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An Equivalent Linkage Model for Understanding Stiffness Effects of Biarticular Muscles


 The purpose of this paper is to describe a method for aiding in the intuitive understanding of the effects of bi-articular muscles on the stiffness of a limb. In particular, a kinematic analysis of a mechanical model of a human arm is performed. The results are manipulated into a form that makes evident a mathematical decomposition of the kinematics. This gives rise to a mechanical analog to the decomposition: an equivalent four-bar linkage with single-joint muscles. Further insight is gained as the equivalent linkage provides an intuitive direction associated with each set of muscles.