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