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Neuromusculoskeletal model. A muscle pair actuated a one degree of freedom joint while being controlled by a spinal network with populations of motoneurons (MN), group Ia interneurons (IA), Renshaw cells (RC), inhibitory interneurons (IN), excitatory interneurons (EX) and group Ib interneurons (IB). Feedback is provided by Ia, Ib and II afferents
