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A linear muscle mechanics is shown in figure below. Here, the elastic element, Cp, is placed in parallel to the viscous damping element R and the contractile element, and the entire parallel combination is placed in serieswith the elastic element, Cs, and the lumped representation of the muscle mass, m. Derive an expression for the transfer function relating the extension of the muscle, x, to an appliedforce, F. Convert this transfer function description into the equivalent statespace model.
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