Consider a free associative algebra $\mathtt{R}$ on the letters $\mathtt{1}, \dots, \mathtt{d}$. We define the antipode map $\mathtt{a}:\mathtt{R}\rightarrow \mathtt{R}$ first on a word $w:=\mathtt{i_1}\cdot\dots \cdot\mathtt{i_k}$ to be $$ \mathtt{a}(w) := (-1)^k \mathtt{i_k}\cdot\dots\cdot \mathtt{i_1}$$ and then extending it by linearity to the whole algebra.
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The source of this document is in PathSignatures/documentation.m2:918:0.