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TableĀ 2 Design specifications of the multifilament thin McKibben muscles for the ankle

From: Musculoskeletal lower-limb robot driven by multifilament muscles

Muscle Number of thin McKibben muscles Length of constriction (mm)
Gastrocnemius 30 each 300
Soleus 40 300
Plantaris 10 300
Tibialis anterior 40 300
Tibialis posterior 26 300
Fibularis tertius 10 100
Fibularis longus 30 300
Fibularis brevis 40 160
Flexor digitorum longus 30 300
Extensor digitorum longus 30 300
Flexor hallucis longus 20 250
Extensor hallucis longus 20 250