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Simulating muscles in joints

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I''m working on a small artificial life project, and am not quite sure of my muscle simulation. The creature is a stick figure, and has muscles in the points where two sticks meet. The physics are calculated with the springs-and-mass-points system, in 2D. In the simplest example, there is a small worm with one joint, shaped like the letter "V". The worm should be able to flex by creating torque in the joint. How should I apply forces to the mass points? Currently when a joint wants to flex, I calculate the force with the traditional "F = T/r" for both sticks, and then apply it to the far-end masspoint of the stick, and an opposite force to the joint-point itself. So the endpoints get one force each (to the direction of the sticks'' normals), and the joint-masspoint gets two. I''m just not sure if this is correct. At least all the forces cancel out, but somehow this doesn''t feel right. I prefer having the muscles create torque at the joints, and not using adjustable invisible springs connecting the endpoints, acting as muscles.

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