“…1A). [26][27][28][29] The glenohumeral and acromioclavicular joints were modeled as 3-DOF ball and socket joints, the sternoclavicular joint as a 2-DOF universal joint, and the elbow joint as a 2-DOF universal joint. The shoulder complex was actuated by 26 Hill-type muscle-tendon units representing the axioscapular (levator scapulae, superior trapezius, lower-middle trapezius, lower trapezius, rhomboid minor, superior rhomboid major, lower rhomboid major, superior serratus anterior, middle serratus anterior, lower serratus anterior, subclavius, pector-alis minor), axiohumeral (teres major, superior pectoralis major, middle pectoralis major, lower pectoralis major, latissimus dorsi) and scapulohumeral muscles (anterior deltoid, middle deltoid, posterior deltoid, supraspinatus, infraspinatus, subscapularis, teres minor, coracobrachialis).…”