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Static Forces And Moments Generated In The Insect Leg: Comparison Of A Three-Dimensional Musculo-Skeletal Computer Model With Experimental Measurements, Robert J. Full, Anna N. Ahn

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As a first step towards the integration of information on neural control, biomechanics and isolated muscle function, we constructed a three-dimensional musculo-skeletal model of the hind leg of the death-head cockroach Blaberus discoidalis. We tested the model by measuring the maximum force generated in vivo by the hind leg of the cockroach, the coxa-femur joint angle and the position of this leg during a behavior, wedging, that was likely to require maximum torque or moment production. The product of the maximum force of the leg and its moment arm yielded a measured coxa-femur joint moment for wedging behavior. The …