Table 3.

Summary of muscle setup after optimization with static control signals for achieving stable equilibria at all positions required in subsequent feedback control.

Muscle	Origin [m]	Insertion [m]	lm [m] Min	Optimal (l0)	Max	Fmax [N]	vmax [l0/s]
Elbow flexor	0.239	0.078	0.168	0.31	0.336	138	11.6
Elbow extensor	0.239	0.078	0.336	0.447	0.468	138	11.6
Shoulder flexor	0.254	0.06	0.198	0.359	0.334	1523	11.2
Shoulder extensor	0.254	0.06	0.334	0.477	0.455	1523	11.2

Origin and insertion points are measured as distances from the joint axis.