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. 2018 Jun 13;5(6):171628. doi: 10.1098/rsos.171628

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© 2018 The Authors.

Published by the Royal Society under the terms of the Creative Commons Attribution License http://creativecommons.org/licenses/by/4.0/, which permits unrestricted use, provided the original author and source are credited.

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Figure 6. — Muscular activity. Example of muscular activity amplitude profile (solid black line) described by cubic B-spline through N_m=8 control points $({\hat{S}}_{i}, β_{i})$ with i=0,…,N_m−1. The control points are located along the filament at the positions ${\hat{S}}_{i}$ , and are associated with the amplitude values β_i. The first and last control points are fixed so that $({\hat{S}}_{0}, β_{0}) = (0, 0)$ and $({\hat{S}}_{N_{m} - 1}, β_{N_{m} - 1}) = (\hat{L}, 0)$ , therefore assuming the ends of the deforming body to be free.