interact with their environment, humans must adjust the stiffness of their limbs. This is accomplished via the co-contraction of antagonistic muscle groups.

Humans use neural control along with the mechanical constraints of the body to adjust this stiffness as the body performs various tasks. It has been shown that humans change the stiffness of their limbs as they perform tasks such as hopping, performing accurate reaching tasks, or running on different surfaces.

While the exact method by which this neural-modulation of limb

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