id	sid	tid	token	lemma	pos
d504rj4542p	1	1	the	the	DET
d504rj4542p	1	2	shoulder	shoulder	NOUN
d504rj4542p	1	3	girdle	girdle	NOUN
d504rj4542p	1	4	plays	play	VERB
d504rj4542p	1	5	an	an	DET
d504rj4542p	1	6	important	important	ADJ
d504rj4542p	1	7	role	role	NOUN
d504rj4542p	1	8	in	in	ADP
d504rj4542p	1	9	the	the	DET
d504rj4542p	1	10	large	large	ADJ
d504rj4542p	1	11	pointing	pointing	NOUN
d504rj4542p	1	12	workspace	workspace	NOUN
d504rj4542p	1	13	that	that	PRON
d504rj4542p	1	14	humans	human	NOUN
d504rj4542p	1	15	enjoy	enjoy	VERB
d504rj4542p	1	16	.	.	PUNCT
d504rj4542p	2	1	the	the	DET
d504rj4542p	2	2	goal	goal	NOUN
d504rj4542p	2	3	of	of	ADP
d504rj4542p	2	4	this	this	DET
d504rj4542p	2	5	work	work	NOUN
d504rj4542p	2	6	was	be	AUX
d504rj4542p	2	7	to	to	PART
d504rj4542p	2	8	characterize	characterize	VERB
d504rj4542p	2	9	the	the	DET
d504rj4542p	2	10	human	human	ADJ
d504rj4542p	2	11	shoulder	shoulder	NOUN
d504rj4542p	2	12	girdle	girdle	NOUN
d504rj4542p	2	13	motion	motion	NOUN
d504rj4542p	2	14	in	in	ADP
d504rj4542p	2	15	relation	relation	NOUN
d504rj4542p	2	16	to	to	ADP
d504rj4542p	2	17	the	the	DET
d504rj4542p	2	18	arm	arm	NOUN
d504rj4542p	2	19	and	and	CCONJ
d504rj4542p	2	20	recreate	recreate	VERB
d504rj4542p	2	21	it	it	PRON
d504rj4542p	2	22	with	with	ADP
d504rj4542p	2	23	a	a	DET
d504rj4542p	2	24	humanoid	humanoid	ADJ
d504rj4542p	2	25	shoulder	shoulder	NOUN
d504rj4542p	2	26	girdle	girdle	NOUN
d504rj4542p	2	27	mechanism	mechanism	NOUN
d504rj4542p	2	28	so	so	SCONJ
d504rj4542p	2	29	as	as	SCONJ
d504rj4542p	2	30	to	to	PART
d504rj4542p	2	31	ultimately	ultimately	ADV
d504rj4542p	2	32	improve	improve	VERB
d504rj4542p	2	33	the	the	DET
d504rj4542p	2	34	human	human	ADJ
d504rj4542p	2	35	-	-	PUNCT
d504rj4542p	2	36	like	like	ADJ
d504rj4542p	2	37	motion	motion	NOUN
d504rj4542p	2	38	of	of	ADP
d504rj4542p	2	39	humanoids	humanoid	NOUN
d504rj4542p	2	40	.	.	PUNCT
d504rj4542p	3	1	the	the	DET
d504rj4542p	3	2	overall	overall	ADJ
d504rj4542p	3	3	motion	motion	NOUN
d504rj4542p	3	4	of	of	ADP
d504rj4542p	3	5	the	the	DET
d504rj4542p	3	6	human	human	ADJ
d504rj4542p	3	7	shoulder	shoulder	NOUN
d504rj4542p	3	8	girdle	girdle	NOUN
d504rj4542p	3	9	was	be	AUX
d504rj4542p	3	10	characterized	characterize	VERB
d504rj4542p	3	11	based	base	VERB
d504rj4542p	3	12	on	on	ADP
d504rj4542p	3	13	motion	motion	NOUN
d504rj4542p	3	14	studies	study	NOUN
d504rj4542p	3	15	completed	complete	VERB
d504rj4542p	3	16	on	on	ADP
d504rj4542p	3	17	test	test	NOUN
d504rj4542p	3	18	subjects	subject	NOUN
d504rj4542p	3	19	during	during	ADP
d504rj4542p	3	20	voluntary	voluntary	ADJ
d504rj4542p	3	21	(	(	PUNCT
d504rj4542p	3	22	natural	natural	ADJ
d504rj4542p	3	23	/	/	SYM
d504rj4542p	3	24	unforced	unforced	ADJ
d504rj4542p	3	25	)	)	PUNCT
d504rj4542p	3	26	motion	motion	NOUN
d504rj4542p	3	27	.	.	PUNCT
d504rj4542p	4	1	the	the	DET
d504rj4542p	4	2	collected	collected	ADJ
d504rj4542p	4	3	data	datum	NOUN
d504rj4542p	4	4	from	from	ADP
d504rj4542p	4	5	the	the	DET
d504rj4542p	4	6	experiments	experiment	NOUN
d504rj4542p	4	7	were	be	AUX
d504rj4542p	4	8	used	use	VERB
d504rj4542p	4	9	to	to	PART
d504rj4542p	4	10	develop	develop	VERB
d504rj4542p	4	11	surface	surface	NOUN
d504rj4542p	4	12	fit	fit	ADJ
d504rj4542p	4	13	equations	equation	NOUN
d504rj4542p	4	14	that	that	PRON
d504rj4542p	4	15	represent	represent	VERB
d504rj4542p	4	16	the	the	DET
d504rj4542p	4	17	position	position	NOUN
d504rj4542p	4	18	and	and	CCONJ
d504rj4542p	4	19	orientation	orientation	NOUN
d504rj4542p	4	20	of	of	ADP
d504rj4542p	4	21	the	the	DET
d504rj4542p	4	22	glenohumeral	glenohumeral	ADJ
d504rj4542p	4	23	joint	joint	NOUN
d504rj4542p	4	24	for	for	ADP
d504rj4542p	4	25	a	a	DET
d504rj4542p	4	26	given	give	VERB
d504rj4542p	4	27	humeral	humeral	ADJ
d504rj4542p	4	28	pointing	pointing	NOUN
d504rj4542p	4	29	direction	direction	NOUN
d504rj4542p	4	30	.	.	PUNCT
d504rj4542p	5	1	these	these	DET
d504rj4542p	5	2	equations	equation	NOUN
d504rj4542p	5	3	completely	completely	ADV
d504rj4542p	5	4	quantify	quantify	VERB
d504rj4542p	5	5	gross	gross	ADJ
d504rj4542p	5	6	human	human	ADJ
d504rj4542p	5	7	shoulder	shoulder	NOUN
d504rj4542p	5	8	motion	motion	NOUN
d504rj4542p	5	9	relative	relative	ADJ
d504rj4542p	5	10	to	to	ADP
d504rj4542p	5	11	the	the	DET
d504rj4542p	5	12	humerus	humerus	NOUN
d504rj4542p	5	13	.	.	PUNCT
d504rj4542p	6	1	the	the	DET
d504rj4542p	6	2	equations	equation	NOUN
d504rj4542p	6	3	are	be	AUX
d504rj4542p	6	4	presented	present	VERB
d504rj4542p	6	5	along	along	ADP
d504rj4542p	6	6	with	with	ADP
d504rj4542p	6	7	goodness	goodness	NOUN
d504rj4542p	6	8	-	-	PUNCT
d504rj4542p	6	9	of	of	ADP
d504rj4542p	6	10	-	-	PUNCT
d504rj4542p	6	11	fit	fit	ADJ
d504rj4542p	6	12	results	result	NOUN
d504rj4542p	6	13	that	that	PRON
d504rj4542p	6	14	indicate	indicate	VERB
d504rj4542p	6	15	the	the	DET
d504rj4542p	6	16	equations	equation	NOUN
d504rj4542p	6	17	well	well	ADV
d504rj4542p	6	18	approximate	approximate	VERB
d504rj4542p	6	19	the	the	DET
d504rj4542p	6	20	motion	motion	NOUN
d504rj4542p	6	21	of	of	ADP
d504rj4542p	6	22	the	the	DET
d504rj4542p	6	23	human	human	ADJ
d504rj4542p	6	24	glenohumeral	glenohumeral	ADJ
d504rj4542p	6	25	joint	joint	NOUN
d504rj4542p	6	26	.	.	PUNCT
d504rj4542p	7	1	this	this	PRON
d504rj4542p	7	2	is	be	AUX
d504rj4542p	7	3	the	the	DET
d504rj4542p	7	4	first	first	ADJ
d504rj4542p	7	5	time	time	NOUN
d504rj4542p	7	6	the	the	DET
d504rj4542p	7	7	motion	motion	NOUN
d504rj4542p	7	8	has	have	AUX
d504rj4542p	7	9	been	be	AUX
d504rj4542p	7	10	quantified	quantify	VERB
d504rj4542p	7	11	for	for	ADP
d504rj4542p	7	12	the	the	DET
d504rj4542p	7	13	entire	entire	ADJ
d504rj4542p	7	14	workspace	workspace	NOUN
d504rj4542p	7	15	,	,	PUNCT
d504rj4542p	7	16	and	and	CCONJ
d504rj4542p	7	17	the	the	DET
d504rj4542p	7	18	equations	equation	NOUN
d504rj4542p	7	19	provide	provide	VERB
d504rj4542p	7	20	a	a	DET
d504rj4542p	7	21	reference	reference	NOUN
d504rj4542p	7	22	against	against	ADP
d504rj4542p	7	23	which	which	PRON
d504rj4542p	7	24	to	to	PART
d504rj4542p	7	25	compare	compare	VERB
d504rj4542p	7	26	the	the	DET
d504rj4542p	7	27	motion	motion	NOUN
d504rj4542p	7	28	of	of	ADP
d504rj4542p	7	29	candidate	candidate	NOUN
d504rj4542p	7	30	humanoid	humanoid	ADJ
d504rj4542p	7	31	shoulder	shoulder	NOUN
d504rj4542p	7	32	girdle	girdle	NOUN
d504rj4542p	7	33	mechanisms	mechanism	NOUN
d504rj4542p	7	34	.	.	PUNCT
d504rj4542p	8	1	a	a	DET
d504rj4542p	8	2	novel	novel	ADJ
d504rj4542p	8	3	2	2	NUM
d504rj4542p	8	4	-	-	PUNCT
d504rj4542p	8	5	degree	degree	NOUN
d504rj4542p	8	6	-	-	PUNCT
d504rj4542p	8	7	of	of	ADP
d504rj4542p	8	8	-	-	PUNCT
d504rj4542p	8	9	freedom	freedom	NOUN
d504rj4542p	8	10	parallel	parallel	NOUN
d504rj4542p	8	11	mechanism	mechanism	NOUN
d504rj4542p	8	12	composed	compose	VERB
d504rj4542p	8	13	of	of	ADP
d504rj4542p	8	14	two	two	NUM
d504rj4542p	8	15	platforms	platform	NOUN
d504rj4542p	8	16	,	,	PUNCT
d504rj4542p	8	17	one	one	NUM
d504rj4542p	8	18	leg	leg	NOUN
d504rj4542p	8	19	with	with	ADP
d504rj4542p	8	20	two	two	NUM
d504rj4542p	8	21	revolute	revolute	NOUN
d504rj4542p	8	22	joints	joint	NOUN
d504rj4542p	8	23	and	and	CCONJ
d504rj4542p	8	24	two	two	NUM
d504rj4542p	8	25	legs	leg	NOUN
d504rj4542p	8	26	with	with	ADP
d504rj4542p	8	27	spherical	spherical	ADJ
d504rj4542p	8	28	-	-	PUNCT
d504rj4542p	8	29	prismatic	prismatic	ADJ
d504rj4542p	8	30	-	-	PUNCT
d504rj4542p	8	31	spherical	spherical	ADJ
d504rj4542p	8	32	joint	joint	ADJ
d504rj4542p	8	33	combinations	combination	NOUN
d504rj4542p	8	34	(	(	PUNCT
d504rj4542p	8	35	1	1	NUM
d504rj4542p	8	36	-	-	PUNCT
d504rj4542p	8	37	rr	rr	NOUN
d504rj4542p	8	38	,	,	PUNCT
d504rj4542p	8	39	2	2	NUM
d504rj4542p	8	40	-	-	PUNCT
d504rj4542p	8	41	sps	sps	NOUN
d504rj4542p	8	42	)	)	PUNCT
d504rj4542p	8	43	,	,	PUNCT
d504rj4542p	8	44	is	be	AUX
d504rj4542p	8	45	introduced	introduce	VERB
d504rj4542p	8	46	and	and	CCONJ
d504rj4542p	8	47	analyzed	analyze	VERB
d504rj4542p	8	48	.	.	PUNCT
d504rj4542p	9	1	the	the	DET
d504rj4542p	9	2	results	result	NOUN
d504rj4542p	9	3	from	from	ADP
d504rj4542p	9	4	the	the	DET
d504rj4542p	9	5	data	datum	NOUN
d504rj4542p	9	6	collection	collection	NOUN
d504rj4542p	9	7	were	be	AUX
d504rj4542p	9	8	used	use	VERB
d504rj4542p	9	9	to	to	PART
d504rj4542p	9	10	find	find	VERB
d504rj4542p	9	11	the	the	DET
d504rj4542p	9	12	optimal	optimal	ADJ
d504rj4542p	9	13	configuration	configuration	NOUN
d504rj4542p	9	14	for	for	ADP
d504rj4542p	9	15	this	this	DET
d504rj4542p	9	16	mechanism	mechanism	NOUN
d504rj4542p	9	17	to	to	PART
d504rj4542p	9	18	mimic	mimic	VERB
d504rj4542p	9	19	human	human	ADJ
d504rj4542p	9	20	shoulder	shoulder	NOUN
d504rj4542p	9	21	girdle	girdle	NOUN
d504rj4542p	9	22	motion	motion	NOUN
d504rj4542p	9	23	.	.	PUNCT
d504rj4542p	10	1	the	the	DET
d504rj4542p	10	2	results	result	NOUN
d504rj4542p	10	3	indicate	indicate	VERB
d504rj4542p	10	4	that	that	SCONJ
d504rj4542p	10	5	the	the	DET
d504rj4542p	10	6	optimized	optimize	VERB
d504rj4542p	10	7	mechanism	mechanism	NOUN
d504rj4542p	10	8	well	well	ADV
d504rj4542p	10	9	approximates	approximate	VERB
d504rj4542p	10	10	the	the	DET
d504rj4542p	10	11	motion	motion	NOUN
d504rj4542p	10	12	of	of	ADP
d504rj4542p	10	13	the	the	DET
d504rj4542p	10	14	human	human	ADJ
d504rj4542p	10	15	shoulder	shoulder	NOUN
d504rj4542p	10	16	girdle	girdle	NOUN
d504rj4542p	10	17	,	,	PUNCT
d504rj4542p	10	18	making	make	VERB
d504rj4542p	10	19	it	it	PRON
d504rj4542p	10	20	the	the	DET
d504rj4542p	10	21	first	first	ADJ
d504rj4542p	10	22	mechanism	mechanism	NOUN
d504rj4542p	10	23	that	that	PRON
d504rj4542p	10	24	replicates	replicate	VERB
d504rj4542p	10	25	human	human	ADJ
d504rj4542p	10	26	shoulder	shoulder	NOUN
d504rj4542p	10	27	girdle	girdle	NOUN
d504rj4542p	10	28	motion	motion	NOUN
d504rj4542p	10	29	with	with	ADP
d504rj4542p	10	30	minimal	minimal	ADJ
d504rj4542p	10	31	actuation	actuation	NOUN
d504rj4542p	10	32	.	.	PUNCT
d504rj4542p	11	1	the	the	DET
d504rj4542p	11	2	methodology	methodology	NOUN
d504rj4542p	11	3	for	for	ADP
d504rj4542p	11	4	incorporating	incorporate	VERB
d504rj4542p	11	5	the	the	DET
d504rj4542p	11	6	shoulder	shoulder	NOUN
d504rj4542p	11	7	girdle	girdle	NOUN
d504rj4542p	11	8	mechanism	mechanism	NOUN
d504rj4542p	11	9	into	into	ADP
d504rj4542p	11	10	the	the	DET
d504rj4542p	11	11	shoulder	shoulder	NOUN
d504rj4542p	11	12	-	-	PUNCT
d504rj4542p	11	13	elbow	elbow	NOUN
d504rj4542p	11	14	complex	complex	NOUN
d504rj4542p	11	15	is	be	AUX
d504rj4542p	11	16	presented	present	VERB
d504rj4542p	11	17	.	.	PUNCT
d504rj4542p	12	1	the	the	DET
d504rj4542p	12	2	kinematic	kinematic	ADJ
d504rj4542p	12	3	equations	equation	NOUN
d504rj4542p	12	4	of	of	ADP
d504rj4542p	12	5	motion	motion	NOUN
d504rj4542p	12	6	for	for	ADP
d504rj4542p	12	7	the	the	DET
d504rj4542p	12	8	complex	complex	NOUN
d504rj4542p	12	9	were	be	AUX
d504rj4542p	12	10	derived	derive	VERB
d504rj4542p	12	11	,	,	PUNCT
d504rj4542p	12	12	and	and	CCONJ
d504rj4542p	12	13	a	a	DET
d504rj4542p	12	14	qualitative	qualitative	ADJ
d504rj4542p	12	15	analysis	analysis	NOUN
d504rj4542p	12	16	was	be	AUX
d504rj4542p	12	17	completed	complete	VERB
d504rj4542p	12	18	that	that	PRON
d504rj4542p	12	19	indicates	indicate	VERB
d504rj4542p	12	20	the	the	DET
d504rj4542p	12	21	motion	motion	NOUN
d504rj4542p	12	22	of	of	ADP
d504rj4542p	12	23	the	the	DET
d504rj4542p	12	24	full	full	ADJ
d504rj4542p	12	25	system	system	NOUN
d504rj4542p	12	26	is	be	AUX
d504rj4542p	12	27	similar	similar	ADJ
d504rj4542p	12	28	to	to	ADP
d504rj4542p	12	29	that	that	PRON
d504rj4542p	12	30	of	of	ADP
d504rj4542p	12	31	the	the	DET
d504rj4542p	12	32	human	human	ADJ
d504rj4542p	12	33	shoulder	shoulder	NOUN
d504rj4542p	12	34	-	-	PUNCT
d504rj4542p	12	35	elbow	elbow	NOUN
d504rj4542p	12	36	complex	complex	NOUN
d504rj4542p	12	37	.	.	PUNCT
d504rj4542p	13	1	the	the	DET
d504rj4542p	13	2	work	work	NOUN
d504rj4542p	13	3	presented	present	VERB
d504rj4542p	13	4	here	here	ADV
d504rj4542p	13	5	lays	lay	VERB
d504rj4542p	13	6	the	the	DET
d504rj4542p	13	7	groundwork	groundwork	NOUN
d504rj4542p	13	8	for	for	ADP
d504rj4542p	13	9	replicating	replicate	VERB
d504rj4542p	13	10	complex	complex	ADJ
d504rj4542p	13	11	human	human	ADJ
d504rj4542p	13	12	shoulder	shoulder	NOUN
d504rj4542p	13	13	girdle	girdle	NOUN
d504rj4542p	13	14	motion	motion	NOUN
d504rj4542p	13	15	with	with	ADP
d504rj4542p	13	16	a	a	DET
d504rj4542p	13	17	relatively	relatively	ADV
d504rj4542p	13	18	simple	simple	ADJ
d504rj4542p	13	19	robotic	robotic	ADJ
d504rj4542p	13	20	system	system	NOUN
d504rj4542p	13	21	.	.	PUNCT