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. 2022 Jul 7;12:9842. doi: 10.1038/s41598-022-13386-9

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© The Author(s) 2022

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Contributions to knee contact force during walking. Muscle force contributions to knee contact force (red) exceed the intersegmental force contribution (blue), which is the reaction force from inverse dynamics. Muscle force contributions are dominated by the hamstrings during the first 10% of stance, the quadriceps from 10–40% stance, and the gastrocnemius from 40 to 90% stance. Forces are shown in terms of bodyweight (BW) for the 10 healthy subjects in this study, and muscle activations were estimated by minimizing the sum of squared activations using static optimization.