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Normalized estimated torques for random contraction. (red: measured, magenta: estimated by the model of GAS, green: estimated by the model of SOL, blue: sum of both models) (A) result obtained with the linear Hill model. (B) result obtained with the modified nonlinear Hill model. (C.1) result obtained with the multi-scale physiology based model. (C.2) The corresponding active muscle stiffness kc estimated with the proposed model.
