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Muscle fibres possess unique visco-elastic properties, capable of generatinga stabilising zero-delay response to unexpected perturbations. Thisinstantaneous response -- termed "preflex" -- is crucial in the presence ofneuro-transmission delays, which are particularly hazardous during fastlocomotion due to the short stance duration. While the elastic contribution topreflexes has been studied extensively, research on the role of fibre viscositydue to the force-velocity relation remains unexplored. Moreover, muscle modelspredict conditions with saturated force-velocity relations resulting in reducedviscous-like fibre engagement. The goal of our study is to isolate and quantifythe preflex force produced by the force-velocity relation. We use our approachto analyse two perturbed vertical hopping conditions, differing in theirviscosity engagement at touch-down. Both cases showed stable hopping patternsdespite the reduced viscous-like response to ground perturbations in thesaturated case. Moreover, the force-velocity relation was not the predominantfactor driving energy adjustment to disturbance intensity. From a roboticsperspective, our results suggest that already a simple, constant damper mountedin parallel to an actuator could provide stabilising preflexes at and shortlyafter impact.

Muscle pre-stimulation tunes viscous-like perturbation rejection in legged hopping