Muscle pattern, regime Equation

Motor, r = 2 Equation (37)

Brake, r = 2 Equation (41)

Strut, r = 2 Equation (43)

Control, r = 1 Equation (47)

Pump, r = 2 Equation (45)

Force pattern, muscle Equation

, m = 1 Equation (35)

, m = 2 Equation (39)

, m = 3 Equation (42)

, m = 4 Equation (46)

, m = 5 Equation (44)

Maximum force, Equation (24)

Muscle fibre length, Equation (8)

0

Cross-sectional area, Equation (8)

Structure parameter,

4

3

2

1

Length change^*), Equation (26)

0

Maximum stress^*), Equation (12)

0

0

Maximum stiffness^*), Equation (19)

0

Natural frequency^*), Equation (15)

0

Energy change^*), Equation (21)

Moderate velocity^*), Equation (23)

0

0

0

0

0