The method comprises a step for optimizing {TAIL ~ a contact force τC} received from an environment using acquired floor reaction force data and a step for optimizing the muscle tension f using acquired motion data, {HEAD ~ acquired myogenic potential data}, and optimized contact force 
The method comprises a step for optimizing { TAIL ~ a contact force τC } received from an environment using acquired floor reaction force data and a step for optimizing the muscle tension f using acquired motion data , { HEAD ~ acquired myogenic potential data } , and optimized contact force
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