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• Mathinline
  body \sigma_{\mathrm{o}}^{\mathrm{M}} = \frac{F_{\mathrm{o}}^{\mathrm{M}}}{A^{\mathrm{M}}} = 35\,\text{N}/\text{cm}^2

   – The specific tension of the muscle at its maximum isometric force (from Zajac, 1989).

• Mathinline
  body V^{\mathrm{M}} = A^{\mathrm{M}} \ell_{\mathrm{o}}^{\mathrm{M}}

    , where

  Mathinline
  body --uriencoded--A%5e%7B\mathrm%7BM%7D%7D

  is the cross-sectional area of the muscle,

  Mathinline
  body --uriencoded--\ell_%7B\mathrm%7Bo%7D%7D%5e%7B\mathrm%7BM%7D%7D

  is the optimal fiber length of the muscle, and

  Mathinline
  body --uriencoded--V%5e%7B\mathrm%7BM%7D%7D

  is the muscle volume.

• Mathinline
  body \ell_{\mathrm{initial}}^{\mathrm{MT}} = \ell_{\mathrm{s}}^{\mathrm{T}} + \ell_{\mathrm{o}}^{\mathrm{M}}

  , where 

  Mathinline
  body \ell_{\mathrm{initial}}^{\mathrm{MT}}

   is the distance between the origin of the muscle (on the ground) and its attachment point (on the block) at the beginning of the simulation. Note that 

  Mathinline
  body \text{Z}_{\mathrm{origin}}

   must be set so this constraint is satisfied.

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