A Hill Muscle Actuated Arm Model with Dynamic Muscle Paths

This contribution presents the optimal control of a musculoskeletal multibody model with Hill muscle actuation and dynamic muscle paths. In particular, the motion of a human arm and its muscle paths is described via constrained variational dynamics. The optimal control problem in this work is based on the direct transcription method DMOCC [4], where the optimal control problem is discretised in time, and the resulting nonlinear constrained finite dimensional optimisation problem is solved. To take a step towards finding global or multiple minima, we utilize the Matlab multistart framework for global optimisation. With the help of an example, we outline a framework to find feasible solutions and analyse several minima to which the nonlinear programming solver converges.