Fig 7. Estimates of muscle activity during walking.

MocoInverse produced muscle activations (black) whose timing was similar to the timing from electromyography measurements (gray) for all muscles shown except iliacus. Electromyography for gluteus maximus and iliacus comes from Perry and Burnfield [68]; electromyography for all other muscles comes from Rajagopal et al. [59] and was normalized such that its peak matched the peak of the MocoInverse activations. Adding a cost term for knee joint loading reduced the activity of the biceps femoris short head and medial gastrocnemius, which span the knee (blue), and increased the activity of other muscles to ensure the original prescribed motion was achieved.