OpenSim Moco: Musculoskeletal optimal control
Fig 10
Predicting and assisting a squat-to-stand motion.
Left: We predicted a squat-to-stand motion with prescribed initial and final poses that minimized the sum of squared muscle excitations and final time, then added a torsional spring to the knee and solved for the optimal spring stiffness k. Right: The activations of key muscles throughout the motion without (black) and with (blue) the assistive spring show that the spring allowed gluteus maximus and vasti activity to decrease substantially.