remove /category/ from url?

Hi,
Developing a site in WP from static site that has a large archive of articles which are indexed well in SE. The current url, for example, might be http://theirdomain.com/massage/article-title.html

I’ve set up a category, massage, and created posts for articles within that category. But my url structure reads: http://theirdomain.com/category/massage/article-title.

How can (or can I) set up the permalink so that /category/ doesn’t appear? Do I have to instead of posts, create all of these as pages? That doesn’t seem like it’d be correct given the type of material.

TIA
Bill