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. 2020 Feb 5;14:17. doi: 10.3389/fnins.2020.00017

Figure 1.

Figure 1

Neuromusculoskeletal model: (A) musculoskeletal model walking on a treadmill and (B) motor command composed of the linear combination of five rectangular pulses based on the muscle synergy hypothesis, and identification of the muscles activated by each pulse. Each sole has four contact points (two for the toe part and the others for the heel part) to receive reaction forces from the treadmill belt through linear spring and damper systems for each point.