{TAIL ~ The method} comprises 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 {HEAD ~ optimized contact force} 
{ TAIL ~ The method } comprises 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 { HEAD ~ optimized contact force }
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