<p>The HiL simulations are based on parameter sets ②, ③, ④ from <a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0145798#pone.0145798.t001" target="_blank">Table 1</a>. Impingement occurs at ○ and dislocation at ◇. <b>a</b> Predicted reaction force |<i><b>f</b></i><sup><i>r</i></sup>| over flexion angle. <b>b</b> Measured resisting torque |<i><b>τ</b></i><sup><i>f</i></sup>| over flexion angle.</p