Table 1 Physical parameters for numerical simulation (2-link and 6-muscle system)

Link mass (\(m_1\), \(m_2\)) [kg]

(1.678, 0.950)

Link length (\(l_1\), \(l_2\)) [m]

(0.315, 0.234)

Length from joint to COG

(0.158, 0.117)

(\(l_{g1}\), \(l_{g2}\)) [m]

Link MOI (\(I_{1}\), \(I_{2}\)) [kg\(\mathrm {m^2}\)]

(0.011, 0.004)

Joint viscous coefficient [Nm \(\cdot\) s/rad]

(0.1, 0.1)

(\(\mu _1\), \(\mu _2\)) [Nm \(\cdot\) s/rad]

Muscular arrangement

 (\(h_1\), \(h_2\),..., \(h_8\)) [m]

0.05

 (\(b_{y1}\), \(b_{y2}\), \(b_{y3}\), \(b_{y4}\)) [m]

0.01

 (\(d_1\), \(d_2\),..., \(d_8\)) [m]

0.02

 (\(b_{x1}\), \(b_{x2}\), \(b_{x3}\), \(b_{x4}\)) [m]

0.12