasks	task	NOUN
hjic-1151	129	12	by	by	ADP
hjic-1151	129	13	designing	design	VERB
hjic-1151	129	14	shaped	shape	VERB
hjic-1151	129	15	fingers	finger	NOUN
hjic-1151	129	16	.	.	PUNCT
hjic-1151	130	1	universal	universal	ADJ
hjic-1151	130	2	grippers	gripper	NOUN
hjic-1151	130	3	can	can	AUX
hjic-1151	130	4	also	also	ADV
hjic-1151	130	5	meet	meet	VERB
hjic-1151	130	6	specific	specific	ADJ
hjic-1151	130	7	needs	need	NOUN
hjic-1151	130	8	.	.	PUNCT
hjic-1151	131	1	other	other	ADJ
hjic-1151	131	2	design	design	NOUN
hjic-1151	131	3	considerations	consideration	NOUN
hjic-1151	131	4	are	be	AUX
hjic-1151	131	5	:	:	PUNCT
hjic-1151	131	6	1	1	X
hjic-1151	131	7	.	.	PUNCT
hjic-1151	132	1	the	the	DET
hjic-1151	132	2	fingers	finger	NOUN
hjic-1151	132	3	should	should	AUX
hjic-1151	132	4	consist	consist	VERB
hjic-1151	132	5	of	of	ADP
hjic-1151	132	6	one	one	NUM
hjic-1151	132	7	or	or	CCONJ
hjic-1151	132	8	more	more	ADJ
hjic-1151	132	9	pieces	piece	NOUN
hjic-1151	132	10	;	;	PUNCT
hjic-1151	133	1	2	2	X
hjic-1151	133	2	.	.	X
hjic-1151	134	1	the	the	DET
hjic-1151	134	2	fingers	finger	NOUN
hjic-1151	134	3	should	should	AUX
hjic-1151	134	4	be	be	AUX
hjic-1151	134	5	composed	compose	VERB
hjic-1151	134	6	of	of	ADP
hjic-1151	134	7	at	at	ADV
hjic-1151	134	8	least	least	ADV
hjic-1151	134	9	one	one	NUM
hjic-1151	134	10	material	material	NOUN
hjic-1151	134	11	and	and	CCONJ
hjic-1151	134	12	produced	produce	VERB
hjic-1151	134	13	by	by	ADP
hjic-1151	134	14	at	at	ADV
hjic-1151	134	15	least	least	ADV
hjic-1151	134	16	one	one	NUM
hjic-1151	134	17	technology	technology	NOUN
hjic-1151	134	18	.	.	PUNCT
hjic-1151	135	1	3	3	X
hjic-1151	135	2	.	.	X
hjic-1151	135	3	in	in	ADP
hjic-1151	135	4	3d	3d	NUM
hjic-1151	135	5	printing	printing	NOUN
hjic-1151	135	6	,	,	PUNCT
hjic-1151	135	7	composite	composite	ADJ
hjic-1151	135	8	materials	material	NOUN
hjic-1151	135	9	,	,	PUNCT
hjic-1151	135	10	both	both	CCONJ
hjic-1151	135	11	continuous	continuous	ADJ
hjic-1151	135	12	and	and	CCONJ
hjic-1151	135	13	short	short	ADJ
hjic-1151	135	14	fiber	fiber	NOUN
hjic-1151	135	15	-	-	PUNCT
hjic-1151	135	16	reinforced	reinforce	VERB
hjic-1151	135	17	,	,	PUNCT
hjic-1151	135	18	are	be	AUX
hjic-1151	135	19	also	also	ADV
hjic-1151	135	20	commonly	commonly	ADV
hjic-1151	135	21	used	use	VERB
hjic-1151	135	22	[	[	PUNCT
hjic-1151	135	23	12	12	NUM
hjic-1151	135	24	]	]	PUNCT
hjic-1151	135	25	.	.	PUNCT
hjic-1151	136	1	the	the	DET
hjic-1151	136	2	design	design	NOUN
hjic-1151	136	3	should	should	AUX
hjic-1151	136	4	take	take	VERB
hjic-1151	136	5	into	into	ADP
hjic-1151	136	6	consideration	consideration	NOUN
hjic-1151	136	7	both	both	DET
hjic-1151	136	8	sides	side	NOUN
hjic-1151	136	9	,	,	PUNCT
hjic-1151	136	10	one	one	NUM
hjic-1151	136	11	of	of	ADP
hjic-1151	136	12	which	which	PRON
hjic-1151	136	13	is	be	AUX
hjic-1151	136	14	the	the	DET
hjic-1151	136	15	surface	surface	NOUN
hjic-1151	136	16	of	of	ADP
hjic-1151	136	17	the	the	DET
hjic-1151	136	18	workpiece	workpiece	NOUN
hjic-1151	136	19	.	.	PUNCT
hjic-1151	137	1	between	between	ADP
hjic-1151	137	2	the	the	DET
hjic-1151	137	3	two	two	NUM
hjic-1151	137	4	49(2	49(2	NUM
hjic-1151	137	5	)	)	PUNCT
hjic-1151	137	6	pp	pp	ADP
hjic-1151	137	7	.	.	PUNCT
hjic-1151	138	1	91–95	91–95	NUM
hjic-1151	138	2	(	(	PUNCT
hjic-1151	138	3	2021	2021	NUM
hjic-1151	138	4	)	)	PUNCT
hjic-1151	138	5	94	94	NUM
hjic-1151	138	6	boleraczki	boleraczki	ADJ
hjic-1151	138	7	,	,	PUNCT
hjic-1151	138	8	gyurika	gyurika	NOUN
hjic-1151	138	9	,	,	PUNCT
hjic-1151	138	10	and	and	CCONJ
hjic-1151	138	11	fodor	fodor	PROPN
hjic-1151	138	12	figure	figure	NOUN
hjic-1151	138	13	1	1	NUM
hjic-1151	138	14	:	:	PUNCT
hjic-1151	138	15	methods	method	NOUN
hjic-1151	138	16	of	of	ADP
hjic-1151	138	17	designing	design	VERB
hjic-1151	138	18	and	and	CCONJ
hjic-1151	138	19	manufacturing	manufacturing	NOUN
hjic-1151	138	20	fingers	finger	NOUN
hjic-1151	138	21	main	main	ADJ
hjic-1151	138	22	components	component	NOUN
hjic-1151	138	23	,	,	PUNCT
hjic-1151	138	24	a	a	DET
hjic-1151	138	25	form	form	NOUN
hjic-1151	138	26	that	that	PRON
hjic-1151	138	27	can	can	AUX
hjic-1151	138	28	be	be	AUX
hjic-1151	138	29	printed	print	VERB
hjic-1151	138	30	easily	easily	ADV
hjic-1151	138	31	must	must	AUX
hjic-1151	138	32	be	be	AUX
hjic-1151	138	33	fitted	fit	VERB
hjic-1151	138	34	.	.	PUNCT
hjic-1151	139	1	the	the	DET
hjic-1151	139	2	available	available	ADJ
hjic-1151	139	3	3d	3d	NUM
hjic-1151	139	4	printing	printing	NOUN
hjic-1151	139	5	processes	process	NOUN
hjic-1151	139	6	must	must	AUX
hjic-1151	139	7	be	be	AUX
hjic-1151	139	8	assessed	assess	VERB
hjic-1151	139	9	and	and	CCONJ
hjic-1151	139	10	the	the	DET
hjic-1151	139	11	one	one	NOUN
hjic-1151	139	12	that	that	PRON
hjic-1151	139	13	best	good	ADJ
hjic-1151	139	14	suits	suit	NOUN
hjic-1151	139	15	the	the	DET
hjic-1151	139	16	task	task	NOUN
hjic-1151	139	17	selected	select	VERB
hjic-1151	139	18	.	.	PUNCT
hjic-1151	140	1	pla	pla	NOUN
hjic-1151	140	2	(	(	PUNCT
hjic-1151	140	3	polylactide	polylactide	PROPN
hjic-1151	140	4	)	)	PUNCT
hjic-1151	140	5	,	,	PUNCT
hjic-1151	140	6	abs	ab	NOUN
hjic-1151	140	7	(	(	PUNCT
hjic-1151	140	8	acrylonitrile	acrylonitrile	NOUN
hjic-1151	140	9	butadiene	butadiene	NOUN
hjic-1151	140	10	styrene	styrene	NOUN
hjic-1151	140	11	)	)	PUNCT
hjic-1151	140	12	and	and	CCONJ
hjic-1151	140	13	nylon	nylon	NOUN
hjic-1151	140	14	are	be	AUX
hjic-1151	140	15	the	the	DET
hjic-1151	140	16	most	most	ADV
hjic-1151	140	17	common	common	ADJ
hjic-1151	140	18	materials	material	NOUN
hjic-1151	140	19	used	use	VERB
hjic-1151	140	20	by	by	ADP
hjic-1151	140	21	fdm	fdm	NOUN
hjic-1151	140	22	machines	machine	NOUN
hjic-1151	140	23	.	.	PUNCT
hjic-1151	141	1	5	5	X
hjic-1151	141	2	.	.	NOUN
hjic-1151	141	3	example	example	NOUN
hjic-1151	141	4	design	design	NOUN
hjic-1151	141	5	of	of	ADP
hjic-1151	141	6	a	a	DET
hjic-1151	141	7	finger	finger	NOUN
hjic-1151	141	8	based	base	VERB
hjic-1151	141	9	on	on	ADP
hjic-1151	141	10	the	the	DET
hjic-1151	141	11	aforementioned	aforementioned	ADJ
hjic-1151	141	12	methodology	methodology	NOUN
hjic-1151	141	13	,	,	PUNCT
hjic-1151	141	14	two	two	NUM
hjic-1151	141	15	examples	example	NOUN
hjic-1151	141	16	are	be	AUX
hjic-1151	141	17	presented	present	VERB
hjic-1151	141	18	in	in	ADP
hjic-1151	141	19	fig	fig	NOUN
hjic-1151	141	20	.	.	PUNCT
hjic-1151	142	1	2	2	X
hjic-1151	142	2	.	.	X
hjic-1151	142	3	firstly	firstly	ADV
hjic-1151	142	4	,	,	PUNCT
hjic-1151	142	5	in	in	ADP
hjic-1151	142	6	order	order	NOUN
hjic-1151	142	7	to	to	PART
hjic-1151	142	8	grip	grip	VERB
hjic-1151	142	9	a	a	DET
hjic-1151	142	10	cylindrical	cylindrical	ADJ
hjic-1151	142	11	workpiece	workpiece	NOUN
hjic-1151	142	12	,	,	PUNCT
hjic-1151	142	13	it	it	PRON
hjic-1151	142	14	is	be	AUX
hjic-1151	142	15	necessary	necessary	ADJ
hjic-1151	142	16	to	to	PART
hjic-1151	142	17	extend	extend	VERB
hjic-1151	142	18	the	the	DET
hjic-1151	142	19	opening	opening	NOUN
hjic-1151	142	20	width	width	NOUN
hjic-1151	142	21	.	.	PUNCT
hjic-1151	143	1	besides	besides	SCONJ
hjic-1151	143	2	,	,	PUNCT
hjic-1151	143	3	the	the	DET
hjic-1151	143	4	finger	finger	NOUN
hjic-1151	143	5	has	have	VERB
hjic-1151	143	6	a	a	DET
hjic-1151	143	7	prismatic	prismatic	ADJ
hjic-1151	143	8	shape	shape	NOUN
hjic-1151	143	9	,	,	PUNCT
hjic-1151	143	10	which	which	PRON
hjic-1151	143	11	renders	render	VERB
hjic-1151	143	12	the	the	DET
hjic-1151	143	13	gripping	grip	VERB
hjic-1151	143	14	concentrical	concentrical	ADJ
hjic-1151	143	15	.	.	PUNCT
hjic-1151	144	1	in	in	ADP
hjic-1151	144	2	this	this	DET
hjic-1151	144	3	case	case	NOUN
hjic-1151	144	4	,	,	PUNCT
hjic-1151	144	5	the	the	DET
hjic-1151	144	6	limitation	limitation	NOUN
hjic-1151	144	7	of	of	ADP
hjic-1151	144	8	this	this	DET
hjic-1151	144	9	printing	printing	NOUN
hjic-1151	144	10	technology	technology	NOUN
hjic-1151	144	11	,	,	PUNCT
hjic-1151	144	12	namely	namely	ADV
hjic-1151	144	13	the	the	DET
hjic-1151	144	14	45	45	NUM
hjic-1151	144	15	◦	◦	NOUN
hjic-1151	144	16	overhang	overhang	NOUN
hjic-1151	144	17	,	,	PUNCT
hjic-1151	144	18	must	must	AUX
hjic-1151	144	19	be	be	AUX
hjic-1151	144	20	taken	take	VERB
hjic-1151	144	21	into	into	ADP
hjic-1151	144	22	consideration	consideration	NOUN
hjic-1151	144	23	.	.	PUNCT
hjic-1151	145	1	in	in	ADP
hjic-1151	145	2	the	the	DET
hjic-1151	145	3	second	second	ADJ
hjic-1151	145	4	image	image	NOUN
hjic-1151	145	5	,	,	PUNCT
hjic-1151	145	6	a	a	DET
hjic-1151	145	7	small	small	ADJ
hjic-1151	145	8	pcb	pcb	NOUN
hjic-1151	145	9	(	(	PUNCT
hjic-1151	145	10	printed	print	VERB
hjic-1151	145	11	circuit	circuit	PROPN
hjic-1151	145	12	board	board	PROPN
hjic-1151	145	13	)	)	PUNCT
hjic-1151	145	14	must	must	AUX
hjic-1151	145	15	be	be	AUX
hjic-1151	145	16	moved	move	VERB
hjic-1151	145	17	by	by	ADP
hjic-1151	145	18	fingers	finger	NOUN
hjic-1151	145	19	,	,	PUNCT
hjic-1151	145	20	which	which	PRON
hjic-1151	145	21	include	include	VERB
hjic-1151	145	22	notches	notch	NOUN
hjic-1151	145	23	to	to	PART
hjic-1151	145	24	guide	guide	VERB
hjic-1151	145	25	their	their	PRON
hjic-1151	145	26	orientation	orientation	NOUN
hjic-1151	145	27	against	against	ADP
hjic-1151	145	28	the	the	DET
hjic-1151	145	29	short	short	ADJ
hjic-1151	145	30	gripping	gripping	ADJ
hjic-1151	145	31	surface	surface	NOUN
hjic-1151	145	32	.	.	PUNCT
hjic-1151	146	1	in	in	ADP
hjic-1151	146	2	this	this	DET
hjic-1151	146	3	finger	finger	NOUN
hjic-1151	146	4	design	design	NOUN
hjic-1151	146	5	,	,	PUNCT
hjic-1151	146	6	the	the	DET
hjic-1151	146	7	45	45	NUM
hjic-1151	146	8	◦	◦	NOUN
hjic-1151	146	9	overhang	overhang	NOUN
hjic-1151	146	10	is	be	AUX
hjic-1151	146	11	not	not	PART
hjic-1151	146	12	important	important	ADJ
hjic-1151	146	13	because	because	SCONJ
hjic-1151	146	14	of	of	ADP
hjic-1151	146	15	its	its	PRON
hjic-1151	146	16	small	small	ADJ
hjic-1151	146	17	dimensions	dimension	NOUN
hjic-1151	146	18	.	.	PUNCT
hjic-1151	147	1	the	the	DET
hjic-1151	147	2	gripper	gripper	NOUN
hjic-1151	147	3	is	be	AUX
hjic-1151	147	4	an	an	DET
hjic-1151	147	5	rg2	rg2	NOUN
hjic-1151	147	6	-	-	PUNCT
hjic-1151	147	7	type	type	NOUN
hjic-1151	147	8	universal	universal	ADJ
hjic-1151	147	9	gripper	gripper	NOUN
hjic-1151	147	10	with	with	ADP
hjic-1151	147	11	an	an	DET
hjic-1151	147	12	electric	electric	ADJ
hjic-1151	147	13	motor	motor	NOUN
hjic-1151	147	14	.	.	PUNCT
hjic-1151	148	1	3d	3d	NUM
hjic-1151	148	2	printing	printing	NOUN
hjic-1151	148	3	can	can	AUX
hjic-1151	148	4	be	be	AUX
hjic-1151	148	5	used	use	VERB
hjic-1151	148	6	to	to	PART
hjic-1151	148	7	produce	produce	VERB
hjic-1151	148	8	a	a	DET
hjic-1151	148	9	rapid	rapid	ADJ
hjic-1151	148	10	prototype	prototype	NOUN
hjic-1151	148	11	for	for	ADP
hjic-1151	148	12	the	the	DET
hjic-1151	148	13	purpose	purpose	NOUN
hjic-1151	148	14	of	of	ADP
hjic-1151	148	15	experiments	experiment	NOUN
hjic-1151	148	16	,	,	PUNCT
hjic-1151	148	17	which	which	PRON
hjic-1151	148	18	is	be	AUX
hjic-1151	148	19	advantageous	advantageous	ADJ
hjic-1151	148	20	due	due	ADP
hjic-1151	148	21	to	to	ADP
hjic-1151	148	22	its	its	PRON
hjic-1151	148	23	rapid	rapid	ADJ
hjic-1151	148	24	nature	nature	NOUN
hjic-1151	148	25	and	and	CCONJ
hjic-1151	148	26	as	as	SCONJ
hjic-1151	148	27	the	the	DET
hjic-1151	148	28	fingers	finger	NOUN
hjic-1151	148	29	can	can	AUX
hjic-1151	148	30	be	be	AUX
hjic-1151	148	31	produced	produce	VERB
hjic-1151	148	32	very	very	ADV
hjic-1151	148	33	cheaply	cheaply	ADV
hjic-1151	148	34	.	.	PUNCT
hjic-1151	149	1	6	6	X
hjic-1151	149	2	.	.	X
hjic-1151	149	3	summary	summary	NOUN
hjic-1151	149	4	and	and	CCONJ
hjic-1151	149	5	future	future	ADJ
hjic-1151	149	6	work	work	NOUN
hjic-1151	149	7	choosing	choose	VERB
hjic-1151	149	8	a	a	DET
hjic-1151	149	9	suitable	suitable	ADJ
hjic-1151	149	10	gripper	gripper	NOUN
hjic-1151	149	11	is	be	AUX
hjic-1151	149	12	important	important	ADJ
hjic-1151	149	13	in	in	ADP
hjic-1151	149	14	terms	term	NOUN
hjic-1151	149	15	of	of	ADP
hjic-1151	149	16	its	its	PRON
hjic-1151	149	17	application	application	NOUN
hjic-1151	149	18	and	and	CCONJ
hjic-1151	149	19	once	once	ADV
hjic-1151	149	20	selected	select	VERB
hjic-1151	149	21	,	,	PUNCT
hjic-1151	149	22	it	it	PRON
hjic-1151	149	23	must	must	AUX
hjic-1151	149	24	be	be	AUX
hjic-1151	149	25	implemented	implement	VERB
hjic-1151	149	26	as	as	ADV
hjic-1151	149	27	effectively	effectively	ADV
hjic-1151	149	28	as	as	ADP
hjic-1151	149	29	possible	possible	ADJ
hjic-1151	149	30	.	.	PUNCT
hjic-1151	150	1	the	the	DET
hjic-1151	150	2	present	present	ADJ
hjic-1151	150	3	paper	paper	NOUN
hjic-1151	150	4	aimed	aim	VERB
hjic-1151	150	5	to	to	PART
hjic-1151	150	6	provide	provide	VERB
hjic-1151	150	7	guidance	guidance	NOUN
hjic-1151	150	8	on	on	ADP
hjic-1151	150	9	how	how	SCONJ
hjic-1151	150	10	this	this	PRON
hjic-1151	150	11	can	can	AUX
hjic-1151	150	12	be	be	AUX
hjic-1151	150	13	achieved	achieve	VERB
hjic-1151	150	14	by	by	ADP
hjic-1151	150	15	extending	extend	VERB
hjic-1151	150	16	its	its	PRON
hjic-1151	150	17	range	range	NOUN
hjic-1151	150	18	of	of	ADP
hjic-1151	150	19	uses	use	NOUN
hjic-1151	150	20	with	with	ADP
hjic-1151	150	21	custom	custom	ADV
hjic-1151	150	22	-	-	PUNCT
hjic-1151	150	23	designed	design	VERB
hjic-1151	150	24	fingers	finger	NOUN
hjic-1151	150	25	.	.	PUNCT
hjic-1151	151	1	in	in	ADP
hjic-1151	151	2	the	the	DET
hjic-1151	151	3	future	future	NOUN
hjic-1151	151	4	,	,	PUNCT
hjic-1151	151	5	it	it	PRON
hjic-1151	151	6	is	be	AUX
hjic-1151	151	7	expected	expect	VERB
hjic-1151	151	8	that	that	SCONJ
hjic-1151	151	9	composite	composite	ADJ
hjic-1151	151	10	3d	3d	NOUN
hjic-1151	151	11	printers	printer	NOUN
hjic-1151	151	12	will	will	AUX
hjic-1151	151	13	become	become	VERB
hjic-1151	151	14	more	more	ADV
hjic-1151	151	15	widespread	widespread	ADJ
hjic-1151	151	16	in	in	ADP
hjic-1151	151	17	the	the	DET
hjic-1151	151	18	industrial	industrial	ADJ
hjic-1151	151	19	environment	environment	NOUN
hjic-1151	151	20	,	,	PUNCT
hjic-1151	151	21	furfigure	furfigure	NOUN
hjic-1151	151	22	2	2	NUM
hjic-1151	151	23	:	:	PUNCT
hjic-1151	151	24	cylindrically	cylindrically	ADV
hjic-1151	151	25	shaped	shape	VERB
hjic-1151	151	26	workpiece	workpiece	NOUN
hjic-1151	151	27	and	and	CCONJ
hjic-1151	151	28	pcbgripping	pcbgrippe	VERB
hjic-1151	151	29	fingers	finger	NOUN
hjic-1151	151	30	hungarian	hungarian	ADJ
hjic-1151	151	31	journal	journal	NOUN
hjic-1151	151	32	of	of	ADP
hjic-1151	151	33	industry	industry	NOUN
hjic-1151	151	34	and	and	CCONJ
hjic-1151	151	35	chemistry	chemistry	NOUN
hjic-1151	151	36	gripper	gripper	NOUN
hjic-1151	151	37	finger	finger	NOUN
hjic-1151	151	38	design	design	NOUN
hjic-1151	151	39	for	for	ADP
hjic-1151	151	40	special	special	ADJ
hjic-1151	151	41	purpose	purpose	NOUN
hjic-1151	151	42	applications	application	NOUN
hjic-1151	151	43	95	95	NUM
hjic-1151	151	44	ther	ther	ADV
hjic-1151	151	45	expanding	expand	VERB
hjic-1151	151	46	the	the	DET
hjic-1151	151	47	application	application	NOUN
hjic-1151	151	48	areas	area	NOUN
hjic-1151	151	49	covered	cover	VERB
hjic-1151	151	50	by	by	ADP
hjic-1151	151	51	3d	3d	NUM
hjic-1151	151	52	printing	printing	NOUN
hjic-1151	151	53	.	.	PUNCT
hjic-1151	152	1	a	a	DET
hjic-1151	152	2	similarly	similarly	ADV
hjic-1151	152	3	exciting	exciting	ADJ
hjic-1151	152	4	topic	topic	NOUN
hjic-1151	152	5	would	would	AUX
hjic-1151	152	6	be	be	AUX
hjic-1151	152	7	the	the	DET
hjic-1151	152	8	integration	integration	NOUN
hjic-1151	152	9	of	of	ADP
hjic-1151	152	10	mobile	mobile	ADJ
hjic-1151	152	11	robots	robot	NOUN
hjic-1151	152	12	into	into	ADP
hjic-1151	152	13	the	the	DET
hjic-1151	152	14	manufacturing	manufacturing	NOUN
hjic-1151	152	15	environment	environment	NOUN
hjic-1151	152	16	,	,	PUNCT
hjic-1151	152	17	for	for	ADP
hjic-1151	152	18	which	which	PRON
hjic-1151	152	19	additive	additive	ADJ
hjic-1151	152	20	manufacturing	manufacturing	NOUN
hjic-1151	152	21	could	could	AUX
hjic-1151	152	22	also	also	ADV
hjic-1151	152	23	be	be	AUX
hjic-1151	152	24	used	use	VERB
hjic-1151	152	25	.	.	PUNCT
hjic-1151	153	1	7	7	X
hjic-1151	153	2	.	.	X
hjic-1151	153	3	acknowledgment	acknowledgment	NOUN
hjic-1151	153	4	this	this	DET
hjic-1151	153	5	work	work	NOUN
hjic-1151	153	6	was	be	AUX
hjic-1151	153	7	supported	support	VERB
hjic-1151	153	8	by	by	ADP
hjic-1151	153	9	the	the	DET
hjic-1151	153	10	tkp2020	tkp2020	NOUN
hjic-1151	153	11	-	-	PUNCT
hjic-1151	153	12	nka-10	nka-10	DET
hjic-1151	153	13	project	project	NOUN
hjic-1151	153	14	financed	finance	VERB
hjic-1151	153	15	under	under	ADP
hjic-1151	153	16	the	the	DET
hjic-1151	153	17	2020	2020	NUM
hjic-1151	153	18	-	-	PUNCT
hjic-1151	153	19	4.1.1	4.1.1	NUM
hjic-1151	153	20	-	-	PUNCT
hjic-1151	153	21	tkp2020	tkp2020	NOUN
hjic-1151	153	22	thematic	thematic	ADJ
hjic-1151	153	23	excellence	excellence	NOUN
hjic-1151	153	24	programme	programme	NOUN
hjic-1151	153	25	by	by	ADP
hjic-1151	153	26	the	the	DET
hjic-1151	153	27	national	national	ADJ
hjic-1151	153	28	research	research	PROPN
hjic-1151	153	29	,	,	PUNCT
hjic-1151	153	30	development	development	NOUN
hjic-1151	153	31	and	and	CCONJ
hjic-1151	153	32	innovation	innovation	NOUN
hjic-1151	153	33	fund	fund	NOUN
hjic-1151	153	34	of	of	ADP
hjic-1151	153	35	hungary	hungary	PROPN
hjic-1151	153	36	.	.	PUNCT
hjic-1151	154	1	references	reference	NOUN
hjic-1151	154	2	[	[	X
hjic-1151	154	3	1	1	NUM
hjic-1151	154	4	]	]	X
hjic-1151	154	5	pham	pham	PROPN
hjic-1151	154	6	,	,	PUNCT
hjic-1151	154	7	d.	d.	PROPN
hjic-1151	154	8	t.	t.	PROPN
hjic-1151	154	9	;	;	PUNCT
hjic-1151	154	10	yeo	yeo	PROPN
hjic-1151	154	11	,	,	PUNCT
hjic-1151	154	12	s.	s.	PROPN
hjic-1151	154	13	h.	h.	PROPN
hjic-1151	154	14	:	:	PUNCT
hjic-1151	154	15	a	a	DET
hjic-1151	154	16	knowledge	knowledge	NOUN
hjic-1151	154	17	-	-	PUNCT
hjic-1151	154	18	based	base	VERB
hjic-1151	154	19	system	system	NOUN
hjic-1151	154	20	,	,	PUNCT
hjic-1151	154	21	for	for	ADP
hjic-1151	154	22	robot	robot	NOUN
hjic-1151	154	23	gripper	gripper	NOUN
hjic-1151	154	24	selection	selection	NOUN
hjic-1151	154	25	:	:	PUNCT
hjic-1151	154	26	criteria	criterion	NOUN
hjic-1151	154	27	for	for	ADP
hjic-1151	154	28	choosing	choose	VERB
hjic-1151	154	29	grippers	gripper	NOUN
hjic-1151	154	30	and	and	CCONJ
hjic-1151	154	31	surfaces	surface	NOUN
hjic-1151	154	32	for	for	ADP
hjic-1151	154	33	gripping	grip	VERB
hjic-1151	154	34	.	.	PUNCT
hjic-1151	155	1	int	int	NOUN
hjic-1151	155	2	.	.	PUNCT
hjic-1151	156	1	j.	j.	PROPN
hjic-1151	156	2	mach	mach	PROPN
hjic-1151	156	3	.	.	PUNCT
hjic-1151	157	1	tools	tool	NOUN
hjic-1151	157	2	manuf	manuf	PROPN
hjic-1151	157	3	.	.	PUNCT
hjic-1151	157	4	1988	1988	NUM
hjic-1151	157	5	,	,	PUNCT
hjic-1151	157	6	28(4	28(4	NUM
hjic-1151	157	7	)	)	PUNCT
hjic-1151	157	8	,	,	PUNCT
hjic-1151	157	9	301–313	301–313	NUM
hjic-1151	157	10	doi	doi	NOUN
hjic-1151	157	11	:	:	PUNCT
hjic-1151	157	12	10.1016/08906955(88)90045	10.1016/08906955(88)90045	NUM
hjic-1151	157	13	-	-	SYM
hjic-1151	157	14	4	4	NUM
hjic-1151	158	1	[	[	SYM
hjic-1151	158	2	2	2	NUM
hjic-1151	158	3	]	]	X
hjic-1151	158	4	azima	azima	PROPN
hjic-1151	158	5	,	,	PUNCT
hjic-1151	158	6	m.s	m.s	PROPN
hjic-1151	158	7	.	.	PROPN
hjic-1151	158	8	;	;	PUNCT
hjic-1151	158	9	lobov	lobov	PROPN
hjic-1151	158	10	,	,	PUNCT
hjic-1151	158	11	a.	a.	NOUN
hjic-1151	158	12	;	;	PUNCT
hjic-1151	158	13	pastukhov	pastukhov	NOUN
hjic-1151	158	14	,	,	PUNCT
hjic-1151	158	15	a.	a.	NOUN
hjic-1151	158	16	:	:	PUNCT
hjic-1151	158	17	methodology	methodology	NOUN
hjic-1151	158	18	for	for	ADP
hjic-1151	158	19	implementing	implement	VERB
hjic-1151	158	20	universal	universal	ADJ
hjic-1151	158	21	gripping	gripping	ADJ
hjic-1151	158	22	solution	solution	NOUN
hjic-1151	158	23	for	for	ADP
hjic-1151	158	24	robot	robot	NOUN
hjic-1151	158	25	application	application	NOUN
hjic-1151	158	26	.	.	PUNCT
hjic-1151	159	1	proc	proc	PROPN
hjic-1151	159	2	.	.	PUNCT
hjic-1151	160	1	eston	eston	PROPN
hjic-1151	160	2	.	.	PUNCT
hjic-1151	161	1	acad	acad	PROPN
hjic-1151	161	2	.	.	PUNCT
hjic-1151	162	1	sci	sci	PROPN
hjic-1151	162	2	.	.	PROPN
hjic-1151	162	3	2019	2019	NUM
hjic-1151	162	4	,	,	PUNCT
hjic-1151	162	5	68(4	68(4	NUM
hjic-1151	162	6	)	)	PUNCT
hjic-1151	162	7	,	,	PUNCT
hjic-1151	162	8	413–420	413–420	NUM
hjic-1151	162	9	doi	doi	NOUN
hjic-1151	162	10	:	:	PUNCT
hjic-1151	162	11	10.3176	10.3176	NUM
hjic-1151	162	12	/	/	SYM
hjic-1151	162	13	proc.2019.4.11	proc.2019.4.11	PROPN
hjic-1151	163	1	[	[	X
hjic-1151	163	2	3	3	NUM
hjic-1151	163	3	]	]	X
hjic-1151	163	4	pham	pham	PROPN
hjic-1151	163	5	,	,	PUNCT
hjic-1151	163	6	d.	d.	PROPN
hjic-1151	163	7	t.	t.	PROPN
hjic-1151	163	8	;	;	PUNCT
hjic-1151	163	9	yeo	yeo	PROPN
hjic-1151	163	10	,	,	PUNCT
hjic-1151	163	11	s.	s.	PROPN
hjic-1151	163	12	h.	h.	PROPN
hjic-1151	163	13	:	:	PUNCT
hjic-1151	163	14	strategies	strategy	NOUN
hjic-1151	163	15	for	for	ADP
hjic-1151	163	16	gripper	gripper	NOUN
hjic-1151	163	17	design	design	NOUN
hjic-1151	163	18	and	and	CCONJ
hjic-1151	163	19	selection	selection	NOUN
hjic-1151	163	20	in	in	ADP
hjic-1151	163	21	robotic	robotic	ADJ
hjic-1151	163	22	assembly	assembly	NOUN
hjic-1151	163	23	.	.	PUNCT
hjic-1151	164	1	int	int	NOUN
hjic-1151	164	2	.	.	PUNCT
hjic-1151	165	1	j.	j.	PROPN
hjic-1151	165	2	prod	prod	PROPN
hjic-1151	165	3	.	.	PUNCT
hjic-1151	166	1	res	re	NOUN
hjic-1151	166	2	.	.	PROPN
hjic-1151	166	3	1991	1991	NUM
hjic-1151	166	4	,	,	PUNCT
hjic-1151	166	5	29(2	29(2	NUM
hjic-1151	166	6	)	)	PUNCT
hjic-1151	166	7	,	,	PUNCT
hjic-1151	166	8	303	303	NUM
hjic-1151	166	9	-	-	SYM
hjic-1151	166	10	316	316	NUM
hjic-1151	166	11	doi	doi	NOUN
hjic-1151	166	12	:	:	PUNCT
hjic-1151	166	13	10.1080/00207549108930072	10.1080/00207549108930072	NUM
hjic-1151	166	14	[	[	SYM
hjic-1151	166	15	4	4	NUM
hjic-1151	166	16	]	]	X
hjic-1151	166	17	staretu	staretu	NOUN
hjic-1151	166	18	,	,	PUNCT
hjic-1151	166	19	i.	i.	NOUN
hjic-1151	166	20	:	:	PUNCT
hjic-1151	166	21	robotic	robotic	ADJ
hjic-1151	166	22	arms	arm	NOUN
hjic-1151	166	23	with	with	ADP
hjic-1151	166	24	anthropomorphic	anthropomorphic	ADJ
hjic-1151	166	25	grippers	gripper	NOUN
hjic-1151	166	26	robotic	robotic	ADJ
hjic-1151	166	27	technological	technological	ADJ
hjic-1151	166	28	processes	process	NOUN
hjic-1151	166	29	.	.	PUNCT
hjic-1151	167	1	proceedings	proceeding	NOUN
hjic-1151	167	2	,	,	PUNCT
hjic-1151	167	3	2021	2021	NUM
hjic-1151	167	4	,	,	PUNCT
hjic-1151	167	5	63(1	63(1	NUM
hjic-1151	167	6	)	)	PUNCT
hjic-1151	167	7	,	,	PUNCT
hjic-1151	167	8	77	77	NUM
hjic-1151	167	9	doi	doi	NOUN
hjic-1151	167	10	:	:	PUNCT
hjic-1151	167	11	10.3390	10.3390	NUM
hjic-1151	167	12	/	/	SYM
hjic-1151	167	13	proceedings2020063077	proceedings2020063077	PROPN
hjic-1151	167	14	[	[	X
hjic-1151	167	15	5	5	NUM
hjic-1151	167	16	]	]	X
hjic-1151	167	17	iqbal	iqbal	PROPN
hjic-1151	167	18	,	,	PUNCT
hjic-1151	167	19	z.	z.	PROPN
hjic-1151	167	20	;	;	PUNCT
hjic-1151	167	21	pozzi	pozzi	PROPN
hjic-1151	167	22	,	,	PUNCT
hjic-1151	167	23	m.	m.	NOUN
hjic-1151	167	24	;	;	PUNCT
hjic-1151	167	25	prattichizzo	prattichizzo	PROPN
hjic-1151	167	26	,	,	PUNCT
hjic-1151	167	27	d.	d.	PROPN
hjic-1151	167	28	;	;	PUNCT
hjic-1151	167	29	salvietti	salvietti	NOUN
hjic-1151	167	30	,	,	PUNCT
hjic-1151	167	31	g.	g.	NOUN
hjic-1151	167	32	:	:	PUNCT
hjic-1151	167	33	detachable	detachable	ADJ
hjic-1151	167	34	robotic	robotic	ADJ
hjic-1151	167	35	grippers	gripper	NOUN
hjic-1151	167	36	for	for	ADP
hjic-1151	167	37	human	human	ADJ
hjic-1151	167	38	-	-	PUNCT
hjic-1151	167	39	robot	robot	NOUN
hjic-1151	167	40	collaboration	collaboration	NOUN
hjic-1151	167	41	.	.	PUNCT
hjic-1151	168	1	front	front	ADJ
hjic-1151	168	2	.	.	PUNCT
hjic-1151	168	3	robot	robot	NOUN
hjic-1151	168	4	.	.	PUNCT
hjic-1151	169	1	ai	ai	VERB
hjic-1151	169	2	,	,	PUNCT
hjic-1151	169	3	2021	2021	NUM
hjic-1151	169	4	,	,	PUNCT
hjic-1151	169	5	8	8	NUM
hjic-1151	169	6	,	,	PUNCT
hjic-1151	169	7	644532	644532	NUM
hjic-1151	169	8	doi	doi	NOUN
hjic-1151	169	9	:	:	PUNCT
hjic-1151	169	10	10.3389	10.3389	NUM
hjic-1151	169	11	/	/	SYM
hjic-1151	169	12	frobt.2021.644532	frobt.2021.644532	NOUN
hjic-1151	169	13	[	[	X
hjic-1151	169	14	6	6	NUM
hjic-1151	169	15	]	]	X
hjic-1151	169	16	kang	kang	PROPN
hjic-1151	169	17	,	,	PUNCT
hjic-1151	169	18	l.	l.	PROPN
hjic-1151	169	19	;	;	PUNCT
hjic-1151	169	20	seo	seo	NOUN
hjic-1151	169	21	,	,	PUNCT
hjic-1151	169	22	j.-t	j.-t	NOUN
hjic-1151	169	23	.	.	PUNCT
hjic-1151	169	24	;	;	PUNCT
hjic-1151	170	1	kim	kim	PROPN
hjic-1151	170	2	,	,	PUNCT
hjic-1151	170	3	s.-h	s.-h	NOUN
hjic-1151	170	4	.	.	PUNCT
hjic-1151	170	5	;	;	PUNCT
hjic-1151	170	6	kim	kim	PROPN
hjic-1151	170	7	,	,	PUNCT
hjic-1151	170	8	w.-j	w.-j	PROPN
hjic-1151	170	9	.	.	PROPN
hjic-1151	170	10	;	;	PUNCT
hjic-1151	171	1	yi	yi	PROPN
hjic-1151	171	2	,	,	PUNCT
hjic-1151	171	3	b.j	b.j	PROPN
hjic-1151	171	4	.	.	PROPN
hjic-1151	171	5	:	:	PUNCT
hjic-1151	172	1	design	design	NOUN
hjic-1151	172	2	and	and	CCONJ
hjic-1151	172	3	implementation	implementation	NOUN
hjic-1151	172	4	of	of	ADP
hjic-1151	172	5	a	a	DET
hjic-1151	172	6	multi	multi	ADJ
hjic-1151	172	7	-	-	ADJ
hjic-1151	172	8	function	function	ADJ
hjic-1151	172	9	gripper	gripper	NOUN
hjic-1151	172	10	for	for	ADP
hjic-1151	172	11	grasping	grasp	VERB
hjic-1151	172	12	general	general	ADJ
hjic-1151	172	13	objects	object	NOUN
hjic-1151	172	14	.	.	PUNCT
hjic-1151	173	1	appl	appl	PROPN
hjic-1151	173	2	.	.	PUNCT
hjic-1151	174	1	sci	sci	PROPN
hjic-1151	174	2	.	.	PROPN
hjic-1151	174	3	,	,	PUNCT
hjic-1151	174	4	2019	2019	NUM
hjic-1151	174	5	,	,	PUNCT
hjic-1151	174	6	9(24	9(24	NUM
hjic-1151	174	7	)	)	PUNCT
hjic-1151	174	8	,	,	PUNCT
hjic-1151	174	9	5266	5266	NUM
hjic-1151	174	10	doi	doi	NOUN
hjic-1151	174	11	:	:	PUNCT
hjic-1151	174	12	10.3390	10.3390	NUM
hjic-1151	174	13	/	/	SYM
hjic-1151	174	14	app9245266	app9245266	NOUN
hjic-1151	175	1	[	[	X
hjic-1151	175	2	7	7	X
hjic-1151	175	3	]	]	X
hjic-1151	175	4	lu	lu	PROPN
hjic-1151	175	5	,	,	PUNCT
hjic-1151	175	6	y.	y.	PROPN
hjic-1151	175	7	;	;	PUNCT
hjic-1151	175	8	xie	xie	PROPN
hjic-1151	175	9	,	,	PUNCT
hjic-1151	175	10	z.	z.	PROPN
hjic-1151	175	11	;	;	PUNCT
hjic-1151	175	12	wang	wang	PROPN
hjic-1151	175	13	,	,	PUNCT
hjic-1151	175	14	j.	j.	PROPN
hjic-1151	175	15	;	;	PUNCT
hjic-1151	175	16	yue	yue	PROPN
hjic-1151	175	17	,	,	PUNCT
hjic-1151	175	18	h.	h.	PROPN
hjic-1151	175	19	;	;	PUNCT
hjic-1151	175	20	wu	wu	PROPN
hjic-1151	175	21	,	,	PUNCT
hjic-1151	175	22	m.	m.	NOUN
hjic-1151	175	23	;	;	PUNCT
hjic-1151	175	24	liu	liu	PROPN
hjic-1151	175	25	,	,	PUNCT
hjic-1151	175	26	y.	y.	NOUN
hjic-1151	175	27	:	:	PUNCT
hjic-1151	175	28	a	a	DET
hjic-1151	175	29	novel	novel	ADJ
hjic-1151	175	30	design	design	NOUN
hjic-1151	175	31	of	of	ADP
hjic-1151	175	32	a	a	DET
hjic-1151	175	33	parallel	parallel	ADJ
hjic-1151	175	34	gripper	gripper	NOUN
hjic-1151	175	35	actuated	actuate	VERB
hjic-1151	175	36	by	by	ADP
hjic-1151	175	37	a	a	DET
hjic-1151	175	38	large	large	ADJ
hjic-1151	175	39	-	-	PUNCT
hjic-1151	175	40	stroke	stroke	NOUN
hjic-1151	175	41	shape	shape	NOUN
hjic-1151	175	42	memory	memory	NOUN
hjic-1151	175	43	alloy	alloy	NOUN
hjic-1151	175	44	actuator	actuator	NOUN
hjic-1151	175	45	.	.	PUNCT
hjic-1151	176	1	int	int	NOUN
hjic-1151	176	2	.	.	PUNCT
hjic-1151	177	1	j.	j.	PROPN
hjic-1151	177	2	mech	mech	PROPN
hjic-1151	177	3	.	.	PUNCT
hjic-1151	178	1	sci	sci	PROPN
hjic-1151	178	2	.	.	PROPN
hjic-1151	178	3	2019	2019	NUM
hjic-1151	178	4	,	,	PUNCT
hjic-1151	178	5	159	159	NUM
hjic-1151	178	6	,	,	PUNCT
hjic-1151	178	7	74–80	74–80	NUM
hjic-1151	178	8	doi	doi	NOUN
hjic-1151	178	9	:	:	PUNCT
hjic-1151	178	10	10.1016	10.1016	NUM
hjic-1151	178	11	/	/	SYM
hjic-1151	178	12	j.ijmecsci.2019.05.041	j.ijmecsci.2019.05.041	PROPN
hjic-1151	179	1	[	[	X
hjic-1151	179	2	8	8	NUM
hjic-1151	179	3	]	]	X
hjic-1151	179	4	león	león	NOUN
hjic-1151	179	5	,	,	PUNCT
hjic-1151	179	6	h.	h.	PROPN
hjic-1151	179	7	:	:	PUNCT
hjic-1151	179	8	design	design	VERB
hjic-1151	179	9	for	for	ADP
hjic-1151	179	10	additive	additive	ADJ
hjic-1151	179	11	manufacturing	manufacturing	NOUN
hjic-1151	179	12	of	of	ADP
hjic-1151	179	13	a	a	DET
hjic-1151	179	14	robotic	robotic	ADJ
hjic-1151	179	15	hand	hand	NOUN
hjic-1151	179	16	with	with	ADP
hjic-1151	179	17	two	two	NUM
hjic-1151	179	18	thumbs	thumb	NOUN
hjic-1151	179	19	.	.	PUNCT
hjic-1151	180	1	in	in	ADP
hjic-1151	180	2	:	:	PUNCT
hjic-1151	180	3	gonzález	gonzález	PROPN
hjic-1151	180	4	díaz	díaz	PROPN
hjic-1151	180	5	c.	c.	PROPN
hjic-1151	180	6	et	et	PROPN
hjic-1151	180	7	al	al	PROPN
hjic-1151	180	8	.	.	PROPN
hjic-1151	181	1	(	(	PUNCT
hjic-1151	181	2	eds	ed	NOUN
hjic-1151	181	3	.	.	PUNCT
hjic-1151	181	4	)	)	PUNCT
hjic-1151	182	1	viii	viii	VERB
hjic-1151	182	2	latin	latin	ADJ
hjic-1151	182	3	american	american	ADJ
hjic-1151	182	4	conference	conference	NOUN
hjic-1151	182	5	on	on	ADP
hjic-1151	182	6	biomedical	biomedical	ADJ
hjic-1151	182	7	engineering	engineering	NOUN
hjic-1151	182	8	and	and	CCONJ
hjic-1151	182	9	xlii	xlii	PROPN
hjic-1151	182	10	national	national	PROPN
hjic-1151	182	11	conference	conference	PROPN
hjic-1151	182	12	on	on	ADP
hjic-1151	182	13	biomedical	biomedical	ADJ
hjic-1151	182	14	engineering	engineering	NOUN
hjic-1151	182	15	.	.	PUNCT
hjic-1151	183	1	claib	claib	PROPN
hjic-1151	183	2	2019	2019	NUM
hjic-1151	183	3	.	.	PUNCT
hjic-1151	184	1	ifmbe	ifmbe	ADJ
hjic-1151	184	2	proceedings	proceeding	NOUN
hjic-1151	184	3	,	,	PUNCT
hjic-1151	184	4	vol	vol	NOUN
hjic-1151	184	5	75	75	NUM
hjic-1151	184	6	.	.	PUNCT
hjic-1151	185	1	springer	springer	NOUN
hjic-1151	185	2	,	,	PUNCT
hjic-1151	185	3	cham	cham	PROPN
hjic-1151	185	4	.	.	PUNCT
hjic-1151	186	1	doi	doi	NOUN
hjic-1151	186	2	:	:	PUNCT
hjic-1151	186	3	10.1007/978	10.1007/978	NUM
hjic-1151	186	4	-	-	SYM
hjic-1151	186	5	3	3	NUM
hjic-1151	186	6	-	-	PUNCT
hjic-1151	186	7	030	030	NUM
hjic-1151	186	8	-	-	PUNCT
hjic-1151	186	9	30648	30648	NUM
hjic-1151	186	10	-	-	PUNCT
hjic-1151	186	11	9_133	9_133	NUM
hjic-1151	186	12	[	[	X
hjic-1151	186	13	9	9	NUM
hjic-1151	186	14	]	]	SYM
hjic-1151	186	15	slesarenko	slesarenko	NOUN
hjic-1151	186	16	,	,	PUNCT
hjic-1151	186	17	v.	v.	ADP
hjic-1151	186	18	;	;	PUNCT
hjic-1151	186	19	engelkemier	engelkemier	ADV
hjic-1151	186	20	,	,	PUNCT
hjic-1151	186	21	s.	s.	PROPN
hjic-1151	186	22	;	;	PUNCT
hjic-1151	186	23	galich	galich	PROPN
hjic-1151	186	24	,	,	PUNCT
hjic-1151	186	25	p.i	p.i	PROPN
hjic-1151	186	26	.	.	PROPN
hjic-1151	186	27	;	;	PUNCT
hjic-1151	186	28	vladimirsky	vladimirsky	PROPN
hjic-1151	186	29	,	,	PUNCT
hjic-1151	186	30	d.	d.	PROPN
hjic-1151	186	31	;	;	PUNCT
hjic-1151	187	1	klein	klein	PROPN
hjic-1151	187	2	,	,	PUNCT
hjic-1151	187	3	g.	g.	PROPN
hjic-1151	187	4	;	;	PUNCT
hjic-1151	187	5	rudykh	rudykh	NOUN
hjic-1151	187	6	,	,	PUNCT
hjic-1151	187	7	s.	s.	PROPN
hjic-1151	187	8	:	:	PUNCT
hjic-1151	187	9	strategies	strategy	NOUN
hjic-1151	187	10	to	to	PART
hjic-1151	187	11	control	control	VERB
hjic-1151	187	12	performance	performance	NOUN
hjic-1151	187	13	of	of	ADP
hjic-1151	187	14	3d	3d	NOUN
hjic-1151	187	15	-	-	PUNCT
hjic-1151	187	16	printed	print	VERB
hjic-1151	187	17	,	,	PUNCT
hjic-1151	187	18	cabledriven	cabledriven	ADJ
hjic-1151	187	19	soft	soft	ADJ
hjic-1151	187	20	polymer	polymer	NOUN
hjic-1151	187	21	actuators	actuator	NOUN
hjic-1151	187	22	:	:	PUNCT
hjic-1151	187	23	from	from	ADP
hjic-1151	187	24	simple	simple	ADJ
hjic-1151	187	25	architectures	architecture	NOUN
hjic-1151	187	26	to	to	ADP
hjic-1151	187	27	gripper	gripper	NOUN
hjic-1151	187	28	prototype	prototype	NOUN
hjic-1151	187	29	.	.	PUNCT
hjic-1151	188	1	polymers	polymer	NOUN
hjic-1151	188	2	,	,	PUNCT
hjic-1151	188	3	2018	2018	NUM
hjic-1151	188	4	,	,	PUNCT
hjic-1151	188	5	10(8	10(8	NUM
hjic-1151	188	6	)	)	PUNCT
hjic-1151	188	7	,	,	PUNCT
hjic-1151	188	8	846	846	NUM
hjic-1151	188	9	doi	doi	NOUN
hjic-1151	188	10	:	:	PUNCT
hjic-1151	188	11	10.3390	10.3390	NUM
hjic-1151	188	12	/	/	SYM
hjic-1151	188	13	polym10080846	polym10080846	NOUN
hjic-1151	188	14	[	[	X
hjic-1151	188	15	10	10	NUM
hjic-1151	188	16	]	]	PUNCT
hjic-1151	188	17	krajangsawasdi	krajangsawasdi	NOUN
hjic-1151	188	18	,	,	PUNCT
hjic-1151	188	19	n.	n.	NOUN
hjic-1151	188	20	;	;	PUNCT
hjic-1151	188	21	blok	blok	PROPN
hjic-1151	188	22	,	,	PUNCT
hjic-1151	188	23	l.g	l.g	PROPN
hjic-1151	188	24	.	.	PROPN
hjic-1151	188	25	;	;	PUNCT
hjic-1151	188	26	hamerton	hamerton	PROPN
hjic-1151	188	27	,	,	PUNCT
hjic-1151	188	28	i.	i.	PROPN
hjic-1151	188	29	;	;	PUNCT
hjic-1151	188	30	longana	longana	PROPN
hjic-1151	188	31	,	,	PUNCT
hjic-1151	188	32	m.l	m.l	PROPN
hjic-1151	188	33	.	.	PROPN
hjic-1151	188	34	;	;	PUNCT
hjic-1151	188	35	woods	wood	NOUN
hjic-1151	188	36	,	,	PUNCT
hjic-1151	188	37	b.k.s	b.k.	NOUN
hjic-1151	188	38	.	.	PUNCT
hjic-1151	188	39	;	;	PUNCT
hjic-1151	188	40	ivanov	ivanov	PROPN
hjic-1151	188	41	,	,	PUNCT
hjic-1151	188	42	d.s	d.s	PROPN
hjic-1151	188	43	.	.	PROPN
hjic-1151	188	44	:	:	PUNCT
hjic-1151	188	45	fused	fuse	VERB
hjic-1151	188	46	deposition	deposition	NOUN
hjic-1151	188	47	modelling	modelling	NOUN
hjic-1151	188	48	of	of	ADP
hjic-1151	188	49	fibre	fibre	NOUN
hjic-1151	188	50	reinforced	reinforce	VERB
hjic-1151	188	51	polymer	polymer	NOUN
hjic-1151	188	52	composites	composite	NOUN
hjic-1151	188	53	:	:	PUNCT
hjic-1151	188	54	a	a	DET
hjic-1151	188	55	parametric	parametric	ADJ
hjic-1151	188	56	review	review	NOUN
hjic-1151	188	57	.	.	PUNCT
hjic-1151	189	1	j.	j.	PROPN
hjic-1151	189	2	compos	compos	PROPN
hjic-1151	189	3	.	.	PUNCT
hjic-1151	190	1	sci	sci	PROPN
hjic-1151	190	2	.	.	PROPN
hjic-1151	190	3	,	,	PUNCT
hjic-1151	190	4	2021	2021	NUM
hjic-1151	190	5	,	,	PUNCT
hjic-1151	190	6	5(1	5(1	NUM
hjic-1151	190	7	)	)	PUNCT
hjic-1151	190	8	,	,	PUNCT
hjic-1151	190	9	29	29	NUM
hjic-1151	190	10	doi	doi	NOUN
hjic-1151	190	11	:	:	PUNCT
hjic-1151	190	12	10.3390	10.3390	NUM
hjic-1151	190	13	/	/	SYM
hjic-1151	190	14	jcs5010029	jcs5010029	NOUN
hjic-1151	190	15	[	[	X
hjic-1151	190	16	11	11	NUM
hjic-1151	190	17	]	]	X
hjic-1151	190	18	diegel	diegel	NOUN
hjic-1151	190	19	,	,	PUNCT
hjic-1151	190	20	o.	o.	PROPN
hjic-1151	190	21	;	;	PUNCT
hjic-1151	190	22	nordin	nordin	PROPN
hjic-1151	190	23	,	,	PUNCT
hjic-1151	190	24	a.	a.	NOUN
hjic-1151	190	25	;	;	PUNCT
hjic-1151	190	26	motte	motte	PROPN
hjic-1151	190	27	,	,	PUNCT
hjic-1151	190	28	d.	d.	PROPN
hjic-1151	190	29	:	:	PUNCT
hjic-1151	190	30	a	a	DET
hjic-1151	190	31	practical	practical	ADJ
hjic-1151	190	32	guide	guide	NOUN
hjic-1151	190	33	to	to	PART
hjic-1151	190	34	design	design	VERB
hjic-1151	190	35	for	for	ADP
hjic-1151	190	36	additive	additive	ADJ
hjic-1151	190	37	manufacturing	manufacturing	NOUN
hjic-1151	190	38	,	,	PUNCT
hjic-1151	190	39	springer	springer	NOUN
hjic-1151	190	40	,	,	PUNCT
hjic-1151	190	41	2020	2020	NUM
hjic-1151	190	42	doi	doi	NOUN
hjic-1151	190	43	:	:	PUNCT
hjic-1151	190	44	10.1007/978	10.1007/978	NUM
hjic-1151	190	45	-	-	SYM
hjic-1151	190	46	981	981	NUM
hjic-1151	190	47	-	-	PUNCT
hjic-1151	190	48	13	13	NUM
hjic-1151	190	49	-	-	PUNCT
hjic-1151	190	50	8281	8281	NUM
hjic-1151	190	51	-	-	SYM
hjic-1151	190	52	9	9	NUM
hjic-1151	190	53	[	[	X
hjic-1151	190	54	12	12	NUM
hjic-1151	190	55	]	]	X
hjic-1151	190	56	wang	wang	PROPN
hjic-1151	190	57	,	,	PUNCT
hjic-1151	190	58	k.	k.	PROPN
hjic-1151	190	59	;	;	PUNCT
hjic-1151	190	60	li	li	PROPN
hjic-1151	190	61	,	,	PUNCT
hjic-1151	190	62	s.	s.	PROPN
hjic-1151	190	63	;	;	PUNCT
hjic-1151	190	64	rao	rao	PROPN
hjic-1151	190	65	,	,	PUNCT
hjic-1151	190	66	y.	y.	PROPN
hjic-1151	190	67	;	;	PUNCT
hjic-1151	190	68	wu	wu	PROPN
hjic-1151	190	69	,	,	PUNCT
hjic-1151	190	70	y.	y.	PROPN
hjic-1151	190	71	;	;	PUNCT
hjic-1151	190	72	peng	peng	PROPN
hjic-1151	190	73	,	,	PUNCT
hjic-1151	190	74	y.	y.	PROPN
hjic-1151	190	75	;	;	PUNCT
hjic-1151	190	76	yao	yao	PROPN
hjic-1151	190	77	,	,	PUNCT
hjic-1151	190	78	s.	s.	PROPN
hjic-1151	190	79	;	;	PUNCT
hjic-1151	190	80	zhang	zhang	PROPN
hjic-1151	190	81	,	,	PUNCT
hjic-1151	190	82	h.	h.	PROPN
hjic-1151	190	83	;	;	PUNCT
hjic-1151	190	84	ahzi	ahzi	PROPN
hjic-1151	190	85	,	,	PUNCT
hjic-1151	190	86	s.	s.	PROPN
hjic-1151	190	87	:	:	PUNCT
hjic-1151	190	88	flexure	flexure	NOUN
hjic-1151	190	89	behaviors	behavior	NOUN
hjic-1151	190	90	of	of	ADP
hjic-1151	190	91	absbased	absbase	VERB
hjic-1151	190	92	composites	composite	NOUN
hjic-1151	190	93	containing	contain	VERB
hjic-1151	190	94	carbon	carbon	NOUN
hjic-1151	190	95	and	and	CCONJ
hjic-1151	190	96	kevlar	kevlar	ADJ
hjic-1151	190	97	fibers	fiber	NOUN
hjic-1151	190	98	by	by	ADP
hjic-1151	190	99	material	material	NOUN
hjic-1151	190	100	extrusion	extrusion	NOUN
hjic-1151	190	101	3d	3d	NOUN
hjic-1151	190	102	printing	printing	NOUN
hjic-1151	190	103	.	.	PUNCT
hjic-1151	191	1	polymers	polymer	NOUN
hjic-1151	191	2	,	,	PUNCT
hjic-1151	191	3	2019	2019	NUM
hjic-1151	191	4	,	,	PUNCT
hjic-1151	191	5	11(11	11(11	NUM
hjic-1151	191	6	)	)	PUNCT
hjic-1151	191	7	,	,	PUNCT
hjic-1151	191	8	1878	1878	NUM
hjic-1151	191	9	doi	doi	NOUN
hjic-1151	191	10	:	:	PUNCT
hjic-1151	191	11	10.3390	10.3390	NUM
hjic-1151	191	12	/	/	SYM
hjic-1151	191	13	polym11111878	polym11111878	PROPN
hjic-1151	191	14	49(2	49(2	NUM
hjic-1151	191	15	)	)	PUNCT
hjic-1151	191	16	pp	pp	ADP
hjic-1151	191	17	.	.	PUNCT
hjic-1151	192	1	91–95	91–95	NUM
hjic-1151	192	2	(	(	PUNCT
hjic-1151	192	3	2021	2021	NUM
hjic-1151	192	4	)	)	PUNCT
hjic-1151	192	5	https://doi.org/10.1016/0890-6955(88)90045-4	https://doi.org/10.1016/0890-6955(88)90045-4	NOUN
hjic-1151	192	6	https://doi.org/10.1016/0890-6955(88)90045-4	https://doi.org/10.1016/0890-6955(88)90045-4	NOUN
hjic-1151	192	7	https://doi.org/10.3176/proc.2019.4.11	https://doi.org/10.3176/proc.2019.4.11	NOUN
hjic-1151	192	8	https://doi.org/10.1080/00207549108930072	https://doi.org/10.1080/00207549108930072	NOUN
hjic-1151	192	9	https://doi.org/10.1080/00207549108930072	https://doi.org/10.1080/00207549108930072	NOUN
hjic-1151	192	10	https://doi.org/10.3390/proceedings2020063077	https://doi.org/10.3390/proceedings2020063077	PROPN
hjic-1151	192	11	https://doi.org/10.3390/proceedings2020063077	https://doi.org/10.3390/proceedings2020063077	PROPN
hjic-1151	192	12	https://doi.org/10.3389/frobt.2021.644532	https://doi.org/10.3389/frobt.2021.644532	PROPN
hjic-1151	192	13	https://doi.org/10.3390/app9245266	https://doi.org/10.3390/app9245266	PRON
hjic-1151	192	14	https://doi.org/10.1016/j.ijmecsci.2019.05.041	https://doi.org/10.1016/j.ijmecsci.2019.05.041	ADV
hjic-1151	192	15	https://doi.org/10.1016/j.ijmecsci.2019.05.041	https://doi.org/10.1016/j.ijmecsci.2019.05.041	ADV
hjic-1151	192	16	https://doi.org/10.1007/978-3-030-30648-9_133	https://doi.org/10.1007/978-3-030-30648-9_133	PROPN
hjic-1151	192	17	https://doi.org/10.1007/978-3-030-30648-9_133	https://doi.org/10.1007/978-3-030-30648-9_133	PROPN
hjic-1151	192	18	https://doi.org/10.3390/polym10080846	https://doi.org/10.3390/polym10080846	PROPN
hjic-1151	192	19	https://doi.org/10.3390/jcs5010029	https://doi.org/10.3390/jcs5010029	PROPN
hjic-1151	192	20	https://doi.org/10.1007/978-981-13-8281-9	https://doi.org/10.1007/978-981-13-8281-9	NOUN
hjic-1151	192	21	https://doi.org/10.3390/polym11111878	https://doi.org/10.3390/polym11111878	ADJ
hjic-1151	192	22	introduction	introduction	NOUN
hjic-1151	192	23	gripper	gripper	NOUN
hjic-1151	192	24	selection	selection	NOUN
hjic-1151	192	25	promising	promise	VERB
hjic-1151	192	26	attempts	attempt	VERB
hjic-1151	192	27	methods	method	NOUN
hjic-1151	192	28	to	to	PART
hjic-1151	192	29	design	design	VERB
hjic-1151	192	30	fingers	finger	NOUN
hjic-1151	192	31	of	of	ADP
hjic-1151	192	32	the	the	DET
hjic-1151	192	33	gripper	gripper	NOUN
hjic-1151	192	34	example	example	NOUN
hjic-1151	192	35	design	design	NOUN
hjic-1151	192	36	of	of	ADP
hjic-1151	192	37	a	a	DET
hjic-1151	192	38	finger	finger	NOUN
hjic-1151	192	39	summary	summary	NOUN
hjic-1151	192	40	and	and	CCONJ
hjic-1151	192	41	future	future	ADJ
hjic-1151	192	42	work	work	NOUN
hjic-1151	192	43	acknowledgment	acknowledgment	NOUN