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– The specific tension of the muscle at its maximum isometric force (from Zajac, 1989).Mathinline body \sigma_{\mathrm{o}}^{\mathrm{M}} = \frac{F_{\mathrm{o}}^{\mathrm{M}}}{A^{\mathrm{M}}} = 35\,\text{N}/\text{cm}^2
, whereMathinline body V^{\mathrm{M}} = A^{\mathrm{M}} \ell_{\mathrm{o}}^{\mathrm{M}}
is the cross-sectional area of the muscle,Mathinline body --uriencoded--A%5e%7B\mathrm%7BM%7D%7D
is the optimal fiber length of the muscle, andMathinline body --uriencoded--\ell_%7B\mathrm%7Bo%7D%7D%5e%7B\mathrm%7BM%7D%7D
is the muscle volume.Mathinline body --uriencoded--V%5e%7B\mathrm%7BM%7D%7D
, whereMathinline body \ell_{\mathrm{initial}}^{\mathrm{MT}} = \ell_{\mathrm{s}}^{\mathrm{T}} + \ell_{\mathrm{o}}^{\mathrm{M}}
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 thatMathinline body \ell_{\mathrm{initial}}^{\mathrm{MT}}
must be set so this constraint is satisfied.Mathinline body \text{Z}_{\mathrm{origin}}
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