Fig. 2.

Root-mean-square errors and R² values for medial, lateral, and total knee contact force predictions from all optimizations. For the Calibrate+Match cases, muscle model parameter values were calibrated to match experimental knee contact forces. For the Precalibrate+Predict cases, experimental knee contact forces were predicted using precalibrated muscle model parameter values from the first case. For the Calibrate+Predict cases, muscle model parameter values were calibrated while knee contact forces were predicted simultaneously. Subcases that used synergy controls are indicated by the label Syn, while subcases that used independent controls are indicated by the label Ind. Subcases that tracked EMG shapes are indicated by the additional label EMG.