Table 1.

Muscle properties and reflex gains in the neuromuscular model of human walking, from Geyer and Herr (2010).

Muscle	Gain factor	Fmax (N)	$v_{max}(l_{opt}{s}^{-1})$	lopt (cm)
HFL	0.35	2,000	12	11
GLU	0.4	1,500	12	11
HAM	0.65	3,000	12	10
GAS	1.1	1,500	12	8
VAS	1.15	6,000	12	5
SOL	1.2	4,000	6	6
TA	1.1	800	12	4