Design of the musculoskeletal leg [Formula: see text] based on the physiology of mono-articular and biarticular muscles in the human leg.

In a lower extremity musculoskeletal leg, the actuation kinematics define the interaction of the actuators with each other and the environment. Design of such a kinematic chain is challenging due to the existence of the redundant biarticular actuators which simultaneously act on two joints, generating a parallel mechanism. Actuator kinematics is mainly dependent on the moment arm profile of the actuation system.