Table 2 The results of the numerical optimization obtained in this study. Hinit: initial height of the mass centre of the body. Hmax: maximal height reached by the mass centre of the body. Egain: energy gain of the mass centre of the body through the jumping motion calculated from the jump height, body mass and acceleration due to gravity. Δ: difference between the values for the "All Muscles" model and for the "Extensors Only" model.