Fig. 4

Model validation results. a Representative joint angle estimation result from half-amplitude (top) and half-frequency (bottom) sweep trials (S1), b representative linearity plot of joint angle estimation (S1), c summary of NRMS estimation errors (error bars) and R-values (*) of joint angle estimation (S1-S5), d representative muscle fascicle length estimation result from half-amplitude (top) and half-frequency (bottom) sweep trials (S1), e representative linearity plot of muscle fascicle length estimation (S1), f summary of NRMS estimation errors (error bars) and R-values (*) of muscle fascicle length estimation (S1-S5). The dotted lines and solid lines in the estimation results indicate the measured values and estimation values from pMMS outputs, respectively. For the linearity plots, the solid lines and dotted lines indicate the mean and 1 S.D. of the pMMS linearity, respectively