function G(s) = 0(s)/Tm(s)where Tm is the muscle torque applied at the hip and 0 is the angle of the leg from the hanging down equilibrium position (8 points). You may make the following assumptions: 1. There is linear, viscous damping D at the hip joint 2. You may consider the thigh a cylinder of uniform density with mass m, length L, and inertia J about the hip joint 3. You may linearize the system around the equilibrium point 0 = 0 (hint: use the Taylor series expansion for small angles)

Fig: 1

Fig: 2

Fig: 3

Fig: 4

Fig: 5

Fig: 6