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Design of a mathematical model of force in whole skeletal muscle, and . Proc. IEEE 17th Annual Conf. Engineering in Medicine and Biology Society, 2, page 1243--1244. (1995)Development of a muscle spindle model, , and . Proc. Second Joint Engineering in Medicine and Biology 24th Annual Conf. and the Annual Fall Meeting of the Biomedical Engineering Society EMBS/BMES Conf, 3, page 2521--2522. (2002)A hierarchical foundation for models of sensorimotor control, , and . Experimental Brain Research, (1999)