Figure 5.

Average time histories of the 50 muscle forces during the stance phase of gait. Muscle name abbreviations are defined in Table 3 (Patak and Baldwin). Small variations in individual gait led to the optimization routine calculating somewhat different individual muscle forces for the two individual emus. For example, in Emu #1, but not in Emu #2, the gastrocnemius muscles were responsible for large force generation over the duration of the stance phase.