“…There is evidence that the nervous system considers many objectives when selecting muscle activity patterns, including energy efficiency (Anderson and Pandy, 2001), joint stability (Stokes and Gardner-Morse, 2001;Brown and Potvin, 2005), joint loading (Seireg and Arvikar, 1973;Yettram and Jackman, 1982), joint discomfort (Marler et al, 2009), and muscle stress (Crowninshield and Brand, 1981;An et al, 1984;Hughes et al, 1995). These objectives often vary with properties of the task or environment (Milner and Cloutier, 1993;Burdet et al, 2001;Selen et al, 2006), and compete with one another for some motor tasks (Stokes and Gardner-Morse, 2001).…”