Muscle Synergies Heavily Influence the Neural Control of Arm Endpoint Stiffness and Energy Consumption

doi:10.1371/journal.pcbi.1004737

Muscle Synergies Heavily Influence the Neural Control of Arm Endpoint Stiffness and Energy Consumption

Fig 3

Reformulation of stiffness equations.

Obtaining Eq 10 requires that we transform the matrices in Eq 7. In this way, the vector can be expressed as a set of linear equations in . These linear equations become the linear constraints for endpoint stiffness that we use to solve the quadratic programming problem to minimize energy. (•) denotes element-by-element multiplication, and R_i is the i^th row of R.

doi: https://doi.org/10.1371/journal.pcbi.1004737.g003