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Table 3 Symbol list of the biarticular muscular arrangement

From: Geometric conditions of a two-link-and-six muscle structure based on internal force stability

SymbolMeaning
\(\tilde{i} = 5,6\)The number of the biarticular muscle
\({\varvec{l}}_{\tilde{i}}\), \({\varvec{r}}_{\tilde{i}}\)The vectors from the rotational center of each joint to the muscular fixed points
\(l_{\tilde{i}}\), \(r_{\tilde{i}}\)The lengths of the vector \({\varvec{l}}_{\tilde{i}}\) and \({\varvec{r}}_{\tilde{i}}\)
\(\phi _{\tilde{i}}\)The angle between the base and the vector \({\varvec{l}}_{\tilde{i}}\)
\(\psi _{\tilde{i}}\)The angle between the base and the vector \({\varvec{r}}_{\tilde{i}}\)
\(\theta _{\phi \tilde{i}}\)The angle between \({\varvec{l}}_{\tilde{i}}\) and the 1st link
\(\theta _{\psi \tilde{i}}\)The angle between \({\varvec{r}}_{\tilde{i}}\) and the 1st link