Hi, How does the concrete computation of the force for the damped muscle model work? The equilibrium equation is given by: (a*fl(f^M)*fv(v^M)+fpe(l^M)+beta*v^M)*cos(alpha)-ft(l^T)=0 Do I, similar to the undamped version, need to solve the equation for v^M (with fl, fv,ft, fpe from previous timestep ...