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. 2021 Feb 15;115(1):7–37. doi: 10.1007/s00422-020-00856-4

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© The Author(s) 2021, corrected publication 2021

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Fig. 5 — Simulation results of quiet upright stance. From top to bottom the trajectories of the body’s COM, the joint angle sway of left and right (l/r) Hp, Kn and An FE joints, the respective control errors on joint torques, the control error of CE lengths for the An Ex, the resulting MTU stimulations, and forces for the An Ex and Fx MTUs are displayed. The body’s COM position is anterior to the ankle joints at all times (Smith 1957)