How does the Neural Network control the muscles?

The neural network computes one output number for each muscle (e.g. 10 muscles = 10 outputs). This computation happens at a fixed time interval 30 times per second. The output generated for each muscle is a floating point number between -1 and 1.

The sign of the output determines whether the muscle should expand or contract and the magnitude determines the amount of force whith which to expand / contract.