{HEAD ~ The method} comprises {TAIL ~ a step} for optimizing 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, acquired myogenic potential data, and optimized contact force 
comprises
{ HEAD ~ The method } comprises { TAIL ~ a step } for optimizing 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 , acquired myogenic potential data , and optimized contact force
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