Figure 1.

(a) Experimental set-up used for determining the relationships between joint angle and musculotendon length (i.e. tendon travel). (b) Approach used to determine the location of the centre of mass (COM) of each body segment. Calibrated photos of a segment attached to a string at three different points (I, II, III) are taken, with the line represented by the string in each photo passing through the COM. The images are then overlaid and rotated: the intersection of the lines from each rotated image provides the COM location. (Online version in colour.)