Date of download: 10/27/2017 Copyright © ASME. All rights reserved.

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Date of download: 10/27/2017 Copyright © ASME. All rights reserved. From: Distribution of Forces Between Synergistics and Antagonistics Muscles Using an Optimization Criterion Depending on Muscle Contraction Behavior J Biomech Eng. 2010;132(4):041009-041009-10. doi:10.1115/1.4001116 Figure Legend: Scheme of a musculotendon unit

Date of download: 10/27/2017 Copyright © ASME. All rights reserved. From: Distribution of Forces Between Synergistics and Antagonistics Muscles Using an Optimization Criterion Depending on Muscle Contraction Behavior J Biomech Eng. 2010;132(4):041009-041009-10. doi:10.1115/1.4001116 Figure Legend: Hill-type model of a musculotendon unit

Date of download: 10/27/2017 Copyright © ASME. All rights reserved. From: Distribution of Forces Between Synergistics and Antagonistics Muscles Using an Optimization Criterion Depending on Muscle Contraction Behavior J Biomech Eng. 2010;132(4):041009-041009-10. doi:10.1115/1.4001116 Figure Legend: Active force: the force-length and force-velocity relationships

Date of download: 10/27/2017 Copyright © ASME. All rights reserved. From: Distribution of Forces Between Synergistics and Antagonistics Muscles Using an Optimization Criterion Depending on Muscle Contraction Behavior J Biomech Eng. 2010;132(4):041009-041009-10. doi:10.1115/1.4001116 Figure Legend: Contraction dynamics: the output of the model is the musculotendon force ft and the external inputs are the activation level a and the musculotendon length lmt

Date of download: 10/27/2017 Copyright © ASME. All rights reserved. From: Distribution of Forces Between Synergistics and Antagonistics Muscles Using an Optimization Criterion Depending on Muscle Contraction Behavior J Biomech Eng. 2010;132(4):041009-041009-10. doi:10.1115/1.4001116 Figure Legend: Minimal normalized musculotendon force: it is obtained when the muscular activation is at its minimal value (a=10−6)

Date of download: 10/27/2017 Copyright © ASME. All rights reserved. From: Distribution of Forces Between Synergistics and Antagonistics Muscles Using an Optimization Criterion Depending on Muscle Contraction Behavior J Biomech Eng. 2010;132(4):041009-041009-10. doi:10.1115/1.4001116 Figure Legend: Maximal normalized musculotendon force: it is obtained when the muscular activation is at its maximal value (a=1)

Date of download: 10/27/2017 Copyright © ASME. All rights reserved. From: Distribution of Forces Between Synergistics and Antagonistics Muscles Using an Optimization Criterion Depending on Muscle Contraction Behavior J Biomech Eng. 2010;132(4):041009-041009-10. doi:10.1115/1.4001116 Figure Legend: Schematic representation of the anthropomorphic arm. The arm motion is made by six muscles: four monoarticular ones (m1, m2, m3, m4) and two biarticular ones (m5, m6).

Date of download: 10/27/2017 Copyright © ASME. All rights reserved. From: Distribution of Forces Between Synergistics and Antagonistics Muscles Using an Optimization Criterion Depending on Muscle Contraction Behavior J Biomech Eng. 2010;132(4):041009-041009-10. doi:10.1115/1.4001116 Figure Legend: Anthropomorphic arm block diagram. U=[u1⋯u6]T is the muscular excitations vector (and then the control input vector). A=[a1⋯a6]T is the muscular activations vector. Ft=[Ft1⋯Ft6]T is the musculotendon forces vector. Lmt=[lmt1⋯lmt6]T is the musculotendon fiber length vector. Γ=[Γ1 Γ2]T is the joint torques vector. q=[q1 q2]T is the joint positions vector.

Date of download: 10/27/2017 Copyright © ASME. All rights reserved. From: Distribution of Forces Between Synergistics and Antagonistics Muscles Using an Optimization Criterion Depending on Muscle Contraction Behavior J Biomech Eng. 2010;132(4):041009-041009-10. doi:10.1115/1.4001116 Figure Legend: The proposed musculoskeletal simulation strategy. U=[u1⋯u6]T is the muscular excitations vector (and then the control input vector). Ft=[Ft1⋯Ft6]T is the musculotendon forces vector. Lmt=[lmt1⋯lmt6]T is the musculotendon fiber length vector. Γ=[Γ1 Γ2]T is the joint torques vector. q=[q1 q2]T is the joint positions vector. Γd, Ftd, and qd, respectively, represent the desired values of the variables Γ, Ft, and q.

Date of download: 10/27/2017 Copyright © ASME. All rights reserved. From: Distribution of Forces Between Synergistics and Antagonistics Muscles Using an Optimization Criterion Depending on Muscle Contraction Behavior J Biomech Eng. 2010;132(4):041009-041009-10. doi:10.1115/1.4001116 Figure Legend: Distribution of forces using criterion (α=1/3). Normalized musculotendon forces versus time. Desired force (dotted line). Musculotendon force (solid line). Maximal and minimal achievable musculotendon forces (dashed lines).

Date of download: 10/27/2017 Copyright © ASME. All rights reserved. From: Distribution of Forces Between Synergistics and Antagonistics Muscles Using an Optimization Criterion Depending on Muscle Contraction Behavior J Biomech Eng. 2010;132(4):041009-041009-10. doi:10.1115/1.4001116 Figure Legend: Distribution of forces using criterion . Normalized musculotendon forces versus time (s). Desired force (dotted line). Musculotendon force (solid line). Maximal and minimal achievable musculotendon forces (dashed lines).

Date of download: 10/27/2017 Copyright © ASME. All rights reserved. From: Distribution of Forces Between Synergistics and Antagonistics Muscles Using an Optimization Criterion Depending on Muscle Contraction Behavior J Biomech Eng. 2010;132(4):041009-041009-10. doi:10.1115/1.4001116 Figure Legend: Muscular activations versus time (s). Criterion (dashed line). Criterion (solid line).

Date of download: 10/27/2017 Copyright © ASME. All rights reserved. From: Distribution of Forces Between Synergistics and Antagonistics Muscles Using an Optimization Criterion Depending on Muscle Contraction Behavior J Biomech Eng. 2010;132(4):041009-041009-10. doi:10.1115/1.4001116 Figure Legend: Elbow position tracking error versus time (s). Criterion (dashed line). Criterion (solid line).