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The gain of Q(jω) over a range of frequencies, where Q(s) is the transfer function from the muscle bending moment u1 to the tail–tip velocity. The speed is v = 1.2 m s−1 and the tail stiffness is specified as k1 = 0.85k2 and k2 = 0.117 Nm rad−1. There is a peak, or resonance frequency, at ωr = 3.51 Hz. (Online version in colour.)
