This work presents an analytical modelling of a tendon driven system. We modelled the tendon as a continuum string using physiologically plausible value for the intrinsic characteristics of biological tissues to verify the system’s stability. We used Poincare’s sections to verify the types of attractors the system has and proved that the system is non-chaotic in a large range of physiologically plausible excitation frequencies. This work is relevant for understanding the control of force and movement as a function of the muscle contraction. Wide applications can also be found as a guideline for the design of artificial muscles and cable driven robots.

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