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Fig. 2. Schematic of the musculotendon actuator used in the model. The properties
of the musculotendon force generation (FT) were represented by an
active contractile element (CE) in parallel with a passive elastic element
(PEE). The muscle fiber was placed in series with tendon (SEE), which was
represented by a non-linear elastic element. The pennation angle (
)
denotes the angle between the muscle fibers and the tendon. All musculotendon
parameters, including the origin and insertion of each muscle, pennation
angle, tendon slack length, resting fiber length and maximum isometric force
were based on Delp et al.
(1990).
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