Table 1.

Motor-clutch model base parameter set

	Parameter	Symbol	Value
Motor parameters	Number of motors	nm	50
	Motor stall force	Fm	2 pN
	Motor unloaded velocity	vu	120 nm/s
Clutch parameters	Number of clutches	nc	50
	Clutch bond rupture force	Fb	2 pN
	Clutch on-rate	kon	0.3 s−1
	Clutch unloaded off-rate	koff	0.1 s−1
	Clutch spring constant	κc	0.8 pN/nm