This paper presents a simplified dynamical model for the control of one-degree-of-freedom synovial joints considered as pure trochlean joints. This model considers the joint dynamics, the dynamics of the corresponding muscles and their calcium balance dynamics, as well as position and force feedbacks provided by the spindles and the Golgi tendon organs. Delays in the transmission of information are also taken into account as they proved to be of critical importance for the dynamical behavior of the considered systems. The linearized version of this model, which is valid for a rather wide range of movements, also allows us to investigate the stability of the system, as well as its stability robustness with respect to the feedback gains. Further, particular behaviors such as tremor are described.

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