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(a) Results for the test simulation of the arm-shoulder model, showing the eleven joint angles in the sternoclavicular (SC), acromioclavicular (AC), glenohumeral (GH), elbow (EL) and pronation-supination (PS) joints; (b) RMS error in simulated joint angles as a function of time step in the first order Rosenbrock method. The 3 ms time step, which is the smallest that can be done in real time, is shown in red.
