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An apparatus for characterization and control of muscle tissue is presented. The apparatus is capable of providing generalized mechanical boundary conditions to muscle tissue, as well as implementing real-time feedback control via electrical stimulation. The system is intended to serve as an experimental platform for implementing a wide variety of muscle control and identification studies that will serve as fundamental investigations of muscle mechanics, energetics, functional electrical stimulation, and fatigue. In one illustration of the capabilities of the apparatus, pilot experimental results of muscle workloops against a finite-admittance passive load are presented, illustrating how richer boundary conditions may reveal interesting muscle behavior.