{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,16]],"date-time":"2025-09-16T21:02:31Z","timestamp":1758056551691,"version":"3.44.0"},"reference-count":81,"publisher":"Springer Science and Business Media LLC","issue":"10","license":[{"start":{"date-parts":[[2025,5,24]],"date-time":"2025-05-24T00:00:00Z","timestamp":1748044800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,5,24]],"date-time":"2025-05-24T00:00:00Z","timestamp":1748044800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/501100020884","name":"Agencia Nacional de Investigaci\u00f3n y Desarrollo","doi-asserted-by":"publisher","award":["PID2021-125694OB-I00"],"award-info":[{"award-number":["PID2021-125694OB-I00"]}],"id":[{"id":"10.13039\/501100020884","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100016386","name":"Conselleria de Innovaci\u00f3n, Universidades, Ciencia y Sociedad Digital, Generalitat Valenciana","doi-asserted-by":"publisher","award":["CIAICO\/2023\/074"],"award-info":[{"award-number":["CIAICO\/2023\/074"]}],"id":[{"id":"10.13039\/501100016386","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Med Biol Eng Comput"],"published-print":{"date-parts":[[2025,10]]},"DOI":"10.1007\/s11517-025-03376-0","type":"journal-article","created":{"date-parts":[[2025,5,23]],"date-time":"2025-05-23T19:40:26Z","timestamp":1748029226000},"page":"3053-3065","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Estimation of the equivalent external force using a musculoskeletal model with muscle coactivation"],"prefix":"10.1007","volume":"63","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7284-2181","authenticated-orcid":false,"given":"Pau","family":"Zamora-Ortiz","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6535-9098","authenticated-orcid":false,"given":"Rafael J.","family":"Escarabajal","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0403-4593","authenticated-orcid":false,"given":"Jos\u00e9 L.","family":"Pulloquinga","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6843-6394","authenticated-orcid":false,"given":"\u00c1ngel","family":"Valera","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6396-0098","authenticated-orcid":false,"given":"Marina","family":"Valles","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,5,24]]},"reference":[{"issue":"3","key":"3376_CR1","doi-asserted-by":"publisher","first-page":"313","DOI":"10.1016\/0021-9290(73)90053-5","volume":"6","author":"A Seireg","year":"1973","unstructured":"Seireg A, Arvikar R (1973) A mathematical model for evaluation of forces in lower extremeties of the musculo-skeletal system. J Biomech 6(3):313\u2013326. https:\/\/doi.org\/10.1016\/0021-9290(73)90053-5","journal-title":"J Biomech"},{"key":"3376_CR2","doi-asserted-by":"publisher","unstructured":"Wakeling JM, Febrer-Nafr\u00eda M, De Groote F (2023) A review of the efforts to develop muscle and musculoskeletal models for biomechanics in the last 50 years. J Biomech 111657. https:\/\/doi.org\/10.1016\/j.jbiomech.2023.111657","DOI":"10.1016\/j.jbiomech.2023.111657"},{"issue":"03","key":"3376_CR3","doi-asserted-by":"publisher","first-page":"1630001","DOI":"10.1142\/S0218957716300015","volume":"19","author":"TT Dao","year":"2016","unstructured":"Dao TT (2016) Rigid musculoskeletal models of the human body systems: a review. J Musculoskelet Res 19(03):1630001. https:\/\/doi.org\/10.1142\/S0218957716300015","journal-title":"J Musculoskelet Res"},{"issue":"5","key":"3376_CR4","doi-asserted-by":"publisher","first-page":"20200060","DOI":"10.1098\/rsfs.2020.0060","volume":"11","author":"AD Sylvester","year":"2021","unstructured":"Sylvester AD, Lautzenheiser SG, Kramer PA (2021) A review of musculoskeletal modelling of human locomotion. Interface Focus 11(5):20200060. https:\/\/doi.org\/10.1098\/rsfs.2020.0060","journal-title":"Interface Focus"},{"key":"3376_CR5","doi-asserted-by":"publisher","unstructured":"Alamdari A, Krovi VN (2017) A review of computational musculoskeletal analysis of human lower extremities. Human Modelling for Bio-inspired Robotics, 37\u201373. https:\/\/doi.org\/10.1016\/B978-0-12-803137-7.00003-3","DOI":"10.1016\/B978-0-12-803137-7.00003-3"},{"key":"3376_CR6","doi-asserted-by":"publisher","first-page":"213","DOI":"10.1016\/j.gaitpost.2018.07.172","volume":"65","author":"H Kainz","year":"2018","unstructured":"Kainz H, Goudriaan M, Falisse A, Huenaerts C, Desloovere K, De Groote F, Jonkers I (2018) The influence of maximum isometric muscle force scaling on estimated muscle forces from musculoskeletal models of children with cerebral palsy. Gait & Posture 65:213\u2013220. https:\/\/doi.org\/10.1016\/j.gaitpost.2018.07.172","journal-title":"Gait & Posture"},{"issue":"Supplement 1","key":"3376_CR7","doi-asserted-by":"publisher","first-page":"6107","DOI":"10.3233\/WOR-2012-1069-6107","volume":"41","author":"J Rasmussen","year":"2012","unstructured":"Rasmussen J, Boocock M, Paul G (2012) Advanced musculoskeletal simulation as an ergonomic design method. Work 41(Supplement 1):6107\u20136111. https:\/\/doi.org\/10.3233\/WOR-2012-1069-6107","journal-title":"Work"},{"issue":"3","key":"3376_CR8","doi-asserted-by":"publisher","first-page":"335","DOI":"10.1016\/j.medengphy.2013.12.007","volume":"36","author":"M Kia","year":"2014","unstructured":"Kia M, Stylianou AP, Guess TM (2014) Evaluation of a musculoskeletal model with prosthetic knee through six experimental gait trials. Med Eng Phys 36(3):335\u2013344. https:\/\/doi.org\/10.1016\/j.medengphy.2013.12.007","journal-title":"Med Eng Phys"},{"key":"3376_CR9","doi-asserted-by":"publisher","first-page":"283","DOI":"10.1016\/j.apergo.2017.11.015","volume":"68","author":"C Hansen","year":"2018","unstructured":"Hansen C, Gosselin F, Mansour KB, Devos P, Marin F (2018) Design-validation of a hand exoskeleton using musculoskeletal modeling. Appl Ergon 68:283\u2013288. https:\/\/doi.org\/10.1016\/j.apergo.2017.11.015","journal-title":"Appl Ergon"},{"issue":"8","key":"3376_CR10","doi-asserted-by":"publisher","first-page":"1463","DOI":"10.1589\/jpts.29.1463","volume":"29","author":"L Piano","year":"2017","unstructured":"Piano L, Maselli F, Viceconti A, Gianola S, Ciuro A (2017) Direct access to physical therapy for the patient with musculoskeletal disorders, a literature review. J Phys Ther Sci 29(8):1463\u20131471. https:\/\/doi.org\/10.1589\/jpts.29.1463","journal-title":"J Phys Ther Sci"},{"key":"3376_CR11","doi-asserted-by":"publisher","unstructured":"Araujo-G\u00f3mez P, D\u00edaz-Rodriguez M, Mata V, Valera A, Page A (2016) Design of a 3-UPS-RPU parallel robot for knee diagnosis and rehabilitation. In: Symposium on robot design, dynamics and control. Springer, pp 303\u2013310. https:\/\/doi.org\/10.1007\/978-3-319-33714-2_34","DOI":"10.1007\/978-3-319-33714-2_34"},{"key":"3376_CR12","doi-asserted-by":"publisher","first-page":"105292","DOI":"10.1016\/j.clinbiomech.2021.105292","volume":"83","author":"SH Smith","year":"2021","unstructured":"Smith SH, Coppack RJ, Bogert AJ, Bennett AN, Bull AM (2021) Review of musculoskeletal modelling in a clinical setting: current use in rehabilitation design, surgical decision making and healthcare interventions. Clin Biomech 83:105292. https:\/\/doi.org\/10.1016\/j.clinbiomech.2021.105292","journal-title":"Clin Biomech"},{"key":"3376_CR13","doi-asserted-by":"publisher","first-page":"129","DOI":"10.1016\/j.gaitpost.2017.05.015","volume":"56","author":"S Farrokhi","year":"2017","unstructured":"Farrokhi S, Jayabalan P, Gustafson JA, Klatt BA, Sowa GA, Piva SR (2017) The influence of continuous versus interval walking exercise on knee joint loading and pain in patients with knee osteoarthritis. Gait & Posture 56:129\u2013133. https:\/\/doi.org\/10.1016\/j.gaitpost.2017.05.015","journal-title":"Gait & Posture"},{"issue":"2","key":"3376_CR14","first-page":"145","volume":"2","author":"BJ Fregly","year":"2009","unstructured":"Fregly BJ (2009) Design of optimal treatments for neuromusculoskeletal disorders using patient-specific multibody dynamic models. Int J Comput Vis Biomech 2(2):145","journal-title":"Int J Comput Vis Biomech"},{"key":"3376_CR15","unstructured":"Hernandez S, Raison M, Baron L, Achiche S (2015) Refinement of exoskeleton design using multibody modeling: an overview. In: CCToMM mechanisms, machines, and mechatronics symposium, p 110"},{"issue":"5","key":"3376_CR16","doi-asserted-by":"publisher","first-page":"3269","DOI":"10.21595\/jve.2016.16857","volume":"18","author":"Z Pineda-Rico","year":"2016","unstructured":"Pineda-Rico Z, Lucio JA, Martinez Lopez FJ, Cruz P (2016) Design of an exoskeleton for upper limb robot-assisted rehabilitation based on co-simulation. J Vibroeng 18(5):3269\u20133278. https:\/\/doi.org\/10.21595\/jve.2016.16857","journal-title":"J Vibroeng"},{"issue":"4","key":"3376_CR17","doi-asserted-by":"publisher","DOI":"10.1115\/1.4044739","volume":"13","author":"EP Grabke","year":"2019","unstructured":"Grabke EP, Masani K, Andrysek J (2019) Lower limb assistive device design optimization using musculoskeletal modeling: a review. J Med Devices 13(4):040801. https:\/\/doi.org\/10.1115\/1.4044739","journal-title":"J Med Devices"},{"issue":"1","key":"3376_CR18","doi-asserted-by":"publisher","first-page":"16","DOI":"10.3390\/robotics9010016","volume":"9","author":"MA Gull","year":"2020","unstructured":"Gull MA, Bai S, Bak T (2020) A review on design of upper limb exoskeletons. Robotics 9(1):16. https:\/\/doi.org\/10.3390\/robotics9010016","journal-title":"Robotics"},{"issue":"3","key":"3376_CR19","doi-asserted-by":"publisher","first-page":"14","DOI":"10.1299\/jbse.14-00207","volume":"9","author":"K Ohta","year":"2014","unstructured":"Ohta K, Tanaka Y, Kawate I, Tsuji T (2014) Human muscular mobility ellipsoid: end-point acceleration manipulability measure in fast motion of human upper arm. J Biomech Sci Eng 9(3):14\u201300207. https:\/\/doi.org\/10.1299\/jbse.14-00207","journal-title":"J Biomech Sci Eng"},{"key":"3376_CR20","doi-asserted-by":"publisher","unstructured":"Petri\u010d T, Babi\u010d J et al (2016) Augmentation of human arm motor control by isotropic force manipulability. In: 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, pp 696\u2013701. https:\/\/doi.org\/10.1109\/IROS.2016.7759128","DOI":"10.1109\/IROS.2016.7759128"},{"key":"3376_CR21","doi-asserted-by":"publisher","unstructured":"Escarabajal RJ, Par\u00eds E, Petri\u010d T, Valera \u00c1, Mata V, Babi\u010d J (2023) Assistive upper-limb control using a novel measure of human muscular manipulability based on force envelopes. In: 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, pp 1\u20138. https:\/\/doi.org\/10.1109\/ROBIO58561.2023.10354618","DOI":"10.1109\/ROBIO58561.2023.10354618"},{"issue":"1","key":"3376_CR22","doi-asserted-by":"publisher","first-page":"000273","DOI":"10.1136\/bmjsem-2017-000273","volume":"4","author":"MB Czasche","year":"2018","unstructured":"Czasche MB, Goodwin JE, Bull AM, Cleather DJ (2018) Effects of an 8-week strength training intervention on tibiofemoral joint loading during landing: a cohort study. BMJ Open Sport Exerc Med 4(1):000273. https:\/\/doi.org\/10.1136\/bmjsem-2017-000273","journal-title":"BMJ Open Sport Exerc Med"},{"issue":"1","key":"3376_CR23","doi-asserted-by":"publisher","first-page":"9721079","DOI":"10.1155\/2018\/9721079","volume":"2018","author":"M Pl\u00fcss","year":"2018","unstructured":"Pl\u00fcss M, Schellenberg F, Taylor WR, Lorenzetti S (2018) Towards subject-specific strength training design through predictive use of musculoskeletal models. Appl Bionics Biomech 2018(1):9721079. https:\/\/doi.org\/10.1155\/2018\/9721079","journal-title":"Appl Bionics Biomech"},{"key":"3376_CR24","doi-asserted-by":"publisher","unstructured":"Rasmussen J, Holmberg LJ, S\u00f8rensen K, Kwan M, Andersen MS, Zee M (2012) Performance optimization by musculoskeletal simulation. Movement & Sport Sciences-Science & Motricit\u00e9 (75):73\u201383. https:\/\/doi.org\/10.3917\/sm.075.0073","DOI":"10.3917\/sm.075.0073"},{"issue":"2","key":"3376_CR25","doi-asserted-by":"publisher","first-page":"123","DOI":"10.1177\/1754337112440644","volume":"226","author":"AJ Bogert","year":"2012","unstructured":"Bogert AJ, Hupperets M, Schlarb H, Krabbe B (2012) Predictive musculoskeletal simulation using optimal control: effects of added limb mass on energy cost and kinematics of walking and running. Proc Inst Mech Eng Pt P J Sports Eng Tech 226(2):123\u2013133. https:\/\/doi.org\/10.1177\/1754337112440644","journal-title":"Proc Inst Mech Eng Pt P J Sports Eng Tech"},{"key":"3376_CR26","doi-asserted-by":"publisher","unstructured":"Walck C, Lamb C, Vilches P (2021) Movement optimization through musculoskeletal modeling and multidimensional surface interpolation. In: International symposium on computer methods in biomechanics and biomedical engineering. Springer, pp 59\u201364. https:\/\/doi.org\/10.1007\/978-3-031-10015-4_5","DOI":"10.1007\/978-3-031-10015-4_5"},{"issue":"10","key":"3376_CR27","doi-asserted-by":"publisher","first-page":"1284","DOI":"10.1080\/14763141.2021.1959947","volume":"23","author":"D Lloyd","year":"2024","unstructured":"Lloyd D (2024) The future of in-field sports biomechanics: wearables plus modelling compute real-time in vivo tissue loading to prevent and repair musculoskeletal injuries. Sports Biomech 23(10):1284\u20131312. https:\/\/doi.org\/10.1080\/14763141.2021.1959947","journal-title":"Sports Biomech"},{"key":"3376_CR28","doi-asserted-by":"publisher","unstructured":"Damsgaard M, Rasmussen J, Christensen ST (2001) Inverse dynamics of musculo-skeletal systems using an efficient min\/max muscle recruitment model. In: International design engineering technical conferences and computers and information in engineering conference, vol 80272. American Society of Mechanical Engineers, pp 407\u2013415. https:\/\/doi.org\/10.1115\/DETC2001\/VIB-21347","DOI":"10.1115\/DETC2001\/VIB-21347"},{"key":"3376_CR29","unstructured":"Forster E (2004) Predicting muscle forces in the human lower limb during locomotion. PhD thesis, Universit\u00e4t Ulm"},{"issue":"8","key":"3376_CR30","doi-asserted-by":"publisher","first-page":"1100","DOI":"10.1016\/j.simpat.2006.09.001","volume":"14","author":"M Damsgaard","year":"2006","unstructured":"Damsgaard M, Rasmussen J, Christensen ST, Surma E, De Zee M (2006) Analysis of musculoskeletal systems in the anybody modeling system. Simul Model Pract Theory 14(8):1100\u20131111. https:\/\/doi.org\/10.1016\/j.simpat.2006.09.001","journal-title":"Simul Model Pract Theory"},{"key":"3376_CR31","unstructured":"Uchida TK, Delp SL (2021) Biomechanics of movement: the science of sports, robotics, and rehabilitation. Mit Press, ???"},{"key":"3376_CR32","doi-asserted-by":"publisher","DOI":"10.3846\/biomdlore.2016.02","author":"J Shippen","year":"2016","unstructured":"Shippen J, May B (2016). BoB-biomechanics in MATLAB. https:\/\/doi.org\/10.3846\/biomdlore.2016.02","journal-title":"BoB-biomechanics in MATLAB."},{"issue":"4","key":"3376_CR33","doi-asserted-by":"publisher","first-page":"1040","DOI":"10.1137\/S1052623494240456","volume":"6","author":"TF Coleman","year":"1996","unstructured":"Coleman TF, Li Y (1996) A reflective newton method for minimizing a quadratic function subject to bounds on some of the variables. SIAM J Optim 6(4):1040\u20131058. https:\/\/doi.org\/10.1137\/S1052623494240456","journal-title":"SIAM J Optim"},{"issue":"1","key":"3376_CR34","doi-asserted-by":"publisher","first-page":"43","DOI":"10.1186\/s12984-022-01019-1","volume":"19","author":"A Cimolato","year":"2022","unstructured":"Cimolato A, Driessen JJ, Mattos LS, De Momi E, Laffranchi M, De Michieli L (2022) EMG-driven control in lower limb prostheses: a topic-based systematic review. J Neuroeng Rehabil 19(1):43. https:\/\/doi.org\/10.1186\/s12984-022-01019-1","journal-title":"J Neuroeng Rehabil"},{"key":"3376_CR35","doi-asserted-by":"publisher","first-page":"111143","DOI":"10.1016\/j.jbiomech.2022.111143","volume":"139","author":"J Guo","year":"2022","unstructured":"Guo J, Chen J, Wang J, Ren G, Tian Q, Guo C (2022) EMG-assisted forward dynamics simulation of subject-specific mandible musculoskeletal system. J Biomech 139:111143. https:\/\/doi.org\/10.1016\/j.jbiomech.2022.111143","journal-title":"J Biomech"},{"key":"3376_CR36","doi-asserted-by":"publisher","first-page":"111987","DOI":"10.1016\/j.jbiomech.2024.111987","volume":"164","author":"MIM Refai","year":"2024","unstructured":"Refai MIM, Moya-Esteban A, Sartori M (2024) Electromyography-driven musculoskeletal models with time-varying fatigue dynamics improve lumbosacral joint moments during lifting. J Biomech 164:111987. https:\/\/doi.org\/10.1016\/j.jbiomech.2024.111987","journal-title":"J Biomech"},{"key":"3376_CR37","doi-asserted-by":"publisher","first-page":"657","DOI":"10.7717\/peerj-cs.657","volume":"7","author":"J Yu","year":"2021","unstructured":"Yu J, Zhang S, Wang A, Li W, Song L (2021) Musculoskeletal modeling and humanoid control of robots based on human gait data. PeerJ Comp Sci 7:657. https:\/\/doi.org\/10.7717\/peerj-cs.657","journal-title":"PeerJ Comp Sci"},{"issue":"1","key":"3376_CR38","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1007\/s11044-023-09938-0","volume":"60","author":"U Lugr\u00eds","year":"2024","unstructured":"Lugr\u00eds U, P\u00e9rez-Soto M, Michaud F, Cuadrado J (2024) Human motion capture, reconstruction, and musculoskeletal analysis in real time. Multibody Sys Dyn 60(1):3\u201325. https:\/\/doi.org\/10.1007\/s11044-023-09938-0","journal-title":"Multibody Sys Dyn"},{"issue":"5","key":"3376_CR39","doi-asserted-by":"publisher","first-page":"577","DOI":"10.1080\/10255840903352540","volume":"13","author":"N Farhat","year":"2010","unstructured":"Farhat N, Mata V, Rosa D, Fayos J (2010) A procedure for estimating the relevant forces in the human knee using a four-bar mechanism. Comput Methods Biomech Biomed Engin 13(5):577\u2013587. https:\/\/doi.org\/10.1080\/10255840903352540","journal-title":"Comput Methods Biomech Biomed Engin"},{"key":"3376_CR40","doi-asserted-by":"publisher","unstructured":"Zamora\u00a0Ortiz P (2023) Modelo m\u00fasculo-esquel\u00e9tico del miembro inferior para rehabilitaci\u00f3n con robot paralelo. PhD thesis, Universitat Polit\u00e8cnica de Val\u00e8ncia. https:\/\/doi.org\/10.4995\/Thesis\/10251\/199483","DOI":"10.4995\/Thesis\/10251\/199483"},{"issue":"9","key":"3376_CR41","doi-asserted-by":"publisher","first-page":"663","DOI":"10.1016\/0021-9290(84)90120-9","volume":"17","author":"J Dul","year":"1984","unstructured":"Dul J, Townsend M, Shiavi R, Johnson G (1984) Muscular synergism\u2014I. On criteria for load sharing between synergistic muscles. J Biomech 17(9):663\u2013673. https:\/\/doi.org\/10.1016\/0021-9290(84)90120-9","journal-title":"J Biomech"},{"issue":"9","key":"3376_CR42","doi-asserted-by":"publisher","first-page":"675","DOI":"10.1016\/0021-9290(84)90121-0","volume":"17","author":"J Dul","year":"1984","unstructured":"Dul J, Johnson G, Shiavi R, Townsend M (1984) Muscular synergism\u2014II. A minimum-fatigue criterion for load sharing between synergistic muscles. J Biomech 17(9):675\u2013684. https:\/\/doi.org\/10.1016\/0021-9290(84)90121-0","journal-title":"J Biomech"},{"issue":"3","key":"3376_CR43","doi-asserted-by":"publisher","first-page":"139","DOI":"10.1243\/PIME_PROC_1993_207_286_02","volume":"207","author":"J Challis","year":"1993","unstructured":"Challis J, Kerwin D (1993) An analytical examination of muscle force estimations using optimization techniques. Proc Inst Mech Eng Part H: J Eng Med 207(3):139\u2013148. https:\/\/doi.org\/10.1243\/PIME_PROC_1993_207_286_02","journal-title":"Proc Inst Mech Eng Part H: J Eng Med"},{"key":"3376_CR44","doi-asserted-by":"publisher","first-page":"249","DOI":"10.1007\/s004220050560","volume":"81","author":"B Van Bolhuis","year":"1999","unstructured":"Van Bolhuis B, Gielen C (1999) A comparison of models explaining muscle activation patterns for isometric contractions. Biol Cybern 81:249\u2013261. https:\/\/doi.org\/10.1007\/s004220050560","journal-title":"Biol Cybern"},{"issue":"3","key":"3376_CR45","doi-asserted-by":"publisher","first-page":"409","DOI":"10.1016\/S0021-9290(00)00191-3","volume":"34","author":"J Rasmussen","year":"2001","unstructured":"Rasmussen J, Damsgaard M, Voigt M (2001) Muscle recruitment by the min\/max criterion\u2014a comparative numerical study. J Biomech 34(3):409\u2013415. https:\/\/doi.org\/10.1016\/S0021-9290(00)00191-3","journal-title":"J Biomech"},{"issue":"10","key":"3376_CR46","doi-asserted-by":"publisher","first-page":"1108","DOI":"10.1177\/0954411914556790","volume":"228","author":"R Dumas","year":"2014","unstructured":"Dumas R, Moissenet F, Lafon Y, Cheze L (2014) Multi-objective optimisation for musculoskeletal modelling: application to a planar elbow model. Proc Inst Mech Eng Part H: J Eng Med 228(10):1108\u20131113. https:\/\/doi.org\/10.1177\/0954411914556790","journal-title":"Proc Inst Mech Eng Part H: J Eng Med"},{"issue":"11","key":"3376_CR47","doi-asserted-by":"publisher","first-page":"793","DOI":"10.1016\/0021-9290(81)90035-X","volume":"14","author":"RD Crowninshield","year":"1981","unstructured":"Crowninshield RD, Brand RA (1981) A physiologically based criterion of muscle force prediction in locomotion. J Biomech 14(11):793\u2013801. https:\/\/doi.org\/10.1016\/0021-9290(81)90035-X","journal-title":"J Biomech"},{"key":"3376_CR48","doi-asserted-by":"publisher","first-page":"663","DOI":"10.7717\/peerj-cs.663","volume":"7","author":"Y Smirnov","year":"2021","unstructured":"Smirnov Y, Smirnov D, Popov A, Yakovenko S (2021) Solving musculoskeletal biomechanics with machine learning. PeerJ Comp Sci 7:663. https:\/\/doi.org\/10.7717\/peerj-cs.663","journal-title":"PeerJ Comp Sci"},{"key":"3376_CR49","doi-asserted-by":"crossref","unstructured":"Hicks JL, Uchida TK, Seth A, Rajagopal A, Delp SL (2015) Is my model good enough? Best practices for verification and validation of musculoskeletal models and simulations of movement. J Biomech Eng 137(2)","DOI":"10.1115\/1.4029304"},{"issue":"2","key":"3376_CR50","doi-asserted-by":"publisher","first-page":"239","DOI":"10.1016\/j.clinbiomech.2006.10.003","volume":"22","author":"MK Horsman","year":"2007","unstructured":"Horsman MK, Koopman HF, Helm FC, Pros\u00e9 LP, Veeger H (2007) Morphological muscle and joint parameters for musculoskeletal modelling of the lower extremity. Clin Biomech 22(2):239\u2013247. https:\/\/doi.org\/10.1016\/j.clinbiomech.2006.10.003","journal-title":"Clin Biomech"},{"key":"3376_CR51","unstructured":"Karush W (1939) Minima of functions of several variables with inequalities as side constraints. M Sc Dissertation Dept of Mathematics, Univ of Chicago"},{"key":"3376_CR52","unstructured":"Harold H, Tucker A (1951) Nonlinear programming. In: Proceedings of the second berkeley symposium on mathematical statistics and probability, vol 5"},{"key":"3376_CR53","unstructured":"Jahnke HN (2003) A history of analysis (history of mathematics vol 24). American Mathematical Society, Providence"},{"key":"3376_CR54","doi-asserted-by":"publisher","first-page":"275","DOI":"10.1097\/00003086-198310000-00042","volume":"179","author":"TL Wickiewicz","year":"1983","unstructured":"Wickiewicz TL, Roy RR, Powell PL, Edgerton VR (1983) Muscle architecture of the human lower limb. Clin Orthop Relat Res 179:275\u2013283. https:\/\/doi.org\/10.1097\/00003086-198310000-00042","journal-title":"Clin Orthop Relat Res"},{"issue":"8","key":"3376_CR55","doi-asserted-by":"publisher","first-page":"589","DOI":"10.1016\/0021-9290(86)90164-8","volume":"19","author":"RA Brand","year":"1986","unstructured":"Brand RA, Pedersen DR, Friederich JA (1986) The sensitivity of muscle force predictions to changes in physiologic cross-sectional area. J Biomech 19(8):589\u2013596. https:\/\/doi.org\/10.1016\/0021-9290(86)90164-8","journal-title":"J Biomech"},{"issue":"1","key":"3376_CR56","doi-asserted-by":"publisher","first-page":"91","DOI":"10.1016\/0021-9290(90)90373-B","volume":"23","author":"JA Friederich","year":"1990","unstructured":"Friederich JA, Brand RA (1990) Muscle fiber architecture in the human lower limb. J Biomech 23(1):91\u201395. https:\/\/doi.org\/10.1016\/0021-9290(90)90373-B","journal-title":"J Biomech"},{"key":"3376_CR57","doi-asserted-by":"crossref","unstructured":"Cramer GD, Darby SA (2013) Clinical anatomy of the spine, spinal cord, and ans","DOI":"10.1016\/B978-0-323-07954-9.00003-7"},{"issue":"8","key":"3376_CR58","doi-asserted-by":"publisher","first-page":"757","DOI":"10.1109\/10.102791","volume":"37","author":"SL Delp","year":"1990","unstructured":"Delp SL, Loan JP, Hoy MG, Zajac FE, Topp EL, Rosen JM (1990) An interactive graphics-based model of the lower extremity to study orthopaedic surgical procedures. IEEE Trans Biomed Eng 37(8):757\u2013767. https:\/\/doi.org\/10.1109\/10.102791","journal-title":"IEEE Trans Biomed Eng"},{"issue":"1","key":"3376_CR59","doi-asserted-by":"publisher","first-page":"21","DOI":"10.1016\/0010-4825(95)98882-E","volume":"25","author":"SL Delp","year":"1995","unstructured":"Delp SL, Loan JP (1995) A graphics-based software system to develop and analyze models of musculoskeletal structures. Comput Biol Med 25(1):21\u201334. https:\/\/doi.org\/10.1016\/0010-4825(95)98882-E","journal-title":"Comput Biol Med"},{"issue":"2","key":"3376_CR60","doi-asserted-by":"publisher","first-page":"239","DOI":"10.1016\/j.clinbiomech.2006.10.003","volume":"22","author":"MD Klein Horsman","year":"2007","unstructured":"Klein Horsman MD, Koopman HFJM, van der Helm FCT, Pros\u00e9 LP, Veeger HEJ (2007) Morphological muscle and joint parameters for musculoskeletal modelling of the lower extremity. Clin Biomech 22(2):239\u2013247. https:\/\/doi.org\/10.1016\/j.clinbiomech.2006.10.003","journal-title":"Clin Biomech"},{"issue":"4","key":"3376_CR61","doi-asserted-by":"publisher","first-page":"1074","DOI":"10.1007\/s11999-008-0594-8","volume":"467","author":"SR Ward","year":"2009","unstructured":"Ward SR, Eng CM, Smallwood LH, Lieber RL (2009) Are current measurements of lower extremity muscle architecture accurate? Clin Orthop Relat Res 467(4):1074\u20131082. https:\/\/doi.org\/10.1007\/s11999-008-0594-8","journal-title":"Clin Orthop Relat Res"},{"issue":"5","key":"3376_CR62","doi-asserted-by":"publisher","first-page":"734","DOI":"10.1016\/j.jbiomech.2014.12.034","volume":"48","author":"V Carbone","year":"2015","unstructured":"Carbone V, Fluit R, Pellikaan P, Van Der Krogt M, Janssen D, Damsgaard M, Vigneron L, Feilkas T, Koopman HF, Verdonschot N (2015) TLEM 2.0-a comprehensive musculoskeletal geometry dataset for subject-specific modeling of lower extremity. J Biomech 48(5):734\u2013741. https:\/\/doi.org\/10.1016\/j.jbiomech.2014.12.034","journal-title":"J Biomech"},{"issue":"1","key":"3376_CR63","doi-asserted-by":"publisher","first-page":"88","DOI":"10.2106\/00004623-198870010-00014","volume":"70","author":"ES Grood","year":"1988","unstructured":"Grood ES, Stowers SF, Noyes FR (1988) Limits of movement in the human knee. Effect of sectioning the posterior cruciate ligament and posterolateral structures. JBJS 70(1):88\u201397. https:\/\/doi.org\/10.2106\/00004623-198870010-00014","journal-title":"JBJS"},{"issue":"4","key":"3376_CR64","doi-asserted-by":"publisher","first-page":"223","DOI":"10.1243\/PIME_PROC_1989_203_043_01","volume":"203","author":"J O\u2019connor","year":"1989","unstructured":"O\u2019connor J, Shercliff T, Biden E, Goodfellow J (1989) The geometry of the knee in the sagittal plane. Proc Inst Mech Eng Part H: J Eng Med 203(4):223\u2013233. https:\/\/doi.org\/10.1243\/PIME_PROC_1989_203_043_01","journal-title":"Proc Inst Mech Eng Part H: J Eng Med"},{"key":"3376_CR65","doi-asserted-by":"publisher","first-page":"35","DOI":"10.1097\/01.blo.0000063598.67412.0d","volume":"410","author":"M Freeman","year":"2003","unstructured":"Freeman M, Pinskerova V (2003) The movement of the knee studied by magnetic resonance imaging. Clin Orthop Related Research\u00ae 410:35\u201343. https:\/\/doi.org\/10.1097\/01.blo.0000063598.67412.0d","journal-title":"Clin Orthop Related Research\u00ae"},{"issue":"6","key":"3376_CR66","doi-asserted-by":"publisher","first-page":"061004","DOI":"10.1115\/1.4037800","volume":"9","author":"P Araujo-G\u00f3mez","year":"2017","unstructured":"Araujo-G\u00f3mez P, Mata V, D\u00edaz-Rodr\u00edguez M, Valera A, Page A (2017) Design and kinematic analysis of a novel 3U PS\/RPU parallel kinematic mechanism with 2T2R motion for knee diagnosis and rehabilitation tasks. J Mech Robot 9(6):061004. https:\/\/doi.org\/10.1115\/1.4037800","journal-title":"J Mech Robot"},{"key":"3376_CR67","doi-asserted-by":"publisher","unstructured":"Aginaga J, Iriarte X, Plaza A, Mata V (2018) Kinematic design of a new four degree-of-freedom parallel robot for knee rehabilitation. J Mech Des 140(9):092304. https:\/\/doi.org\/10.1115\/1.4040168","DOI":"10.1115\/1.4040168"},{"issue":"14","key":"3376_CR68","doi-asserted-by":"publisher","first-page":"5803","DOI":"10.3390\/su12145803","volume":"12","author":"C Llopis-Albert","year":"2020","unstructured":"Llopis-Albert C, Valero F, Mata V, Pulloquinga JL, Zamora-Ortiz P, Escarabajal RJ (2020) Optimal reconfiguration of a parallel robot for forward singularities avoidance in rehabilitation therapies. A comparison via different optimization methods. Sustainability 12(14):5803. https:\/\/doi.org\/10.3390\/su12145803","journal-title":"Sustainability"},{"issue":"12","key":"3376_CR69","doi-asserted-by":"publisher","first-page":"4080","DOI":"10.3390\/s21124080","volume":"21","author":"JL Pulloquinga","year":"2021","unstructured":"Pulloquinga JL, Escarabajal RJ, Ferr\u00e1ndiz J, Vall\u00e9s M, Mata V, Ur\u00edzar M (2021) Vision-based hybrid controller to release a 4-DOF parallel robot from a type II singularity. Sensors 21(12):4080. https:\/\/doi.org\/10.3390\/s21124080","journal-title":"Sensors"},{"issue":"5","key":"3376_CR70","doi-asserted-by":"publisher","first-page":"2790","DOI":"10.3390\/s23052790","volume":"23","author":"RJ Escarabajal","year":"2023","unstructured":"Escarabajal RJ, Pulloquinga JL, Mata V, Valera \u00c1, D\u00edaz-Rodr\u00edguez M (2023) Model-based control of a 4-DOF rehabilitation parallel robot with online identification of the gravitational term. Sensors 23(5):2790. https:\/\/doi.org\/10.3390\/s23052790","journal-title":"Sensors"},{"key":"3376_CR71","volume-title":"New anatomy for strength & fitness training: an illustrated guide to your muscles in action including exercises used in CrossFit\u00ae, P90X\u00ae, and other popular fitness programs","author":"M Vella","year":"2018","unstructured":"Vella M (2018) New anatomy for strength & fitness training: an illustrated guide to your muscles in action including exercises used in CrossFit\u00ae, P90X\u00ae, and other popular fitness programs. Fox Chapel Publishing, Pennsylvania, USA"},{"issue":"4","key":"3376_CR72","first-page":"167","volume":"36","author":"R Merletti","year":"2000","unstructured":"Merletti R (2000) Surface electromyography: the SENIAM project. Eur J Phys Rehabil Med 36(4):167","journal-title":"Eur J Phys Rehabil Med"},{"issue":"1","key":"3376_CR73","doi-asserted-by":"publisher","first-page":"37","DOI":"10.1016\/j.jneumeth.2003.10.014","volume":"134","author":"A Rainoldi","year":"2004","unstructured":"Rainoldi A, Melchiorri G, Caruso I (2004) A method for positioning electrodes during surface EMG recordings in lower limb muscles. J Neurosci Methods 134(1):37\u201343. https:\/\/doi.org\/10.1016\/j.jneumeth.2003.10.014","journal-title":"J Neurosci Methods"},{"issue":"4","key":"3376_CR74","doi-asserted-by":"publisher","first-page":"560","DOI":"10.1016\/j.gaitpost.2006.12.018","volume":"26","author":"A Leardini","year":"2007","unstructured":"Leardini A, Sawacha Z, Paolini G, Ingrosso S, Nativo R, Benedetti MG (2007) A new anatomically based protocol for gait analysis in children. Gait & Posture 26(4):560\u2013571. https:\/\/doi.org\/10.1016\/j.gaitpost.2006.12.018","journal-title":"Gait & Posture"},{"key":"3376_CR75","doi-asserted-by":"publisher","unstructured":"Wand MP, Jones MC (1994) Kernel smoothing. Monographs on statistics and applied probability, vol 60. CRC Press, Florida, USA. https:\/\/doi.org\/10.1201\/b14876","DOI":"10.1201\/b14876"},{"key":"3376_CR76","doi-asserted-by":"publisher","unstructured":"Cleveland WS, Loader C (1996) Smoothing by local regression: principles and methods. In: Statistical theory and computational aspects of smoothing: proceedings of the COMPSTAT\u201994 satellite meeting held in Semmering, Austria, 27\u201328 August 1994. Springer, pp 10\u201349. https:\/\/doi.org\/10.1007\/978-3-642-48425-4_2","DOI":"10.1007\/978-3-642-48425-4_2"},{"key":"3376_CR77","volume-title":"The state of the art on sensors and sensor placement procedures for surface electromyography: a proposal for sensor placement procedures","author":"H Hermens","year":"1997","unstructured":"Hermens H, Freriks B (1997) The state of the art on sensors and sensor placement procedures for surface electromyography: a proposal for sensor placement procedures. Roessingh Research and Development Enschede, The Netherlands, The Netherlands"},{"issue":"6","key":"3376_CR78","doi-asserted-by":"publisher","first-page":"1096","DOI":"10.1016\/j.jbiomech.2005.02.008","volume":"39","author":"V Camomilla","year":"2006","unstructured":"Camomilla V, Cereatti A, Vannozzi G, Cappozzo A (2006) An optimized protocol for hip joint centre determination using the functional method. J Biomech 39(6):1096\u20131106. https:\/\/doi.org\/10.1016\/j.jbiomech.2005.02.008","journal-title":"J Biomech"},{"issue":"4","key":"3376_CR79","doi-asserted-by":"publisher","first-page":"201","DOI":"10.1080\/0002889748507023","volume":"35","author":"LS Caldwell","year":"1974","unstructured":"Caldwell LS, Chaffin DB, Dukes-Dobos FN, Kroemer K, Laubach LL, Snook SH, Wasserman DE (1974) A proposed standard procedure for static muscle strength testing. Am Ind Hyg Assoc J 35(4):201\u2013206. https:\/\/doi.org\/10.1080\/0002889748507023","journal-title":"Am Ind Hyg Assoc J"},{"key":"3376_CR80","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/BF00421195","volume":"45","author":"K Kroemer","year":"1980","unstructured":"Kroemer K, Marras WS (1980) Towards an objective assessment of the \u201cmaximal voluntary contraction\u2019\u2019 component in routine muscle strength measurements. Eur J Appl Physiol 45:1\u20139. https:\/\/doi.org\/10.1007\/BF00421195","journal-title":"Eur J Appl Physiol"},{"issue":"4","key":"3376_CR81","first-page":"840","volume":"218","author":"LJ Williams","year":"2010","unstructured":"Williams LJ, Abdi H (2010) Fisher\u2019s least significant difference (LSD) test. Encyclopedia Res Design 218(4):840\u2013853","journal-title":"Encyclopedia Res Design"}],"container-title":["Medical &amp; Biological Engineering &amp; Computing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11517-025-03376-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11517-025-03376-0\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11517-025-03376-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,15]],"date-time":"2025-09-15T17:03:00Z","timestamp":1757955780000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11517-025-03376-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,5,24]]},"references-count":81,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2025,10]]}},"alternative-id":["3376"],"URL":"https:\/\/doi.org\/10.1007\/s11517-025-03376-0","relation":{},"ISSN":["0140-0118","1741-0444"],"issn-type":[{"type":"print","value":"0140-0118"},{"type":"electronic","value":"1741-0444"}],"subject":[],"published":{"date-parts":[[2025,5,24]]},"assertion":[{"value":"9 December 2024","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"2 May 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"24 May 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}