Main input data for the muscle model: values of the basic contractile properties of the 57 MUs (slow, S1–S8; fast resistant to fatigue FR1–FR23; fast fatigable FF1–FF26) selected for the muscle modeling and their firing properties.

Tc–the contraction time; Thr–the half-relaxation time; Ttw–the duration of the twitch; Fmax–the maximum force of the twitch; Fmftf–the maximum force of the fused tetanus; meanfr–the mean frequency of rhythmic firing; minfr–the minimum rhythmic firing frequency; maxfr–the maximum rhythmic firing frequency. Data are taken from Table 1 in Raikova et al. [33].