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. Author manuscript; available in PMC: 2009 Dec 1.
Published in final edited form as: Biol Cybern. 2008 Nov 5;99(6):503–516. doi: 10.1007/s00422-008-0258-5

Fig. 1.

Fig. 1

Ankle-subtalar joint model with eight muscles and two DOF joint angles. (a) There are eight muscles around ankle-subtalar joints: MG, LG, Sol, TA, TP, PB, PL and PT. The knee joint is fixed and the gravitational direction is parallel to the shank direction. (b) System inputs are muscle excitation levels between 0 and 1. System outputs are angular displacements of ankle joint (dorsiflexion/plantar flexion) and subtalar joint (inversion/eversion).