The method comprises a step for optimizing {HEAD ~ a contact force τC} received from {TAIL ~ 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 
received from
The method comprises a step for optimizing { HEAD ~ a contact force τC } received from { TAIL ~ 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
OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH