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 {HEAD ~ the muscle tension} f using acquired motion data, acquired myogenic potential data, and {TAIL ~ optimized contact force} 
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 { HEAD ~ the muscle tension } f using acquired motion data , acquired myogenic potential data , and { TAIL ~ optimized contact force }
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 HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH REL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL