Summary Many studies have demonstrated co-variation between muscle activations during behavior, suggesting that muscles are not controlled independently. According to one common proposal, this co-variation reflects simplification of task performance by the nervous system, so that muscles with similar contributions to task variables are controlled together. Alternatively, this co-variation might reflect regulation of low-level aspects of movements that are common across tasks, such as stresses within joints. We examined these issues by analyzing co-variation patterns in quadriceps muscle activity during locomotion in rats. The three mono-articular quadriceps muscles (vastus medialis, VM; vastus lateralis, VL; vastus intermedius, VI) produce knee extension and so have identical contributions to task performance; the bi-articular rectus femoris (RF) produces an additional hip flexion. Consistent with the proposal that muscle co-variation is related to similarity of muscle actions on task variables, we found that the co-variation between VM and VL was stronger than their co-variations with RF. However, co-variation between VM and VL was also stronger than their co-variations with VI. Since all vastii have identical actions on task variables, this finding suggests that co-variation between muscle activity is not solely driven by simplification of task performance. Instead, the preferentially strong co-variation between VM and VL is consistent with the control of internal joint stresses: since VM and VL produce opposing mediolateral forces on the patella, the high positive correlation between their activation minimizes the net mediolateral patellar force. These results provide important insights into the interpretation of muscle co-variations and their role in movement control.