Provided is a method for evaluating muscle strength characteristics of a limb based on a muscle group model including a first pair of antagonistic one-joint muscles, a second pair of antagonistic one-joint muscles, and a pair of antagonistic two-joint muscles, where the limb has a first rod having a proximal end supported by a first joint and a second rod supported on a free end of the first rod through a second joint. The method includes: measuring a maximum output of a free end of the second rod in at least one predetermined direction； measuring orbiting outputs of the free end of the second rod in all directions in the plane； and creating a hexagonal maximum output distribution corresponding to a contribution amount of each muscle of the muscle group model based on the maximum output in the predetermined direction and the orbiting outputs.
