https://newmanlab.mit.edu/wp-content/uploads/2017/06/1984-adaptive-control-of-mechanical-impedance-by-coactivation-of-antagonist-muscles.pdf
https://newmanlab.mit.edu/wp-content/uploads/2017/06/1984-adaptive-control-of-mechanical-impedance-by-coactivation-of-antagonist-muscles.pdf
