Table 1. Default muscle model parameters.

Parameter	Value and unit
Maximum isometric force	Fmax = 2,000 N
Maximum shortening velocity	vCE(max) = 10 lCE(opt)/s
Maximum force during lengthening	gmax = 1.8 Fmax
Optimal fiber length	lCE(opt) = 7 cm
Activation time constant	Tact = 10 ms
Deactivation time constant	Tdeact = 40 ms
Tendon slack length	lSEE,slack = 8 cm
Pennation angle at optimal	ϕopt = 0.2 rad
Tendon strain at isometric force	eSEE,iso = 0.033
Passive muscle strain at isometric force	ePEE,iso = 0.6
Active force-length shape factor	Kact = 0.5
Passive force-length shape factor	Kpas = 4
Force-velocity shape factor	Af = 0.3